To His Name

Advanced Control Tutor: Dr. Hamid Moeenfard

Problem set #6 Amid Gholampour | 4001322045

1- Consider the following dynamic system. The inputs to this system are 𝑓1 (𝑡) and 𝑓2 (𝑡)
and its outputs are 𝑥1 (𝑡) and 𝑥2 (𝑡).

I) Derive the governing differential and state space equations.

Solution:

x1 ( t )

k ( x2 − x1 )
cx1
m1
f1 ( t )
Free body diagram at 𝑥1

𝑚1 𝑥̈ 1 = −𝑐𝑥̇ 1 (𝑡) + 𝑘(𝑥2 (𝑡) − 𝑥1 (𝑡)) + 𝑓1 (𝑡) Eqn. (I)

x2 ( t )

k ( x2 − x1 ) f2 (t )
m2
Free body diagram at 𝑥2

𝑚2 𝑥̈ 2 = −𝑘(𝑥2 (𝑡) − 𝑥1 (𝑡)) + 𝑓2 (𝑡) Eqn. (I)

 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

• States:
State vector:
𝑧1 𝑥1
𝑧2 𝑥̇ 1
𝑋⃗(𝑡) = [𝑧 ] = [𝑥 ]
3 2
𝑧4 𝑥̇ 2

Differential state vector:

𝑧̇1 𝑥̇ 1
𝑧̇ 𝑥̈
𝑋⃗̇ = [ 2 ] = [ 1 ]
𝑧̇3 𝑥̇ 2
𝑧̇4 𝑥̈ 2

• State Space:
𝑧̇1 (𝑡) = 𝑥̇ 1 (𝑡) = 𝑧2 (𝑡)
𝑐 𝑘 1 𝑐 𝑘 1
𝑧̇2 (𝑡) = 𝑥̈ 1 (𝑡) = − 𝑥̇ 1 (𝑡) + (𝑥2 (𝑡) − 𝑥1 (𝑡)) + 𝑓1 (𝑡) = − 𝑧2 (𝑡) + (𝑧3 (𝑡) − 𝑧1 (𝑡)) + 𝑓 (𝑡)
𝑚1 𝑚1 𝑚1 𝑚1 𝑚1 𝑚1 1
𝑧̇3 (𝑡) = 𝑥̇ 2 (𝑡) = 𝑧4 (𝑡)
𝑘 1 𝑘 1
𝑧̇2 (𝑡) = 𝑥̈ 2 (𝑡) = − (𝑥2 (𝑡) − 𝑥1 (𝑡)) + 𝑓2 (𝑡) = − (𝑧3 (𝑡) − 𝑧1 (𝑡)) + 𝑓 (𝑡)
{ 𝑚2 𝑚2 𝑚2 𝑚2 2
0 1 0 0 0 0
𝑥̇ 1 (𝑡) 𝑘 𝑐 𝑘 𝑥 (𝑡) 1
− − 0 1 0
𝑥̈ 1 (𝑡) 𝑚1 𝑚1 𝑚1 𝑥̇ 1 (𝑡) 𝑚 𝑓1 (𝑡)
= + 1 [ ]
𝑥̇ 2 (𝑡) 0 0 0 1 𝑥2 (𝑡) 0 0 𝑓2 (𝑡)
[𝑥̈ 2 (𝑡)] 𝑘 𝑘 1
0 − 0 [𝑥̇ 2 (𝑡)] 0
[ 𝑚2 𝑚2 ] [ 𝑚2 ]
𝑥1 (𝑡)
⃗⃗ (𝑡) = [𝑥1 (𝑡)] = [1 0
𝑌
0 0 𝑥̇ 1 (𝑡)
]
𝑥2 (𝑡) 0 0 1 0 𝑥2 (𝑡)
[𝑥̇ 2 (𝑡)]

• Numerical Values:
Assuming:
𝑁 𝑁. 𝑠
𝑚1 = 𝑚2 = 1𝑘𝑔, 𝑘=8 , 𝑐=4
𝑚 𝑚
Therefore:
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

𝑥̇ 1 (𝑡) 0 1 0 0 𝑥1 (𝑡) 0 0
𝑥̈ 1 (𝑡) −8 −4 8 0 1𝑥̇ (𝑡) 1 0 𝑓1 (𝑡)
=[ ] +[ ][ ]
𝑥̇ 2 (𝑡) 0 0 0 1 𝑥2 (𝑡) 0 0 𝑓2 (𝑡)
[𝑥̈ 2 (𝑡)] 8 0 −8 0 [𝑥̇ 2 (𝑡)] 0 1
𝑥1 (𝑡)
⃗⃗ (𝑡) = [𝑥1 (𝑡)] = [1 0 0 0] 𝑥̇ 1 (𝑡)
𝑌
𝑥2 (𝑡) 0 0 1 0 𝑥2 (𝑡)
[𝑥̇ 2 (𝑡)]

II) Design a state feedback regulator for the system. Place the regulator poles at −1, −3,
−4 and −5.
−𝜆𝑖 1 0 0 0 0
−8 −4 − 𝜆𝑖 8 0 1 0
𝑆(𝜆𝑖 ) = [[𝐴] − 𝜆𝑖 [𝐼] [𝐵]] = [ ]
0 0 −𝜆𝑖 1 0 0
8 0 −8 −𝜆𝑖 0 1
−(−1) 1 0 0 0 0 1 1 0 0 0 0
−8 −4 − (−1) 8 0 1 0 −8 −3 8 0 1 0
𝑺(−𝟏) = [ ]=[ ]
0 0 −(−1) 1 0 0 0 0 1 1 0 0
8 0 −8 −(−1) 0 1 8 0 −8 1 0 1
1 1 0 0 0 0 1 1 0 0 0 0
−8 −3 8 0 1 0 (𝑅1×(8)+𝑅2)→𝑅2 0 5 8 0 1 0
𝑆(−1) = [ ]→ 𝑆(−1) = [ ]
0 0 1 1 0 0 0 0 1 1 0 0
8 0 −8 1 0 1 8 0 −8 1 0 1
1 1 0 0 0 0 1 1 0 0 0 0
(𝑅1 ×(−8)+𝑅4 )→𝑅4 0 5 8 0 1 𝑅
0 2 ×1⁄5→𝑅2 0 1 8⁄5 0 1⁄5 0
→ 𝑆(−1) = [ ]→ 𝑆(−1) = [ ]
0 0 1 1 0 0 0 0 1 1 0 0
0 −8 −8 1 0 1 0 −8 −8 1 0 1
1 1 0 0 0 0 1 1 0 0 0 0
(𝑅2 ×(8)+𝑅4 )→𝑅4 0 1 8⁄5 0 1⁄5 0 (𝑅3 ×(−24⁄5)+𝑅4 )→𝑅4 0 1 8⁄5 0 1⁄5 0
→ 𝑆(−1) = [ ]→ 𝑆(−1) = [ ]
0 0 1 1 0 0 0 0 1 1 0 0
0 0 24⁄5 1 8⁄5 1 0 0 0 −19⁄5 8⁄5 1
1 1 0 0 0 0 1 1 0 0 0 0
𝑅2 ×−5⁄19→𝑅2 0 1 8⁄5 0 1⁄5 0 (𝑅4 ×(−1)+𝑅3 )→𝑅3 0 1 8⁄5 0 1⁄5 0
→ 𝑆(−1) = [ ]→ 𝑆(−1) = [ ]
0 0 1 1 0 0 0 0 1 0 8⁄19 5⁄19
0 0 0 ⁄ ⁄
1 −8 19 −5 19 0 0 0 1 −8⁄19 −5⁄19
1 1 0 0 0 0 1 0 0 0 9⁄19 8⁄19
(𝑅3 ×(−8⁄5)+𝑅2 )→𝑅2 0 1 0 0 −9⁄19 −8⁄19 (𝑅2 ×(−1)+𝑅1)→𝑅1 0 1 0 0 −9⁄19 −8⁄19
→ 𝑆(−1) = [ ]→ 𝑆(−1) = [ ]
0 0 1 0 8⁄19 5⁄19 0 0 1 0 8⁄19 5⁄19
0 0 0 1 −8⁄19 −5⁄19 0 0 0 1 −8⁄19 −5⁄19
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

1 0 0 0 9⁄19 8⁄19 1 0 0 0 9⁄19 8⁄19

0 1 0 0 −9⁄19 −8⁄19 0 1 0 0 −9⁄19 −8⁄19
⁄ ⁄ 0 8⁄19 5⁄19
𝑆(−1) = 0 0 1 0 8 19 5 19 → 𝑆̂(−1) = 0 0 1
0 0 0 1 −8⁄19 − 5⁄19 0 0 0 1 −8⁄19 − 5⁄19
0 0 0 0 0 0 0 0 0 0 −1 0
[0 0 0 0 0 0 ] [0 0 0 0 0 −1 ]
9⁄19 8⁄19 9 8 9 8
−9⁄19 −8⁄19 −9 −8 −9 −8
8⁄19 5⁄19 8 5 8 5
kernel (𝑆(−1)) = span , = span , = 𝛼1 + 𝛼2
−8⁄19 − 5⁄19 −8 −5 −8 −5
−1 0 −19 0 −19 0
{[ 0 ] [ −1 ]} {[ 0 ] [−19]} [ 0 ] [−19]

−(−3) 1 0 0 0 0 3 1 0 0 0 0
−8 −4 − (−3) 8 0 1 0 −8 −1 8 0 1 0
𝑺(−𝟑) = [ ]=[ ]
0 0 −(−3) 1 0 0 0 0 3 1 0 0
8 0 −8 −(−3) 0 1 8 0 −8 3 0 1
3 1 0 0 0 0 1 1⁄3 0 0 0 0
−8 −1 8 0 1 0 𝑅1×1⁄3→𝑅1 −8 −1 8 0 1 0
𝑆(−3) = [ ]→ 𝑆(−3) = [ ]
0 0 3 1 0 0 0 0 3 1 0 0
8 0 −8 3 0 1 8 0 −8 3 0 1
1 1⁄3 0 0 0 0 1 1⁄ 3 0 0 0 0
(𝑅1 ×(8)+𝑅2 )→𝑅2 ⁄ (𝑅 ×(−8)+𝑅 )→𝑅 0 5⁄ 3 8 0 1 0
𝑆(−3) = [0 5 3 8 0 1 0] → 1 4 4
→ 𝑆(−3) = [ ]
0 0 3 1 0 0 0 0 3 1 0 0
8 0 −8 3 0 1 0 − 8⁄3 −8 3 0 1
1 1⁄3 0 0 0 0 1 1⁄ 3 0 0 0 0
𝑅2 ×3⁄5→𝑅2 0 1 24⁄5 0 3⁄5 0 (𝑅2 ×(8 ⁄3)+𝑅4 )→𝑅4 0 1 24⁄5 0 3⁄5 0
→ 𝑆(−3) = [ ]→ 𝑆(−3) = [ ]
0 0 3 1 0 0 0 0 3 1 0 0
0 − 8⁄3 −8 3 0 1 0 0 24⁄5 3 3⁄5 1
1 1⁄3 0 0 0 0 1 1⁄ 3 0 0 0 0
𝑅3 ×1⁄3→𝑅3 0 1 24⁄5 0 3⁄5 0 3(𝑅 ×(−24 ⁄5)+𝑅4 )→𝑅4 0 1 24⁄5 0 3⁄5 0
→ 𝑆(−3) = [ ]→ 𝑆(−3) = [ ]
0 0 1 1⁄3 0 0 0 0 1 1⁄3 0 0
0 0 24⁄5 3 3⁄5 1 0 0 0 7⁄5 8⁄5 1
1 1⁄3 0 0 0 0 1 1⁄3 0 0 0 0
𝑅4 ×5⁄7→𝑅4 0 1 24⁄5 0 3⁄5 0 (𝑅4 ×(−1⁄3)+𝑅3)→𝑅3 0 1 24⁄5 0 3⁄5 0
→ 𝑆(−3) = [ ]→ 𝑆(−3) = [ ]
0 0 1 1⁄3 0 0 0 0 1 0 − 8⁄21 − 5⁄21
0 0 0 1 8⁄7 5⁄7 0 0 0 1 8⁄7 5⁄7
1 1 ⁄3 0 0 0 0 1 0 0 0 −17⁄21 −8⁄21
(𝑅3 ×(−24⁄5)+𝑅2 )→𝑅2 0 1 0 0 17⁄7 8⁄7 (𝑅2 ×(−1⁄3)+𝑅1 )→𝑅1 0 1 0 0 17⁄7 8⁄7
→ 𝑆(−3) = [ ]→ 𝑆(−3) = [ ]
0 0 1 0 − 8⁄21 − 5⁄21 0 0 1 0 − 8⁄21 − 5⁄21
0 0 0 1 8⁄7 5⁄7 0 0 0 1 8⁄7 5⁄7

1 0 0 0 −17⁄21 −8⁄21
1 0 0 0 −17⁄21 −8⁄21 0 1 0 0 17⁄7 8⁄7
0 1 0 0 17⁄7 8⁄7 0 0 1 0 − 8⁄21 − 5⁄21
𝑆(−3) = [ ] → 𝑆̂(−3) =
0 0 1 0 − 8⁄21 − 5⁄21 0 0 0 1 8⁄7 5⁄7
0 0 0 1 8⁄7 5⁄7 0 0 0 0 −1 0
[0 0 0 0 0 −1 ]
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

−17⁄21 −8⁄21 −17 −8 −17 −8

17⁄7 8⁄7 51 24 51 24
⁄ ⁄ −8 −5 −8 −5
kernel (𝑆(−3)) = span − 8 21 , − 5 21 = span , = 𝛼1 + 𝛼2
8⁄7 5⁄7 24 15 24 15
−1 0 −21 0 −21 0
{[ 0 ] [ −1 ]} {[ 0 ] [−21]} [ 0 ] [−21]

−(−4) 1 0 0 0 0 4 1 0 0 0 0
−8 −4 − (−4) 8 0 1 0 −8 0 8 0 1 0
𝑺(−𝟒) = [ ]=[ ]
0 0 −(−4) 1 0 0 0 0 4 1 0 0
8 0 −8 −(−4) 0 1 8 0 −8 4 0 1
4 1 0 0 0 0 1 1⁄4 0 0 0 0
−8 0 8 0 1 𝑅
0 1 ×1⁄4→𝑅1 −8 0 8 0 1 0
𝑆(−4) = [ ]→ 𝑆(−4) = [ ]
0 0 4 1 0 0 0 0 4 1 0 0
8 0 −8 4 0 1 8 0 −8 4 0 1
1 1⁄4 0 0 0 0 1 1⁄ 4 0 0 0 0
(𝑅1 ×(8)+𝑅2 )→𝑅2 0 (𝑅 1 ×(−8)+𝑅4 )→𝑅4
→ 𝑆(−4) = [0 2 8 0 1
]→ 𝑆(−4) = [0 2 8 0 1 0
]
0 0 4 1 0 0 0 0 4 1 0 0
8 0 −8 4 0 1 0 −2 −8 4 0 1
1 1 ⁄4 0 0 0 0 1 1⁄4 0 0 0 0
𝑅2 ×1⁄2→𝑅2 0 1⁄2 (𝑅 ×(2)+𝑅 )→𝑅 1⁄2
(−4) = [0 1 4 0] → 𝑆(−4) = [0 1 4 0 0]
2 4 4
→
0 0 4 1 0 0 0 0 4 1 0 0
0 −2 −8 4 0 1 0 0 0 4 1 1
1 1⁄4 0 0 0 0 1 1⁄ 4 0 0 0 0
𝑅3 ×1⁄4→𝑅3 & 𝑅4 ×1⁄4→𝑅4 0 1 4 0 1⁄2 0 (𝑅4 ×(−1⁄4)+𝑅3)→𝑅3 0 1 4 0 1⁄2 0
→ 𝑆(−4) = [ ]→ 𝑆(−4) = [ ]
0 0 1 1⁄4 0 0 0 0 1 0 −1⁄16 −1⁄16
0 0 0 1 1⁄4 1⁄4 0 0 0 1 1⁄4 1⁄4
1 1⁄4 0 0 0 0 1 0 0 0 − 3⁄16 − 1⁄16
(𝑅3 ×(−4)+𝑅2 )→𝑅2 0 1 0 0 3⁄4 1⁄4 (𝑅2 ×(−1⁄4)+𝑅1)→𝑅1 0 1 0 0 3⁄4 1⁄4
→ 𝑆(−4) = [ ]→ 𝑆(−4) = [ ]
0 0 1 0 −1⁄16 −1⁄16 0 0 1 0 −1⁄16 −1⁄16
0 0 0 1 1⁄4 1⁄4 0 0 0 1 1⁄4 1⁄4
1 0 0 0 − 3⁄16 − 1⁄16
1 0 0 0 − 3⁄16 − 1⁄16 0 1 0 0 3⁄4 1⁄4
0 1 0 0 3⁄4 1⁄4 0 0 1 0 −1⁄16 −1⁄16
𝑆(−4) = [ ] → 𝑆̂(−4) =
0 0 1 0 −1⁄16 −1⁄16 0 0 0 1 1⁄4 1⁄4
0 0 0 1 1⁄4 1⁄4 0 0 0 0 −1 0
[0 0 0 0 0 −1 ]
− 3⁄16 −3 − 1⁄16
−1 −3 −1
3⁄ 4 12 41⁄ 4 12 4
−1⁄16 −1 −1
−1⁄16 −1 −1
kernel (𝑆(−4)) = span , = span , = 𝛼1 + 𝛼2
1⁄ 4 4 41⁄ 4 4 4
−1 0 −16 0 −16 0
{[ 0 ] [ −1 ]} {[ 0 ] [−16]} [ 0 ] [−16]

−(−5) 1 0 0 0 0 5 1 0 0 0 0
−8 −4 − (−5) 8 0 1 0 −8 1 8 0 1 0
𝑺(−𝟓) = [ ]=[ ]
0 0 −(−5) 1 0 0 0 0 5 1 0 0
8 0 −8 −(−5) 0 1 8 0 −8 5 0 1
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

5 1 0 0 0 0 1 1⁄5 0 0 0 0
−8 1 8 0 1 𝑅
0 1 ×1⁄5→𝑅1 −8 1 8 0 1 0
𝑆(−5) = [ ]→ 𝑆(−5) = [ ]
0 0 5 1 0 0 0 0 5 1 0 0
8 0 −8 5 0 1 8 0 −8 5 0 1
1 1⁄5 0 0 0 0 1 1⁄5 0 0 0 0
(𝑅1 ×(8)+𝑅2 )→𝑅2 13⁄5 0] (𝑅1 ×(−8)+𝑅4 )→𝑅4 0 13⁄5 8 0 1 0
→ 𝑆(−5) = [0 8 0 1 → 𝑆(−5) = [ ]
0 0 5 1 0 0 0 0 5 1 0 0
8 0 −8 5 0 1 0 −8⁄5 −8 5 0 1
1 1⁄5 0 0 0 0 1 1⁄5 0 0 0 0
𝑅2 ×5⁄13→𝑅2 0 1 40⁄13 0 5⁄13 0 (𝑅2×(8⁄5)+𝑅4 )→𝑅4 0 1 40⁄13 0 5⁄13 0
→ 𝑆(−5) = [ ]→ 𝑆(−5) = [ ]
0 0 5 1 0 0 0 0 5 1 0 0
0 −8⁄5 −8 5 0 1 0 0 − 40⁄13 5 8⁄13 1
1 1⁄5 0 0 0 0 1 1⁄5 0 0 0 0
𝑅3 ×1⁄5→𝑅3 0 1 40⁄13 0 5⁄13 0 (𝑅3×(40⁄13)+𝑅4 )→𝑅4 0 1 40⁄13 0 5⁄13 0
→ 𝑆(−5) = [ ]→ 𝑆(−5) = [ ]
0 0 1 1⁄5 0 0 0 0 1 1⁄5 0 0
0 0 − 40⁄13 5 8⁄13 1 0 0 0 73⁄13 8⁄13 1
1 1⁄5 0 0 0 0 1 1⁄5 0 0 0 0
𝑅4 ×13⁄73→𝑅4 0 1 40⁄13 0 5⁄13 0 (𝑅4 ×(−1⁄5)+𝑅3 )→𝑅3 0 1 40⁄13 0 5⁄13 0
→ 𝑆(−5) = [ ]→ 𝑆(−5) = [ ]
0 0 1 1⁄5 0 0 0 0 1 0 −8⁄365 −13⁄365
0 0 0 1 8⁄73 13⁄73 0 0 0 1 8⁄73 13⁄73

1 1⁄5 0 0 0 0 1 0 0 0 −33⁄365 −8/365

(𝑅3 ×(−40⁄13)+𝑅2 )→𝑅2 0 1 0 0 33⁄73 8⁄73 (𝑅2×(−1⁄5)+𝑅1)→𝑅1 0 1 0 0 33⁄73 8⁄73
→ 𝑆(−5) = [ ]→ 𝑆(−5) = [ ]
0 0 1 0 −8⁄365 −13⁄365 0 0 1 0 −8⁄365 −13⁄365
0 0 0 1 8⁄73 13⁄73 0 0 0 1 8⁄73 13⁄73

1 0 0 0 −33⁄365 −8/365
1 0 0 0 −33⁄365 −8/365 0 1 0 0 33⁄73 8⁄73
0 1 0 0 33⁄73 8⁄73 0 0 1 0 −8⁄365 −13⁄365
𝑆(−5) = [ ] → 𝑆̂(−5) =
0 0 1 0 −8⁄365 −13⁄365 0 0 0 1 8⁄73 13⁄73
0 0 0 1 8⁄73 13⁄73 0 0 0 0 −1 0
[0 0 0 0 0 −1 ]
−33⁄365 −8/365 −33 −8 −33 −8
33⁄73 8⁄73 165 40 165 40
−8⁄365 −13⁄365 −8 −13 −8 −13
kernel (𝑆(−4)) = span , = span , = 𝛼1 + 𝛼2
8⁄73 13⁄73 40 65 40 65
−1 0 −365 0 −365 0
{[ 0 ] [ −1 ]} {[ 0 ] [−365]} [ 0 ] [−365]

9
−9
𝑉⃗⃗ 8
For 𝜆1 = −1: 𝛼1 = 1, 𝛼2 = 0 (Selection) { 1 } =
𝑞⃗1 −8
−19
[ 0 ]
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

−17
51
𝑉⃗⃗2 −8
For 𝜆2 = −3: 𝛼1 = 1, 𝛼2 = 0 (Selection) { } =
𝑞⃗2 24
−21
[ 0 ]
−3
12
𝑉⃗⃗3 −1
For 𝜆3 = −4: 𝛼1 = 1, 𝛼2 = 0 (Selection) { } =
𝑞⃗3 4
−16
[ 0 ]
−33
165
𝑉⃗⃗ −8
For 𝜆4 = −5: 𝛼1 = 1, 𝛼2 = 0 (Selection) { 4 } =
𝑞⃗4 40
−365
[ 0 ]
9 −17 −3 −33 −1
[𝐾] = −[𝑞⃗1 ⃗⃗1 ⃗⃗2 ⃗⃗3 ⃗⃗4 ]
−1 −19 −21 −16 −365 −9 51 12 165 43 9 −35.5 0.375
𝑞⃗2 𝑞⃗3 𝑞⃗4 ][𝑉 𝑉 𝑉 𝑉 = −[ ][ ] =[ ]
0 0 0 0 8 −8 −1 −8 0 0 0 0
−8 24 4 40

III) Design a state feedback regulator for the system. Place the regulator poles at −1, −3
± 5𝑗 and −5. Then simulate the system in time domain and present 𝑥1 (𝑡), 𝑥2 (𝑡),,
𝑓1 (𝑡), and 𝑓2 (𝑡), (Use arbitrary initial conditions).
−(−3 + 5𝑖) 1 0 0 0 0
−8 −4 − (−3 + 5𝑖) 8 0 1 0
𝑺(−𝟏) = [ ]
0 0 −(−3 + 5𝑖) 1 0 0
8 0 −8 −(−3 + 5𝑖) 0 1
3 − 5𝑖 1 0 0 0 0
−8 −1 − 5𝑖 8 0 1 0
=[ ]
0 0 3 − 5𝑖 1 0 0
8 0 −8 3 − 5𝑖 0 1

3 − 5𝑖 1 0 0 0 0
−8 −1 − 5𝑖 8 0 1 0
0 0 3 − 5𝑖 1 0 0
8 0 −8 3 − 5𝑖 0 1
[𝐴] − 𝜆𝑖 [𝐼] [𝐵] 1 0 0 0 0 0
[ ]=
[𝐼]6 0 1 0 0 0 0
0 0 1 0 0 0
0 0 0 1 0 0
0 0 0 0 1 0
[ 0 0 0 0 0 1]
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

3 − 5𝑖 1 0 0 0 0 3 − 5𝑖 1 0 0 0 0
−8 −1 − 5𝑖 8 0 1 0 −8 −1 − 5𝑖 8 0 1 0
0 0 3 − 5𝑖 1 0 0 0 0 0 1 0 0
8 0 −8 3 − 5𝑖 0 1 8 0 8 + 30𝑖 3 − 5𝑖 0 1
1 0 0 0 0 0 (𝐶4×(−3+5𝑖)+𝐶3 )→𝐶3 1 0 0 0 0 0
→
0 1 0 0 0 0 0 1 0 0 0 0
0 0 1 0 0 0 0 0 1 0 0 0
0 0 0 1 0 0 0 0 −3 + 5𝑖 1 0 0
0 0 0 0 1 0 0 0 0 0 1 0
[ 0 0 0 0 0 1] [ 0 0 0 0 0 1]

3 − 5𝑖 1 0 0 0 0 3 − 5𝑖 1 0 0 0 0
−8 −1 − 5𝑖 0 0 1 0 −8 −1 − 5𝑖 0 0 1 0
0 0 0 1 0 0 0 0 0 1 0 0
8 0 8 + 30𝑖 3 − 5𝑖 0 1 8 0 0 3 − 5𝑖 0 1
(𝐶5 ×(−8)+𝐶3 )→𝐶3 1 0 0 0 0 0 (𝐶6×(−8−30𝑖)+𝐶3)→𝐶3 1 0 0 0 0 0
→ →
0 1 0 0 0 0 0 1 0 0 0 0
0 0 1 0 0 0 0 0 1 0 0 0
0 0 −3 + 5𝑖 1 0 0 0 0 −3 + 5𝑖 1 0 0
0 0 −8 0 1 0 0 0 −8 0 1 0
[ 0 0 0 0 0 1] [ 0 0 −8 − 30𝑖 0 0 1]
3 − 5𝑖 1 0 0 0 0 0 1 0 0 0 0
−8 −1 − 5𝑖 0 0 1 0 20 + 10𝑖 −1 − 5𝑖 0 0 1 0
0 0 0 1 0 0 0 0 0 1 0 0
8 0 0 3 − 5𝑖 0 1 8 0 0 3 − 5𝑖 0 1
(𝐶6 ×(−8−30𝑖)+𝐶3 )→𝐶3 1 0 0 0 0 0 (𝐶2×(−3+5𝑖)+𝐶1)→𝐶1 1 0 0 0 0 0
→ →
0 1 0 0 0 0 −3 + 5𝑖 1 0 0 0 0
0 0 1 0 0 0 0 0 1 0 0 0
0 0 −3 + 5𝑖 1 0 0 0 0 −3 + 5𝑖 1 0 0
0 0 −8 0 1 0 0 0 −8 0 1 0
[ 0 0 −8 − 30𝑖 0 0 1] [ 0 0 −8 − 30𝑖 0 0 1]
0 1 0 0 0 0 0 1 0 0 0 0
0 −1 − 5𝑖 0 0 1 0 0 −1 − 5𝑖 0 0 1 0
0 0 0 1 0 0 0 0 0 1 0 0
8 0 0 3 − 5𝑖 0 1 0 0 0 3 − 5𝑖 0 1
(𝐶5 ×(−20−10𝑖)+𝐶1 )→𝐶1 1 0 0 0 0 0 (𝐶6×(−8)+𝐶1)→𝐶1 1 0 0 0 0 0
→ →
−3 + 5𝑖 1 0 0 0 0 −3 + 5𝑖 1 0 0 0 0
0 0 1 0 0 0 0 0 1 0 0 0
0 0 −3 + 5𝑖 1 0 0 0 0 −3 + 5𝑖 1 0 0
−20 − 10𝑖 0 −8 0 1 0 −20 − 10𝑖 0 −8 0 1 0
[ 0 0 −8 − 30𝑖 0 0 1] [ −8 0 −8 − 30𝑖 0 0 1]
0 1 0 0 0 0
0 −1 − 5𝑖 0 0 1 0
0 0 0 1 0 0
0 0 0 3 − 5𝑖 0 1
1 0 0 0 0 0
→
−3 + 5𝑖 1 0 0 0 0
0 0 1 0 0 0
0 0 −3 + 5𝑖 1 0 0
−20 − 10𝑖 0 −8 0 1 0
[ −8 0 −8 − 30𝑖 0 0 1]
1 0
−3 + 5𝑖 0
0 1
kernel (𝑆(−3 + 5𝑖)) = span ,
0 −3 + 5𝑖
−20 − 10𝑖 −8
{[ −8 ] [−8 − 30𝑖]}
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

1 0
−3 − 5𝑖 0
0 1
kernel (𝑆(−3 − 5𝑖)) = span ,
0 −3 − 5𝑖
−20 + 10𝑖 −8
{[ −8 ] [−8 + 30𝑖]}

9
−9
𝑉⃗⃗ 8
For 𝜆1 = −1: 𝛼1 = 1, 𝛼2 = 0 (Selection) { 1 } =
𝑞⃗1 −8
−19
[ 0 ]

1
−3 + 5𝑖
𝑉⃗⃗ 0
For 𝜆2 = −3: 𝛼1 = 1, 𝛼2 = 0 (Selection) { 2 } =
𝑞⃗2 0
−20 − 10𝑖
[ −8 ]

1
−3 − 5𝑖
𝑉⃗⃗ 0
For 𝜆3 = −4: 𝛼1 = 1, 𝛼2 = 0 (Selection) { 3 } =
𝑞⃗3 0
−20 + 10𝑖
[ −8 ]

−33
165
𝑉⃗⃗4 −8
For 𝜆4 = −5: 𝛼1 = 1, 𝛼2 = 0 (Selection) { } =
𝑞⃗4 40
−365
[ 0 ]

9 1 0 −33 −1
[𝐾] = −[𝑞⃗1 ⃗⃗1 ⃗⃗2 ) 𝐼𝑚(𝑉
⃗⃗3 ) ⃗⃗4 ]
−1 −19 −20 10 −365 −9 −3 −5 165
𝑅𝑒(𝑞⃗2 ) 𝐼𝑚(𝑞⃗3 ) 𝑞⃗4 ][𝑉 𝑅𝑒(𝑉 𝑉 = −[ ][ ]
0 −8 0 0 8 0 0 −8
−8 0 0 40
26 2 −2.875 −21.75
=[ ]
8 0 −3 6

• Initial Condition
Assuming:

1
𝑋⃗(0) = [1]
2
2
MATLAB Program
clc
clear
close
A = [0 1 0 0;-8 -4 8 0;0 0 0 1;8 0 -8 0];
B = [0 0;1 0;0 0;0 1];
K = [26 2 -2.875 -21.75;8 0 -3 6];
t =0:0.01:10;
X0 = [1;1;2;2];
for i = 1:length(t)
X(:,i) = expm((A-(B*K))*t(i))*X0;
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

end
sys = ss(A-(B*K),eye(4),eye(4),eye(4));
X = initial(sys,[1;1;2;2],t);
X1 = [1 0 0 0]*X';
X2 = [0 1 0 0]*X';
X3 = [0 0 1 0]*X';
X4 = [0 0 0 1]*X';
f1 = -K(1,:)*X';
f2 = -K(2,:)*X';
figure(1);
%States
subplot(2,1,1)
plot(t,X1,'LineWidth',0.8)
set(gca,'TickLabelInterpreter','latex','FontSize',8);
title('${x_1(t)\to0}$','interpreter','latex','FontSize',12)
xlabel('${t(s)}$','interpreter','latex','FontSize',10)
ylabel('${x_1(t)}$','interpreter','latex','FontSize',10)
grid on
subplot(2,1,2)
plot(t,X3,'LineWidth',0.8)
set(gca,'TickLabelInterpreter','latex','FontSize',8);
title('${x_2(t)\to0}$','interpreter','latex','FontSize',12)
xlabel('${t(s)}$','interpreter','latex','FontSize',10)
ylabel('${x_2(t)}$','interpreter','latex','FontSize',10)
grid on
figure(2);
%Control Signal
subplot(2,1,1)
plot(t,f1,'LineWidth',0.8)
set(gca,'TickLabelInterpreter','latex','FontSize',8);
xlabel('${t(s)}$','interpreter','latex','FontSize',10)
ylabel('${f_1(t)}$','interpreter','latex','FontSize',10)
grid on
subplot(2,1,2)
plot(t,f2,'LineWidth',0.8)
set(gca,'TickLabelInterpreter','latex','FontSize',8);
xlabel('${t(s)}$','interpreter','latex','FontSize',10)
ylabel('${f_2(t)}$','interpreter','latex','FontSize',10)
grid on
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

IV) Assume that the control objective is to achieve 𝑥1,𝑑 (𝑡) = −1𝑚 and 𝑥2,𝑑 (𝑡) = 2𝑚.
Design appropriate state feedback control laws. Then simulate the system in time
domain and present 𝑥1 (𝑡), 𝑥1 (𝑡), 𝑓1 (𝑡)and 𝑓2 (𝑡). Consider zero initial conditions and
place the CL poles wherever you want.
Solution:
0 1 0 0 0 0
−8 −4 8 0 [𝐵] = [1 0 [𝐶] = [1 0 0 0
[𝐴] = [ ], ], ]
0 0 0 1 0 0 0 0 1 0
8 0 −8 0 0 1

0 1 0 0 0 0 0 0
−8 −4 8 0 0 0 1 0
0 0 0 1 0 0 0 0 1 0 0 0 0 0
[𝐴̅] = , ̅
[𝐵] = , [𝐶̅ ] = [ ]
8 0 −8 1 0 0 0 1 0 0 1 0 0 0
−1 0 0 0 0 0 0 0
[0 0 −1 0 0 0] [0 0]
−𝜆𝑖 1 0 0 0 0 0 0
−8 −4 − 𝜆𝑖 8 0 0 0 1 0
0 0 −𝜆𝑖 1 0 0 0 0
𝑆̅(𝜆𝑖 ) = [[𝐴̅] − 𝜆𝑖 [𝐼] [𝐵̅ ]] =
8 0 −8 1 − 𝜆𝑖 0 0 0 1
−1 0 0 0 −𝜆𝑖 0 0 0
[ 0 0 −1 0 0 −𝜆𝑖 0 0]

5 ⁄7 − 4 ⁄7
1 1 0 0 0 0 0 0 − 5 ⁄7 4 ⁄7
−8 −3 8 0 0 0 1 0 4 ⁄7 − 5⁄14
0 0 1 1 0 0 0 0 − 4 ⁄7 5⁄14
𝑆̅(−1) = → ker (𝑆̅(−1)) = span ,
8 0 −8 2 0 0 0 1 5 ⁄7 4 ⁄7
−1 0 0 0 1 0 0 0 4 ⁄7 5⁄14
[0 0 −1 0 0 1 0 0] −1 0
{[ 0 ] [ −1 ]}
5⁄12 1 ⁄3
2 1 0 0 0 0 0 0 −5⁄6 −2⁄3
−8 −2 8 0 0 0 1 0 1 ⁄3 1 ⁄6
0 0 2 1 0 0 0 0 −2⁄3 − 1 ⁄3
𝑆̅(−2) = → ker (𝑆̅(−2)) = span ,
8 0 −8 3 0 0 0 1 5⁄24 1 ⁄6
−1 0 0 0 2 0 0 0 1 ⁄6 1⁄12
[0 0 −1 0 0 2 0 0] −1 0
{[ 0 ] [ −1 ]}

− 7 ⁄3 4 ⁄3
3 1 0 0 0 0 0 0 7 4
−8 −1 8 0 0 0 1 0 − 4 ⁄3 5 ⁄6
0 0 3 1 0 0 0 0 4 5 ⁄2
𝑆̅(−3) = → ker (𝑆̅(−2)) = span ,
8 0 −8 4 0 0 0 1 − 7 ⁄9 − 4 ⁄9
−1 0 0 0 3 0 0 0 −4⁄9 − 5⁄18
[0 0 −1 0 0 3 0 0] −1 0
{[ 0 ] [ −1 ]}
 To His Name
Advanced Control Tutor: Dr. Hamid Moeenfard
Problem set #6 Amid Gholampour | 4001322045

− 7⁄40 −1⁄20
4 1 0 0 0 0 0 0 7⁄10 1 ⁄5
−8 0 8 0 0 0 1 0 − 1⁄20 −1⁄20
0 0 4 1 0 0 0 0 1 ⁄5 1 ⁄5
𝑆̅(−4) = → ker (𝑆̅(−4)) = span ,
8 0 −8 5 0 0 0 1 − 7⁄160 − 1⁄80
−1 0 0 0 4 0 0 0 −1⁄80 − 1⁄80
[0 0 −1 0 0 4 0 0] −1 0
{[ 0 ] [ −1 ]}
− 19⁄215 −4⁄215
5 1 0 0 0 0 0 0 19⁄43 4⁄43
−8 1 8 0 0 0 1 0 − 4⁄215 −13⁄430
0 0 5 1 0 0 0 0 4⁄43 13⁄86
𝑆̅(−5) = → ker (𝑆̅(−5)) = span ,
8 0 −8 6 0 0 0 1 − 19⁄1075 − 4⁄1075
−1 0 0 0 5 0 0 0 −4⁄1075 − 13⁄2150
[0 0 −1 0 0 5 0 0] −1 0
{[ 0 ] [ −1 ]}

−25⁄468 −1⁄117
6 1 0 0 0 0 0 0 25⁄78 2⁄39
−8 2 8 0 0 0 1 0 − 1⁄117 −5⁄234
0 0 6 1 0 0 0 0 2⁄39 5⁄39
𝑆̅(−6) = → ker (𝑆̅(−6)) = span ,
8 0 −8 7 0 0 0 1 − 25⁄2808 − 1⁄702
−1 0 0 0 6 0 0 0 −1⁄702 − 5⁄1404
[0 0 −1 0 0 6 0 0] −1 0
{[ 0 ] [ −1 ]}