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    Ps 6

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    ps6 (1)

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    Ps 6

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    University of Waterloo

    ECE 484: Digital Control Applications

    Problem Set 6

    October 17, 2024

    Problem 1
    Consider the plant
    2+j 2 j 4
    G[z] = 1 1 + 1 1 + 6
    z 2 + 2 j z 2 2 j z + 5

    with a time step of T = 0.02s. Suppose we want to perform an IOP control design to satisfy the
    following specs:

    • Closed-loop stability.

    • |ess |  0.1.

    • Ts  1.5s.

    • %OS  30%.

    • u  0.3.

    (a) Choose the poles in your simple pole approximation (SPA) of W [z].
    Note: you can repeat this step as needed. Only submit your final choice of poles.

    (b) Write down expressions for the matrices steadyState, step ru, and step ry that you will need
    for your control design.
    Note: you can use the notation {p1 , ..., pm } and {q1 , ..., qn̂ } for the poles of your SPA and of
    the plant, respectively.

    (c) Write down the optimization problem you need to solve for your control design.
    Note: you can assume that the matrices A and b have been calculated, and that the matrices
    steadyState, step ru, and step ry have been calculated by your formulas in step (b).
    Note: you can assume that the variables w, x, and x̂ have already been defined.

    (d) Solve the optimization problem to obtain a closed-loop step response that satisfies all of the
    specs. Then, provide plots of y[k] and u[k] for this closed-loop response.
    Note: you can repeat this step as needed. Only submit the plots for your final design.

    (e) Obtain a controller D[z] that yields the closed-loop step responses you obtained in part (d).

    1
    Problem 2
    This problem introduces another approach to select poles in the SPA of W [z] for the IOP control
    design method. The key idea is that even though the original IOP equations (before the SPA)
    have variables W [z], X[z], and V [z] that lie in an infinite dimensional space, typically there exists
    a solution to the IOP equations that satisfies the specs and has a finite number of poles. We call
    this the ground truth solution. Unfortunately, we do not know the location of the poles of the
    ground truth solution in advance. So, one approach for choosing poles is to select them uniformly
    throughout the unit disk in the hope that they will get close to the poles of the ground truth
    solution, and thereby yield a solution that can still satisfy the specs. Choosing a uniform selection
    of poles over the unit disk is itself a challenging problem, so we obtain an approximately uniform
    pole selection by selecting poles along a spiral as shown in Figure 1, and then taking their complex
    conjugates.

    Figure 1: Spiral Pole Selection

    In particular, if we want m total poles, where m is a positive even number, then we can select
    poles in polar coordinates by the formulas
    s
    i
    ri = rmax m
    2
    p
    ✓i = 2 ⇡i
    pi = (ri , ✓i )
    pi = (ri , ✓i ),

    for i 2 1, ..., m
    2 and rmax 2 (0, 1) the maximum radius desired for the poles (usually selected
    between 0.9 and 1).
    Consider the plant
    1+j 1 j 1
    G[z] = + +
    z 0.2 + 0.3j z 0.2 0.3j z 1.1
    with a time step of T = 0.02s. Suppose we want to perform an IOP control design to satisfy the
    following specs:

    • Closed-loop stability.

    • ess = 0.

    • Ts  1s.

    2
    • %OS  40%.

    • u  0.5.

    (a) Write a MATLAB function that takes as input rmax 2 (0, 1) and an even number of poles m,
    and returns the poles from the spiral and their complex conjugates.

    (b) Using your spiral pole selection function from part (a), repeat steps (a)-(e) from Problem 1
    until you obtain a control design that satisfies the given specs for this problem.

    Problem 3
    Suppose that
    1
    G[z] = .
    z+2
    z+2
    Either (a) find a controller D[z] that yields Tru [z] = z+ 12
    and results in closed-loop stability, or (b)
    show that no such controller D[z] exists.

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