Control theory is an interdisciplinary branch of engineering and mathematics that deals with the behavior of dynamical systems with inputs. The external input of a system is called the reference. When one or more output variables of a system need to follow a certain reference over time, a controller ...

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Control theory with state and input constraints

What are some control theory tools for solving problems of the following form?: Given a system model, control input constraints $I$, and control output constraints $O$, what is the largest set ...
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208 views

Physical interpretation of transfer function in control theory

I'm learning about transfer functions in control theory. I'm struggling to find a physical interpretation for the input and output of a transfer function, both of which may be complex numbers. In the ...
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1answer
23 views

A convoluted transfer function (from prof. Dullerud's robust control testbook)

The following proble is from the book: A Course in Robust Control Theory (a convex approach), middle of p. 200 Consider the following general feedback loop: , ie $\dot x(t) = Ax(t) + ...
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17 views

At what frequency should input and read values

I am at the moment trying to identify a system using frequency sweep. I have using matemathica created a frequency sweep as such. ...
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1answer
31 views

Controllability of a system

How can I show that all solutions of $x(t)'=\pmatrix{0&-1\\ 1&0}x(t)+\pmatrix{\cos(t)\\ \sin(t)}u(t)$ are within the area $x_1sin(t)-x_2cos(t)=0$ ?
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2answers
60 views

D - Part in PID doesn't impact steady state error?

Why does the D-part in a PID controller not do any impact on the steady state error. I mean if tries to resist changes, should it not then make it stay at wanted configuration?
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3answers
28 views

transformation of a difference equation

How can I translate the difference equation $$x_{k+3}+4x_{k+2}+3x_{k+1}+x_k=2u_{k+2}$$ into a state-space representation of the following form (A and B are matrices) $$x_{k+1}=Ax_k+Bu_k$$
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45 views

is Lyapunov direct method applicable for infinite dimensional nonlinear system?

after linearize the infinite dimensional system, I have an A matrix in which each element is in terms of the dimension index k. And as k goes to infinity, A matrix has some positive eigenvalue. But if ...
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1answer
45 views

Equal number of poles and zeros for square transfer matrix

In page 10 of this document (MIT Courseware on control) it is stated that since the transfer function is square, there is an equal number of poles and zeros. Does this hold and if so under which ...
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1answer
38 views

The inverse of a state space matrix

First of all, I would like to link this question to another one about the inverse of a state space representation: Inverse of State-space representation I understand the prove as given on the ...
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1answer
24 views

Discrete time state-space

$G = \left[ \begin{array}{c|c} A & B \\ \hline C & D \\ \end{array} \right] = C(zI-A)^{-1}B+D$ Suppose: 1. $A,B,C,D$ are all real matrix. 2. $z = e^{j\theta}$, i.e. $r=1$ for simplicity. 3. ...
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2answers
104 views

How do I determine the transfer function of a plant?

I sitting here with a system which I have to determine the transfer function. The unit receives a velocity and position, and move towards that position with the given velocity. What kind of test ...
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1answer
33 views

BIBO stable but not stabilizable

Consider a system: $$\dot x = \begin{bmatrix}1 & 0\\0 & -1\end{bmatrix}x+ \begin{bmatrix}0\\1 \end{bmatrix}u$$ $$y = \begin{bmatrix}1 & 1\end{bmatrix}y$$ Its transfer function is: ...
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0answers
25 views

How to check if a matrix transfer function is in Hardy-infinity space?

Just like the question says. For instance if I have a matrix transfer function $$\mathbf{G}(s) = \begin{bmatrix}s & -s \\ T & s \\ \end{bmatrix}$$ where $T$ is a positive constant, how can I ...
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1answer
34 views

Is a feedback system with an unstable component and the other component being zero internally stable?

So let's consider a system like I described, say looking like such: Where $K, P_{1}$ and $P_{2}$ are all multivariable transfer function matrices. In this case technically it could be presented as ...
2
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1answer
434 views

Roll PID Control for quadcopter

I'm trying to implement with simulink a PD controller for my quadcopter. I use a simplified model, and for the roll case I have $ I_x * \phi = L $, where L is the roll torque. So, the transfer ...
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1answer
30 views

A $w$ system to stabilize.

I have the following system to be stabilized: \begin{equation} \begin{aligned}\dot{w}=Aw+Bv \\& A=\left( \begin{array}{ccc} 1 & 1 & 2 \\ 1 & 2 & 3 \\ 1 & 2 & 0 \\ ...
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24 views

Oscillations of a feedback interconnection

I have a feedback interconnection described via the following transfer function $G(s)=\frac{1}{s^3+5s^2+6s+1}$ and the nonlinearity $\psi(e)=\text{sgn}(e)$. I have used the describing function method ...
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1answer
32 views

How is an ODE a consistency condition?

I was reading a text on Optimal Control Theory by E. Todorov, when I came accross this passage (on page 10): An ODE is a consistency condition which singles out specific trajectories without ...
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2answers
52 views

What is the largest invariant set?

I think the largest invariant set is on other than $\{x:\dot{x}=0\}$, is this correct, is there other way to establish the largest invariant set? Please give an example.
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1answer
40 views

Is this system stable?

I got this control system with such dynamics: \begin{equation} \dot{x}(t)=-\frac{\partial{H(x)}}{\partial{x}},~H\geq 0,~H(x)=0\Rightarrow x=0 \end{equation} $x(t)$ is a $n$-dimension vector, ...
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1answer
41 views

How to show that the delay margin is zero if the open loop gain $|L(i\infty)| \geq 1$?

How to show that the delay margin is zero if the open loop gain $|L(i\infty)| \geq 1$ ? Where $L(s)$ is the open loop transfer function and the delay margin is the amount of time delay for the system ...
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1answer
19 views

Decibel adjustment on Bode diagram

Say we have the system $G(s) = 1/(s+1)^3$ with break frequency $\omega_b = 1$. Can someone explain to me why we should expect $|G(\omega_b)|$ to be $3$ dB below the low frequency asymptote, rather ...
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2answers
67 views

Why doesn't superposition imply linearity? Why is homogeneity needed?

If I have a function which satisfies superposition I know $f(x_1+x_2)=f(x_1)+f(x_2)$. If I had now an element making f inhomogeneous ($f(0)\neq0$) this element would occur once on the left hand side ...
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1answer
53 views

state-space reduction

I am confused about state-space reduction. I learned it in the class but am not skilled in it. If $A,B,C,D$ matrices are given with values, we can 1. find its controllability matrix to see if ...
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1answer
103 views

State space representation involving derivatives of input

We have the system $y''=-7y'-12y-u'-2u$ If we choose $x_1=y,x_2=y'$ we can write the system as $x'=Ax + Bu \\ y= Cx$ Finding A is easy, but how do I find expressions for $B$ and $C$ when we have ...
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36 views

Does this violate the notion of positive definiteness?

From a previous course in linear algebra, I was taught that a function is positive definite if it satisfies $$\left< \vec x \mid v(\vec x) \mid \vec x\right> > 0 $$ In simpler notation, ...
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2answers
116 views

Geometric interpretation of PBH test

I need to find geometric interpretation of PBH test i.e. for any space X isomorphic to R^n and U isomorphic to R^m. A is a linear operator from X to X and B is a linear operator from U to X. Prove ...
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1answer
49 views

Final value theorem for closed system

We have a system with output given by $\frac{Y(s)}{R(s)} = \frac{F(s)G(s)}{1+F(s)G(s)}$ where $F(s)G(s) = K\frac{s+1}{s^2+s+1}$. Let $K=4$ and $R(s) = 10/s$. Using the final value theorem, ...
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1answer
89 views

Determine bounds for BIBO stable system

Let $\dot{x} = A x + B u$, $y = x$ be a BIBO (bounded input, bounded output) stable system. Given an output bound $y_l \leq y(t) \leq y_h$, how can we determine the maximum input bound $u_l \leq u(t) ...
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21 views

Optimal control with gaussian noise

I would really appreciate some help on this. I know how to solve a scalar linear system, but when it comes to computing the integral of a product between a probability distribution and a function ...
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1answer
39 views

Final value of 1/(( s+2 )² * (s² - s + 1)) in the time domain

The original question is given as $$\frac {d^3y}{dt^3}+y=u=(1-t)e^{-2t}$$ The initial value y(0) = 0 and the same for all derivatives of y. Determine Y(s) What happens to u(t) and y(t) when ...
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1answer
38 views

How to find the $H_2$ norm of MIMO system in matlab

$K$ is given. $A,B_1, B_2, C_1, C_2, D$ are also given. I want to find the following: $P_{11}, P_{12}, P_{21}, P_{22}$ And use the resulte in 1., to find the $H_2$ norm of the system: ...
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82 views

Question about nested conditional expectation.

Question 1: I am interested in finding out, why the following is or is not the case: $\mathbb{E}\left[ \mathbb{E} \left[( X_k|(Y_0,Y_1,...,Y_{k-1}) )|( Y_k|(Y_0,Y_1,...,Y_{k-1}) ...
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0answers
35 views

How to find a partial derivative with respect to a matrix?

Let we have a $2\times2$ matrix $A=\begin{bmatrix}a_1&a_2\\a_3&a_4\end{bmatrix}$, a $1\times2$ matrix $C$, and a $2\times1$ matrix $X$. How can we calculate derivative of $CAX$ with respect to ...
2
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1answer
65 views

What exactly is a random disturbance in control theory?

I'm embarrassed to even ask but... I frequently see this word used in articles about dynamical systems, but not until now have I questioned what it really is. I understand that it is opposite of a ...
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45 views

stabilizable ,detectable and regulator

Assume that $(A_2,B_2)$ is stabilizable and $(C,A)$ is detectable then there exist aregulator if the equation $TA_1-A_2T-B_2V=A_3$ $D_1+D_2T+EV=0$ have solution (T,V).if $A_1$ is antisatable the ...
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1answer
26 views

Kronecker Product and state space

I am reading a paper, and one step of it seems like the following: If $S_1 = $ Then, $I \otimes S_1$ = How to show it? (Suppose dimension of all of them are correct. $I$ is the ...
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1answer
54 views

Multiplication of transfer function

If I have the following: How do I show the following: $P_{11} = G_{11} + G_{12}\hat Y\tilde MG_{21}$ is: I am stuck in this complicated system. Or, the other simpler one: ...
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23 views

transfer matrices times a real-valued matrix in Matlab

I am a beginner in matlab. My question is: I want to do the following thing: where $A,B,C,D$ are all $3 \times 3$ matrices. So the transfer matrix should be a $3 \times 3$ matrix. $K$ is a $3 ...
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1answer
41 views

Is multiplication commutative in the laplace domain?

I'm studying control theory and saw this picture explaining some of the basic rules. My question is if we could also say that Y(s) = (G2(s) * G1(s)) * U(s) Or Y(s) = U(s) * G2(s) * G1(s) I'm ...
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1answer
37 views

Shortest path in the plane under derivative constraint

A colleague posed a toy problem to me today that degenerates to finding the curve y(x) of shortest length than connects two points in the plane (WLOG: y(0) = 0, y(a) = b), such that y'(0) = 0. This ...
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1answer
19 views

Control theory: when does $G(s) = \frac{1}{P_\lambda(A)}$

In other words, under what condition is the system transfer function G(s) = Y(s)/U(s) equivalent to the reciprocal of the characteristic equation of the $A$ matrix in state space realization?
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1answer
28 views

Z-transform and$ H_2$ space

The following is from the preliminaries of a paper. Let $\mathbb{D} = \{z \in \mathbb{C} : |z|<1\}$ be the unit disc of complex numbers. A function $G:(\mathbb{C} \cup \{\infty\})\backslash ...
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1answer
59 views

Transfer function of differential eqaution

I'm trying to find out the transfer function of simple differential equation: $$a_0\dot y + a_1y=b_0x+b_1$$ The problem is i have no idea what to do with $b_1$. If we apply the Laplace transform ...
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1answer
98 views

Transfer function for double cart system

System: Define X2 = Y2; I've described the system with the following diff equation: $$f_{tot} = m_1\ddot{x_1} + k(x_2-x_1)+m_2\ddot{x_2}+B(\dot{x_2}-\dot{x_1})$$ where m1, m2, k and B are Cart ...
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28 views

Does the iteration $e_i^\top x_{t+1} = \max_j e_i^{\top} (\alpha A^j x_{t} + b^j)$ converge?

Given a constant $0 < \alpha < 1$, a matrix $A \in R^{n \times n}$ and a vector $b \in \mathbb{R}^n$, it is well-known that a sufficient condition for the iteration $x_{t+1} = \alpha A x_t + b$ ...
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1answer
59 views

Direct vs Indirect Learning Control

What is the difference between direct and indirect learning control? I found the following comments on direct and indirect control in this paper by Wang, Gao, and Doyle: "Survey on iterative learning ...
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37 views

Upper bound for affine differential equation

Let $\frac{dx}{dt} = a x + b$ be a stable affine differential equation where $a \in \mathbb{R}^-,b \in \mathbb{R}$ and let $c \in \mathbb{R}^-, d \in \mathbb{R}^+$. How can we determine a maximum ...
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1answer
63 views

Understanding controllability indices

I'm teaching myself linear control systems through various online materials and the book Linear Systems Theory and Design by Chen. I'm trying to understand controllability indices. Chen says that ...