It is proposed that a discrete model of a plant system be identified using an on-line Least Squares system identification method. The sampling period, T, is 1 second. Initially, the discrete transfer function parameters are unknown. However, it is known that the plant may be modelled by the following generalized second order transfer function: G(=) b₁ = -b₂ =²-a₁-a₂ The following discrete input data signal, u(k), comprising of eight values, is applied to the plant: k 1 2 3 4 5 6 7 8 u(k) 1 1 0 0 1 1 0 0 The resulting output response sample sequence of the plant system, y(k), is: 1 2 3 4 5 6 7 8 y(k) 0 0.25 1.20 1.81 1.93 2.52 3.78 4.78 a) Using the input data, and output response of the plant, implement a Least Squares algorithm to determine the following matrices:- i. Output / input sample history matrix (F) Parameter vector (→) ii. In your answer, clearly state the matrix/vector dimensions. Justify the dimensions of the matrices by linking the results to theory. b) Determine the plant parameters a₁, a2, b₁ and b2; hence determine the discrete transfer function of the plant. on the open loop stability of the plant model. Comment [5 Marks] c) Consider the discrete input signal, u(k). In a practical situation, is this a sensible set of values for the identification of the second order plant? Clearly explain the reason for your answer. [5 Marks] Note: Only if you do NOT have an answer to part b), please use the following 'dummy data' for G(z) in the remainder of this question; b₁= 0.3, b2= 0.6, a1= -0.6, a2= -0.2. Hence: G (2)= 0.3z +0.6 2²-0.62-0.2 Please note; this is NOT the answer to part b). You MUST use your answer from b) if possible and this will be considered in the marking. c) It is proposed to control the plant using a proportional controller, with proportional gain, Kp = 1.85. With this controller, determine the closed loop pole locations. Comment on the closed loop stability. Sketch the step response of the closed loop system [5 Marks] d) What measures might you consider to improve; i) the closed loop stability of the system? ii) the transient response characteristic? There is no requirement for simulation work here, simply consider and discuss. [5 Marks] e) What effect would a +10% estimation error in parameter b2 have on the pole location of the closed loop control system? Use Matlab to investigate this possible situation and discuss the results. [10 Marks]

Answers

Answer 1

Output / input sample history matrix (F) Calculation: The first column of F consists of the delayed input signal, u(k). The second column consists of the input signal delayed by one sampling period, i.e., u(k-1). Similarly, the third and fourth columns are obtained by delaying the input signal by two and three sampling periods respectively.

The first row of F consists of zeros. The second row consists of the first eight samples of the output sequence. The third row consists of the output sequence delayed by one sampling period. Similarly, the fourth and fifth rows are obtained by delaying the output sequence by two and three sampling periods respectively.  Thus, the matrix has nine rows to accommodate the nine available samples. Additionally, since the transfer function is of the second order, four parameters are needed for its characterization. Thus, the matrix has four columns. Parameter vector (→) Dimension of →: [tex]4 \times 1[/tex] Justification:

The parameter vector contains the coefficients of the transfer function. Since the transfer function is of the second order, four parameters are needed.   (b) Plant parameters and discrete transfer function The first step is to obtain the solution to the equation The roots of the denominator polynomial are:[tex]r_1 = -0.2912,\ r_2 = -1.8359[/tex]The new poles are still in the left-half plane, but they are closer to the imaginary axis. Thus, the system's stability is affected by the change in parameter b2.

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Related Questions

Show that the free-particle one-dimensional Schro¨dinger
equation for the wavefunc-
tion Ψ(x, t):
∂Ψ
i~
∂t = −
~
2
2m


,
∂x2
is invariant under Galilean transformations
x
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3. Galilean invariance of the free Schrodinger equation. (15 points) Show that the free-particle one-dimensional Schrödinger equation for the wavefunc- tion V (x, t): at h2 32 V ih- at is invariant u

Answers

The Galilean transformations are a set of equations that describe the relationship between the space-time coordinates of two reference systems that move uniformly relative to one another with a constant velocity. The aim of this question is to demonstrate that the free-particle one-dimensional Schrodinger equation for the wave function ψ(x, t) is invariant under Galilean transformations.

The free-particle one-dimensional Schrodinger equation for the wave function ψ(x, t) is represented as:$$\frac{\partial \psi}{\partial t} = \frac{-\hbar}{2m} \frac{\partial^2 \psi}{\partial x^2}$$Galilean transformation can be represented as:$$x' = x-vt$$where x is the position, t is the time, x' is the new position after the transformation, and v is the velocity of the reference system.

Applying the Galilean transformation in the Schrodinger equation we have:

[tex]$$\frac{\partial \psi}{\partial t}[/tex]

=[tex]\frac{\partial x}{\partial t} \frac{\partial \psi}{\partial x} + \frac{\partial \psi}{\partial t}$$$$[/tex]

=[tex]\frac{-\hbar}{2m} \frac{\partial^2 \psi}{\partial x^2}$$[/tex]

Substituting $x'

= [tex]x-vt$ in the equation we get:$$\frac{\partial \psi}{\partial t}[/tex]

= [tex]\frac{\partial}{\partial t} \psi(x-vt, t)$$$$\frac{\partial \psi}{\partial x} = \frac{\partial}{\partial x} \psi(x-vt, t)$$$$\frac{\partial^2 \psi}{\partial x^2} = \frac{\partial^2}{\partial x^2} \psi(x-vt, t)$$[/tex]

Substituting the above equations in the Schrodinger equation, we have:

[tex]$$\frac{\partial}{\partial t} \psi(x-vt, t) = \frac{-\hbar}{2m} \frac{\partial^2}{\partial x^2} \psi(x-vt, t)$$[/tex]

This shows that the free-particle one-dimensional Schrodinger equation is invariant under Galilean transformations. Therefore, we can conclude that the Schrodinger equation obeys the laws of Galilean invariance.

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