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1 Exerccios do Ogata
34
Captulo 1
Exerccios do Ogata
Exerccios dos Captulos 12 e 13:
1. Capitulo 12: Questes B-12-3, B-12-10;
2. Capitulo 13: Questes B-13-13, B-13-14.
1.1
0
A=4 0
1
3
2 3
0
0
1 5 e B = 4 1 5:
6
1
1
0
5
M=
5
32
1
0
0
0
1 54 1
5
6
1
2
0
1
0
A2 B = A(AB) = 4 0
1
5
3
1
5=4 1 5
11
32
3 2
3
0
1
1
1 5 4 1 5 = 4 11 5 :
6
11
60
0
AB = 4 0
1
bn
an j b n
an
j b2
a2 j b 1
a2
= s +
com os polos
da frmula
0
i s.a
1 )(s
b 1 sn 1
2 ) : : : (s
n)
+ : : : + bn 1 b + bn
onde
an
an
..
.
6
2
6
6
W =6
6
4 a1
1
an
an
..
.
1
0
2
3
a1
1
..
.
0
0
1
0
..
.
7
7
7
7
7
0 5
0
onde
B AB
M=
An 1 B
b3
a3 j b 2
a2 j b 1
a1
com
T = M
2W
0
= 4 1
1
1
1
11
32
3
1
a2 a1 1
11 5 4 a1 1 0 5 :
60
1 0 0
= det(sI A)
= s3 + 6s2 + 5s + 1:
=4
12
83
1
83
7
83
1
83
7
83
34
83
1
83
7
83
49
83
5:
b3
a3 b 2
a2 b 1
200
1 60
2389
83
458
83
206
83
5 14
:
a1
T
2
6 4
1
12
83
1
83
7
83
1
83
7
83
34
83
1
83
7
83
49
83
3
5
02
3 2
s 0 0
0
1
@
4
5
4
0 s 0
0
0
BK (s) = det
0 0 s
1
5
2
s
1
0
4
k1
s + k2
k3 1
= det
k1 + 1 k2 + 5 s + k3 + 6
3 2 3
1
0
0
1 5 + 4 1 5 k1 k2 k3 A
6
1
3
5
= s3 + (6 + k3 + k2 )s2 + (5 + k1 + 7k2
5k3 )s + 7k1
k3 + 1:
A BK (s)
(s),
s3 +14s2 +60s+200;
resultando no sistema:
8
<
cuja soluo k1 =
ganho K ser
6 + k3 + k2 = 14
5 + k1 + 7k2 5k3 = 60
:
7k1 k3 + 1 = 200
8
k3 + k2 = 8
<
k1 + 7k2 5k3 = 55
:
7k1 k3 = 199
2389
; k2
83
K=
2389
83
458
; k3
83
206
.
83
458
83
206
83
Portanto a matriz de
B AB A2 B
0 0 1
K=
(A)
onde
(A) = A3 +
1A
2A
3I
j4)(s + 10)
resultando em
(s) = s3 + 14s2 + 60s + 200:
Assim
a1 = 14; a2 = 60 e
= 200:
Ento
(A) = A3 + 14A2 + 60A + 200I:
Mas
2
0
4 0
1
1
0
5
33
2
0
0
5
4
1
0
+14
6
1
e por conseguinte
1
0
5
32
2
0
0
5
4
1
0
+60
6
1
3
199 55
8
(A) = 4 8 159 7 5 :
7
43 117
1
0
5
3
2
3
0
1 0 0
1 5+200 4 0 1 0 5
6
0 0 1
10
B AB A2 B
0
= 4 1
1
61
83
71
83
12
83
=4
1
1
11
3
1
11 5
60
71
83
1
83
1
83
12
83
1
83
1
83
5:
0 0 1
B AB A2 B
0 0 1 4
61
83
71
83
12
83
71
83
1
83
1
83
12
83
1
83
1
83
K=
458
83
(A)
32
3
199 55
8
5 4 8 159 7 5
7
43 117
206
83
3
2 3
1 0
0
5
4
0 1 ;B = 0 5 e C =
6 0
1
0
4
0
A=
5
1 0 0 :
10;
10 e
15:
11
Agora
Aa = A
Ke C
ou seja,
2
0
4
0
Aa =
5
2
= 4
3
1 0
0 1 5
6 0
k1
k2
k3
3
k1
4 k2 5 1 0 0
k3
3
1 0
0 1 5:
6 0
(s);
ou seja,
s3 + k1 s2 + (k2 + 6)s + 6k1 + k3 + 5
resultando no sistema
8
<
k1 = 35
k2 + 6 = 400
:
6k1 + k3 + 5 = 1500
8
k1 = 35
<
k2 = 394
:
6k1 + k3 + 5 = 1500
x = (A
Ke C)x + Bu + Ke y:
12
6 x1 7 2
6
7
6 ~ 7 4
6 x 7=
6 2 7
4
5
~
x3
35
394
1290
2 3
2
3
1 0 6 x1 7
0
35
~ 7
4 5
4 394 5 y:
0 1 56
4 x2 5 + 0 u +
~
6 0
1
1285
x3
0 1
0 0
x1
x2
0
1
BKx = (A
0 1
0
0 0
1
x =
0 1
0 0
x =
0
k1
BK)x
k1 k2
0 0
k1 k2
1
k2
= x (0)Sx(o)
13
(A
em que R = 1 e Q =
0
1
k1
k2
1 0
0
BK) + Q + K T RK = 0
: Logo:
S1 S2
S 1 S2
+
S2 S3
S 2 S3
0
k1
1
1 0
k12
k1 k 2
+
+
k2
0
k1 k 2
k22
=0
de modo que
S1
k12 2S2 k1 + 1
S 1 S2 k 2 S3 k 1 + k 1 k 2
S2 k2 S3 k1 + k1 k2 k22 2S3 k2 + + 2S2
=0
resultando no sistema
8
<
k12 2S2 k1 + 1 = 0
S 1 S2 k 2 S3 k 1 + k 1 k 2 = 0
:
k22 2S3 k2 + + 2S2
Agora,
J = xT (0)Sx(0)
x1 (0) x2 (0)
=
h
"
k12 +1
2k1
k1 k22 +k12 + k1 +1
2k1 k2
x1 (0)
x2 (0)
i
x1 (0)
x2 (0)
1 + k12 2
k1+ k12 + k22 + k13
1 + k12
1 + k1 + k12 + k1 k22 2
=
x1 (0) +
x1 (0)x2 (0) +
x1 (0)x2 (0) +
x2 (0)
2k1
2k1 k2
2k1
2k1 k2
1 + k12 2
k1 + k2 + k12 k2 + k13 + k22 + k12
1 + k1 + k12 + k1 k22 2
x1 (0) +
x1 (0)x2 (0) +
x2 (0):
=
2k1
2k1 k2
2k1 k2
1+k12
x (0)
2k1 1
1+k12
x (0)
2k1 1
14
@J
@k1
=0e
@J
@k2
= 0; ou seja:
@ (J))
=
@k1
@ (J))
=
@k2
k2
x1 (0)x2 (0) +
k12 1
2k12 k22
x22 (0) = 0
de modo que
>
2:
04) B-13-14 Considere-se o problema do pndulo invertido mostrado na Figura 1212. (Referir-se Seo 12-4. O diagrama de blocos mostrado na
Figura 12-2). Deseja-se projetar um sistema de controle que manter
o pndulo invertido numa posio vertical em presena de distrbios
em termos do ngulo e/ou da velocidade ngular : O sistema de
controle deve retornar o carrinho a sua posio de referncia ao m de
cada processo de controle.(No h sinal de referncia para o carrinho).
As equaes do sistema so dadas pelas equaes no espao de estados
x = Ax + Bu
onde
2
0
6 20:601
A=6
4
0
0:4905
1
0
0
0
0
0
0
0
0
0
6
6 1 7
0 7
7;B = 6
7 eu=6
6
4 0 5
1 5
4 x
0
0:5
x
7
7
7:
5
Kx:
K=
k12 1
2k12 k2
x22 (0) =
100
6 0
Q=6
4 0
0
0
1
0
0
0
0
1
0
15
3
0
0 7
7 ; R = 1:
0 5
1
versus t;
04) Soluo B-13-14 Determinao da matriz de retroao K que minimiza o ndice de desempenho J :
>>
>>
>>
>>
>>
A = 0 1 0 0 ; 20:601 0 0 0 ; 0 0 0 1 ; 0:4905 0 0 0 ];
B = [0; 1; 0; 0:5];
Q = 100 0 0 0 ; 0 1 0 0 ; 0 0 1 0 ; 0 0 0 1 ];
R = 1;
[K; S] = lqr(A; B; Q; R)
K=
54:0554
11:8079
1:0000
2:7965
=
Kx
54:0554
=
= 5:4055:
11:8079
1:0000
2:7965
0:1 0 0 0
16
Captulo 2
Exerccios Chen Cap 8
Questes: 8.7 e 8.13
Selecione
Se K =
Se K =
2.1
1
0
1
0
0
0
0
0
1
0
0
1
0
0
0
0
4
6 3
F =6
4 0
0
)K=
)K=
3
4
0
0
0
0
5
4
3
0
0 7
7
4 5
5
2 0 0 x
A) 1 b
18
3
1 0 0
2 0 0 @s 4 0 1 0 5
0 0 1
2
s 1
1
4
2 0 0
0
s 1
0
0
s
gb(s) =
=
1
s2 2s+1
1
s 1
1
s 1
2 0 0
0
0
31 1 2 3
1 1
2
1
4 0 1 1 5A 4 0 5
0 0 1
1
3 12 3
2
1
5
4
1
0 5
1
1
2 3
1
2
3
2
1
(s 1)
(s 1)
1
4
0 5
s2 2s+1
1
1
s 1
de modo que
gb(s) =
de modo que
ou seja,
gbf (s) =
2s2 8s + 8
+ 2s + 3
:
=
s3 3s2 + 3s 1
s3 + 1 s2 + 2 s + 3
|
{z
}
1s
A (s)
A + bk) 1 b
0 2
3
1 0 0
2 0 0 @s 4 0 1 0 5
0 0 1
ou melhor
gbf (s) =
1s
1 1
4 0 1
0 0
2 3 31
2
1
4
1 + 0 5 k 5A
1
1
3
1
4 0 5
1
+ 2s + 3
s + 1 s2 + 2 s + 3
|
{z
}
3
(s)
onde (s) o polinmio caracterstico desejado. Como os polos desejados so 2 e 1 j; ento o polinmio caracterstico desejado ser
(s) = (s + 2)(s + 1 + j)(s + 1
= (s + 2)(s2 + 2s + 1 + 1)
= s3 + 4s2 + 6s + 4:
e
gbf (s) =
2s2 8s + 8
s3 + 4s2 + 6s + 4
j)
19
O ganho p ser:
4
= 0:5:
8
3
Finalmente vamos encontrar a matriz de ganho k: Para isso vamos
forar a identiadade polinomial
p=
A bk (s)
(s):
Ento
s3 +(k1 +k3 3)s2 +(3 4k1 +k2 2k3 )s+4k1 k2 +k3 1
s3 +4s2 +6s+4
resultando no sistema
8
<
k1 + k3 3 = 4
3 4k1 + k2 2k3 = 6
:
4k1 k2 + k3 1 = 4
8
k 1 + k3 = 7
<
4k1 + k2 2k3 = 3
:
4k1 k2 + k3 = 5
20
6
F =6
4
0
0
4
6 3
F =6
4 0
0
Sejam
0
6 0
A=6
4 3
2
0
0
1
0
1
1
0
1
2
0
4
3
4
0
0
3
0
0 7
7:
5
2
0
0
3j e
3
0
0 7
7
4 5
5
0
0
5
4
3
2
0
0 0
6 0 0
0 7
7 eB=6
4 1 2
3 5
0
0 2
4
6 3
F =6
4 0
0
j3; 5
3
4
0
0
3
7
7
5
0
0
5
4
3
0
0 7
7
4 5
5
e
K1 =
1 0 1 0
0 0 0 0
21
a= 0 1 0 0 ; 0 0 1 0 ; 3 1 2 3 ; 2 1 0 0
b= 0 0 ; 0 0 ; 1 2 ; 0 2 ;
4 3 0 0 ; 3
4 0 0 ; 0 0
5 4 ; 0 0
f=
kb = 1 0 1 0 ; 0 0 0 0 ;
t = lyap(a; f; b kb);
k = kb inv(t)
62:500 147:000 20:000 515:5000
ans k =
0
0
0
0
>>
>>
>>
>>
>>
>>
Agora temos:
4
6 3
F =6
4 0
0
K2 =
3
4
0
0
0
0
5
4
5 ;
5 ;
3
0
0 7
7
4 5
5
1 0 0 0
0 0 1 0
22
Captulo 3
Exerccios Optimal Control and
Opt. Obs.
Captulo 4 questes 4.4, 4.5, 4.7, 4.8, 4.10.
3.1
0 1
0 2
xT
x+
0
1
u;
1 0
0 0
x + 4u2 dt
tf
(xT Qx + uT Ru)d
onde
Q = QT
0 e R = RT > 0
dada por:
S(t)A + AT S(t) + Q
S(t)BR 1 B T S(t) = 0:
0 1
0 2
S1 S 2
S2 S 3
0 1
0 2
+
0
1
S 1 S2
1 0
+
S 2 S3
0 0
T
0
S1 S 2
1
S2 S 3
0 0
0 0
de modo que
S1 S 2
S2 S 3
0 1
0 2
S1 S 2
S2 S 3
+
0
1
0 0
1 2
1
4
1 0
S 1 S2
+
S 2 S3
0 0
S1 S2
0 1
S2 S3
0 0
0 0
ou melhor:
1 41 S22
S1 + 2S2 14 S2 S3
S1 + 2S2 14 S2 S3
1 2
S + 4S3 + 2S2
4 3
0 0
0 0
Portanto a equao algbrica matricial de Ricatti com custo opercional dado, ser
4 S22
4S1 + 8S2 S2 S3
4S1 + 8S2 S2 S3 S32 16S3 8S2
0 0
0 0
25
ou seja:
p
2 3
2p
2 8 4 3
ou p
2 3 p 2
2 4 3+8
ou p
2p
2 5
2
8 4 5
ou p
2 5
2p
:
2 8+4 5
S =
S =
S =
S =
4: 472 1
2:0
2:0
16:944
1
=
4
p
2 5
2p
2 8+4 5
0 1
p
5+2 x
1
2
u =
4
6 3
x=6
4 1
0
2
7
0
4
0
0
3
7
3
2
9
0
7
6
8 7
6
x+6
4 0
0 5
1
1
3
2
0 7
7u
0 5
9
2
Z 1
B T6 3
Bx 6
J=
@ 4 0
0
0
3
5
0
0
0
0
9
2
3
0
0 7
7 x + uT
2 5
1
4 2
2 6
C
uC
A dt
SBR 1 B T S = 0
27
S1
6 S2
6
4 S3
S4
S1
6 S2
6
4 S3
S4
S2
S5
S6
S7
S2
S5
S6
S7
32
S3 S4
4
6 3
S6 S7 7
76
S8 S9 5 4 1
S9 S10
0 2
32
S3 S4
6
S 6 S7 7
76
S 8 S9 5 4
S9 S10
2
7
0
4
2
6 3
+6
4 0
0
3
0
2
6 0 7
7
0
0 5
1
9
3
5
0
0
0
0
3
7
0
0
9
2
4 2
2 6
k
0
3 2
9
6
8 7
7+6
5
4
0
1
3
0
0 7
7
2 5
1
2
0
1
6 6
6
4 0
1
4
3
1
0
2
7
0
4
3T
9
8 7
7
0 5
1
0
0
3
7
3T 2
2
S1
7
6
0 7 6 S2
0 5 4 S3
9
S4
S2
S5
S6
S7
resultando sucessivamente:
2
7S4 9S1
7S7 9S2
7S9 9S3
7S10 9S4
3 0
0
5 0
0
0 9
2
0
2 1
0
2
3
7
7
5
3
8S2 + S4
8S5 + S7 7
7+
8S6 + S9 5
38S7 + S10
7
7+
5
6 0
0 0
1
9
3
S3 S 4
S6 S 7 7
7
S8 S 9 5
S9 S10
4S1 + 3S2
6 4S2 + 3S5
6
4 4S3 + 3S6
4S4 + 3S7
6S2
6 6S5
6
4 6S6
6S7
S4
S7
S9
S10
3
8S2 + S4
8S5 + S7 7
7+
8S6 + S9 5
8S7 + S10
7S4 9S1
7S7 9S2
7S9 9S3
37S10 9S4
7
7+
5
6
5
19
10
S1
6 S2
6
4 S3
S4
3
S3 S 4
S6 S 7 7
7
S8 S 9 5
S9 S10
S2
S5
S6
S7
e
2
9S2
5
6S4
5
2S1
5
3S2
5
S1
5
19S4
10
6S7
5
2S2
5
9S5
5
3S5
5
S2
5
19S7
10
3S3
3S6
3S8
3
2S1
2S2 7
7
2S3 5
2S4
9S6
5
7S7
7S9 + 12
3S9
6S9
5
2S3
5
7S4
9S1 8S2
+S4
9S2 8S5
+S7 + 4
9S3 8S6
+S9 9
9S4 8S7
+S10 + 2
3S6
5
7S10
S3
5
19S9
10
6S10
5
9S7
5
S4
5
2S4
+ 3S5 7
5
19S10
10
k
0
3
7
7
5
7
7
7
7
7
7+
7
7
7
7
5
29
b. Utilizando o MATLAB:
2 0 9 ; 3 7 0
8 ; 1 0 3 0 ; 0 4
7 1 ;
A= 4
B= 0 2 ; 6 0 ; 0 0 ; 1 0 ;
2 ; 0 0
2 1 ;
Q= 2 3 0 0 ; 3 5 0 0 ; 0 0 9
R= 4 2 ; 2 6 ;
[K; S] = lqr(A; B; Q; R)
4:4663
4:0314 8:6589
4:7444
> > K=
7:2795
2:6035
20:2255 8:0374
3
2
17:3721
3:7790
52:0176 19:3680
6 3:7790
2:5993
8:6894
4:6775 7
7
> > S=6
4 52:0176
8:6894 205:5806
57:9519 5
19:3680
4:6775
57:9519 25:1622
>
>
>
>
>
>
>
>
>
>
4:4663
7:2795
4:0314
2:6035
8:6589
20:2255
4:7444
8:0374
0 1
0 0
x+
0
1
u;
xT
1 0
0
x + u2 dt:
seja minimizado.
0 1
0 0
S1 S2
S2 S3
2; logo
+
0 1
0 0
0
1
( 12 )
k
0
1
0
S 1 S2
+ 2
0 2
S 2 S3
T
0
S1 S2
1
S2 S3
x:
0 1
0 0
S1 S2
S2 S3
0 0
1 0
+
0
1
1
S 1 S2
0
+ 2
S 2 S3
0 2
S1 S 2
0 1
S2 S 3
k
0
1
2
S1
S1
+ 2S2
1
2
2S22
2S2 S3
2S2 S3
2S32
=0
S1
resultando no sistema
2S22
2S2 S3
8
<
:
S1 2S2 S3
2S32 + 12 + 2S2
=0
S22 = 41
S1 2S2 S3 = 0
:
2
4S3 + + 4S2 = 0
S3 = 0;
2 = 0:
Assim
S1 = S3 e S1 = S3 =
Logo
S=
"
+2
2
1
2
1
p2
+2
2
+2
:
2
#
31
Logo,
2
e
+2
2
+2 1 1
0
2
2 2
p
2
+2
1
4
4
esta ltima igualdade resulta na equao modular:
j + 2j
1 ou
+2
cuja soluo
+2
e com isso:
2e(
1 ou
3)
Portanto se S2 = 21 ; ento
1:
:
Analisando o segundo caso, ou seja, se S2 = 12 ento
p
2
:
S1 = S3 =
2
Logo
" p
#
2
S=
1
2
1
p 2
3 ou
1)
1
::
2
3 caso S2 =
10) 4.8 Para o seguinte problema LQR, escrever a equao de Ricatti e para
realimentao correspondente. Sob que condies (em ) o controle
timo existe?
x =
J =
1
2
1
0
Z
3
2
1
x+
xT x + uT Ru dt
1
0
3
2
2; logo
+
S1 S 2
S2 S 3
1
0
3
2
( 12 )
S1 S 2
+
S2 S 3
T
2
S 1 S2
S 2 S3
1
2
0
1
2
k
0
que sucessivamente teremos:
S1 S2
S2 S3
S1
S2
1
1
3
1 0
S1 S 2
0
+
+ 2 1
0 2
3 2
S2 S 3
0 2
S 1 S2
S2
2
2
( 21 ) 1
S 2 S3
S3
k
0
1
0
2S1
3S2 3S1
+ 2 1
0 2
3S2 3S1 4S3 6S2
2S1 + S2
2S1 + S2 2S2 + S3
2
2S2 + S3
k
0
3S2 3S1
2S1 + 21
3S2 3S1 4S3 6S2 + 21
2S1 + S2
4S1 + 2 S2 4S2 + 2 S3
2S2 + S3
k
0
Portanto a equao de Ricatti na forma matricial ser:
2
3S2 3S1 8S1 S2 4 S22
1
2
2 2
+
2S
+
8
S
S
8S
2
S
1
2
1
2
1
2
6
2 2 S2 S 3 4 S 1 S 3
6
4
2 2 S32 8 S2 S3 8S22
3S2 3S1 8S1 S2 4 S22 2 2 S2 S3 4 S1 S3
6S2 + 4S3 + 21
k
0 0
:
0 0
Resultando em
8
2 2 S22 8 S1 S2 8S12 + 2S1 = 12
<
3S2 3S1 8S1 S2 4 S22 2 2 S2 S3 4 S1 S3 = 0
:
2 2 S32 8 S2 S3 8S22 6S2 + 4S3 = 12
3
7
7
5
33
onde os ruidos
x =
2
1
y =
1 3 x+
4
3
x+
1
3
u+
satisfazem as equaes
E[
E[ (t) (
E[
E[ (t) (
(t)]
)T ]
(t)]
)T ]
= 0
=
(t
= 0
=
(t
);
); m
n
m
com
3 2
2 7
= 17:
=
U AT + AU +
U1 U2
U2 U3
U1
U2
2
1
U2
U3
4
3
U CT
2
1
+
1 3
4
3
17
CU = 0
U1 U2
3 2
+
U2 U3
2 7
U1 U2
1 3
U2 U3
k
0
que sucessivamente teremos:
U1 U2
U2 U3
3 2
2 7
2
1
4
3
U1 U2
U2 U3
+
1
3
k
0
2
4
1
17
1
3
U1 U2
+
U2 U3
U1 U2
1 3
U2 U3
"
4U1 + 2U2 + 3
U3 U2 4U1 + 2
U3 U2 4U1 + 2
7 6U3 8U2
3U22
17
9U 2
U12
1 U2
+ 6U17
+ 172
17
3U22
1 U2
1 U3
2 U3
+ U17
+ 3U17
+ 9U17
17
U1 U2
17
U22
17
3U1 U3
2 U3
+ 9U17
17
2
9U
6U2 U3
+ 173
17
k
0
de modo que
2
6
6
6
4
U12
6U1 U2
17
17
U3
U2
+ 4U1
3U22
17
4U1
9U22
17
U1 U2
17
+ 2U2 + 3
3U1 U3
17
9U2 U3
17
+2
3U22
U3 U2 4U1
17
9U2 U3
3U1 U3
+
17
17
U22
6U2 U3
8U2
17
17
6U3 + 7
k
0:
17
68U1 +17U2 17U3 +3U22 +U1 U2 +3U1 U3 +9U2 U3 34
17
k
0:
U1 U2
17
2
9U32
17
3
7
7
7
5