SC 620

Assignment-1
Date: Sep 27, 2014
Q1. Comment on the stability of the 22 MIMOprocess shown in Figure.1 with PI control
for the following cases.
1
s+1
y
1
y
2
u
1
u
2
+ +
+ +
- +
+
-
k1

1 +
1
s

r
1
r
2
loop 2
loop 1
Process Interaction Terms
k2

1 +
1
s
1
s+1

s+1

s+1
Figure 1: MIMO Process
i) loop 2 is open,
ii) loop 1 is open,
iii) both the loops are closed and assume k
1
= k
2
= 1.
Q2. A 2 2 process has the following steady state gain matrix,
k =
[
1 k
12
10 1
]
.
Calculate RGA and singular values of k. Use k
12
= 0 as the base case; then calculate
for a small change in k
12
= 0.1. Analyse the system based on this.
Q3. Analyse following systems based on condition number.
a)
G
1
=
[
5 4
3 2
]
,
1
b)
G
2
=
[
87.8 86.4
108.2 109.6
]
.
Q4. Obtain block controllability and block observability realizations of the 2 2 TFM,
H(s) =
[
1
s+1
2
s+1
1
(s+1)(s+2)
1
s+2
]
.
Q5. For a system given by,
x = Ax + Bu,
y = Cx.
Dene,

Q =

CA
r
1
1
B
CA
r
2
1
B
. . .
. . .
CA
r
m
1
B

.
Prove that

Q is invertible.
Q6. Given a plant and its inverse:
G(s) =
1
(s + 1)(s + 2)
[
s + 2 4
2 1
]
,
G
1
(s) =
(s + 1)(s + 2)
6 s
[
1 4
2 s + 2
]
.
Find the decoupler for this plant.
2