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Unformatted text preview: CALIFORNIA INSTITUTE OF TECHNOLOGY Control and Dynamical Systems CDS 101 D. G. MacMynowski Fall 2009 Problem Set #4 Issued: 19 Oct 09 Due: 26 Oct 09 Note: In the upper left hand corner of the second page of your homework set, please put the number of hours that you spent on this homework set (including reading). 1. Astr om and Murray, Exercise 6.12 Download the file bike_linmod.m from the course web-site, which contains the parameters for the bicycle and generates the matrices M , C , K and K 2 in Eq. (3.7) of the text. Find the controller gains corresponding to choosing the final pair of complex poles at- 1 i as stated in the text, and also with these poles at- 2 2 i and- 5 5 i . Remember to solve for the reference gain k r as well! For each case, simulate the response to a step change in the steering reference of 0.002rad and plot both the steering angle output and the torque command. CALIFORNIA INSTITUTE OF TECHNOLOGY Control and Dynamical Systems CDS 110a D. G. MacMynowskiD....
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- Fall '09