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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 δ and the torque command. CALIFORNIA INSTITUTE OF TECHNOLOGY Control and Dynamical Systems CDS 110a D. G. MacMynowskiD....
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- Fall '09
- Trigraph, Complex number, D. G. MacMynowski, G. MacMynowski Fall