Master of Science in Mechanical Engineering (MSME)


Mechanical Engineering

Document Type



This research focused on the problem of minimal norm actuation in the context of partial natural frequency or pole assignment applied to undamped vibrating systems by state feedback control. The result of the research was the closed form solutions for the minimal norm control input and gain vectors. These closed form solutions should took open loop eigenpairs and the desired frequencies of the controlled system and outputted the optimal controller parameters. This optimization technique ensures that the system’s dynamics will be effectively controlled while keeping the controller effort minimal. The controller must then be able to shift only the desired the system poles anywhere in the complex s-plane in order to give the system certain desired characteristics with no spillover. The open loop system dynamics were found by applying a discrete model of the studied vibrating system and then finding the eigenvalue problem associated with the second-order open loop system equations. A first order realization was then performed on the system in order to know its response to certain initial conditions. The system’s dynamics where to be modified via closed loop control. Partial natural frequency assignment was chosen as the control technique so that certain system frequencies could be left untouched to ensure that the system will not respond in an unexpected manner. The control was to be optimized by minimizing the norm of the control input and gain vectors. A closed form solution for these vectors was found in so that these vectors could be simply calculated using an algorithm that takes the open loop eigenpairs and the desired eigenvalues of the system and outputs the two vectors. This closed form solution was successful implemented and the controller parameters found were applied to a vibrational system. A simulation for the un-optimized and optimized cases was performed applying both controllers to the same system. The response and controller forces for both cases were plotted in MATLAB and compared. Both systems showed the desired system response meaning that they both had the same effect on the system. Inspecting both controller efforts showed that the optimal control case simulation showed less controller effort than the arbitrary case thus showing successful implementation of minimal norm actuation.



Document Availability at the Time of Submission

Release the entire work immediately for access worldwide.

Committee Chair

Ram, Yitshak