Control Systems STATE FEEDBACK CONTROLLER DESIGN Design via Pole Placement Design via Pole Placement Open loop control system Design via Pole Placement ID: 430248
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Slide1
Digital Control Systems
STATE FEEDBACK CONTROLLER DESIGNSlide2
Design
via
Pole PlacementSlide3
Design
via
Pole Placement
Open loop control systemSlide4
Design
via
Pole Placement
Closed loop systemSlide5
Design
via
Pole Placement
Determination of feedback gain
by
using
controllable
canonical
formSlide6
Design
via
Pole Placement
Determination of feedback gain
by
using
controllable
canonical formSlide7
Design
via
Pole Placement
Determination of feedback gain
by
Ackermann’s
Formula
Determination
of
feedback
gain
by
a causal
approach
Slide8
Design
via
Pole Placement
Example:Determination of feedback gain by using controllable canonical form:
Determination of feedback gain by using Ackermann’s Formula:
Determination of feedback gain
bycausal method:...........Slide9
Design
via
Pole Placement
Uncontrollable system:
Kalman
Controllable
FormSlide10
Design
via
Pole Placement
Uncontrollable system:
Kalman
Controllable Form
State
Feedback
The
modes
of
can
be
arbitrarily
assigned
.
The
modes
of
is not
influenced
by
state
feedback
control
Slide11
Design
via
Pole Placement
Example:
Kalman Controllable
Form
State Feedback
The
modes
of
can
be
arbitrarily
assigned
.
The
modes
of
is not
influenced
by
state
feedback
control
Slide12
Design
via
Pole
PlacementExample:
Kalman
Controllability Decomposition
Desired
closed
loop poles: -1, -2.5, -2.5
Not:
We
do not
feedback
the
uncontrollable
modeSlide13
Design
via
Pole
PlacementExample:
Kalman
Controllability Decomposition
Desired
closed
loop poles: -1, -2.5, -2.5
Not:
We
do not
feedback
the
uncontrollable
mode