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Controllability'matrix:'
Observability'matrix:'
State'space'design'
Given:'
Controllable'cannonical'form'
always'controlable'
It'is'observable'if'N(s)'and'D(s)'have'no'common'factors'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''is'the'characteris/c'polynomial'
State'space'design'
Given:'
Obervable'cannonical'form'
always'observable'
It'is'controllable'if'N(s)'and'D(s)'have'no'common'factors'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''is'the'characteris/c'polynomial'
State'space'design'
State'space'design'
P'is'the'equivalence''
transforma/on'
The''transforma/on:'
'
'
is'the'similarity'transforma/on'
State'feedback''pole'placement'
Dening'the'following'control'law:'
State'feedback''pole'placement'
Dening'the'following'control'law:'
We'obtain:'
wich'has'the'following'characteris/c'equa/on:'
det'
If'the'system'is'controllable'we'can'relocate'all'the'system'poles'
State'feedback''pole'placement'
Closed'Aloop'characteris/c'equa/on:'
det'
n
n 1
n2
Desired'characteris/c'equa/on:' ( s ) = s + 1s + 2 s + L + n 1s + n
Problem:'
Find''''''''''''''''''''''''''''''''''''''''''''''''such'that'
n
n 1
n2
det'''''''''''''''''''''''''''''''=' s + 1s + 2 s + L + n 1s + n
It'is'easier'from'the'controllable'cannonical'form'
State'feedback''pole'placement'
From'the'controllable'cannonical'form:'
Using'the'state'feedback:'
We'obtain:'
State'feedback''pole'placement'
The'system:'
has'the'characteris/c'polynomial:'
n
n 1
n2
det'''''''''''''''''''''''''''''''=' s + ( a1 + k1 ) s + ( a2 + k2 ) s + L + ( an1 + kn1 ) s + ( an + kn )
State'feedback''pole'placement'
n
n 1
n2
Using'the'desired'characteris/c'equa/on:' ( s ) = s + 1s + 2 s + L + n 1s + n
Equaling'
[1 a1
2 a2 L
n1 an1 n an ]
State'feedback''pole'placement'
Procedure:'
equivalence'transforma/on'
Original'space:'
Controllable'cannonical'form'
System'characteris/c'equa/on:'
( s) = s n + a1s n 1 + a2 s n 2 + L + an 1s + an
Desired'characteris/c'equa/on:'
Calculate''
( s) = s n + 1s n 1 + 2 s n 2 + L + n 1s + n
equivalence'transforma/on'
[1 a1
2 a2 L
n1 an1 n an ]
State'feedback''pole'placement'
equivalence'transforma/on'to'the'controllable'form'
Original'system'controllability'matrix:'
Controllable'form'controllability'matrix:'
wich'are'related'by'
It'results:'
State'feedback''pole'placement'
equivalence'transforma/on'to'the'controllable'form'
Original'system'controllability'matrix:'
Controllable'form'controllability'matrix:'
wich'are'related'by'
It'results:'
Controllability'
State'feedback''pole'placement'
Quadra/c'op/mal'regulator'
Quadra/c'op/mal'regulator'
Quadra/c'op/mal'regulator'
Quadra/c'op/mal'regulator'
Quadra/c'op/mal'regulator'
State'es/mator'
Es/ma/on'error:'
OpenAloop'state'es/mator:'
We'obtain'
State'es/mator'
= [l1 l2 L
ln1 ln ]
If'the'system'is'observable'the'es/mator'can'be'designed'to'es/mate''
the'system'state'as'quickly'as'desired'
State'es/mator'
The'plant'system'
The'es/mator'
Es/ma/on'error:'
We'obtain'
State'es/mator'
Es/ma/on'error'characteris/c'polynomial:'
det'
Desired'characteris/c'equa/on:'
Problem:'
= [l1 l2 L ln1 ln ]
Find''''''''''''''''''''''''''''''''''''''''''''''''such'that'
n
n 1
n2
det'''''''''''''''''''''''''''''''=' s + a1s + a2 s + L + an 1s + an
det'
It'is'easier'from'the'observable'cannonical'form'
State'es/mator'
Procedure:'
equivalence'transforma/on'
Original'space:'
Observable'cannonical'form'
System'characteris/c'equa/on:'
( s) = s n + a1s n 1 + a2 s n 2 + L + an 1s + an
Desired'characteris/c'equa/on:'
Calculate''
equivalence'transforma/on'
State'es/mator'
equivalence'transforma/on'
Connec/on'of'state'feedback'and'state'es/mator'
The'control'law:'
The'es/mator'
Connec/on'of'state'feedback'and'state'es/mator'
The'control'law:'
Connec/on'of'state'feedback'and'state'es/mator'
The'subs/tu/on'of'the'control'law'''''''''''''''''''''''''''''''''''in'the'system'plant'and''
es/mator''equa/ons'yields'
Connec/on'of'state'feedback'and'state'es/mator'
Connec/on'of'state'feedback'and'state'es/mator'
Connec/on'of'state'feedback'and'state'es/mator'
Connec/on'of'state'feedback'and'state'es/mator'
Connec/on'of'state'feedback'and'state'es/mator'
Connec/on'of'state'feedback'and'state'es/mator'
Lyapunov'stability'theorem'
Lyapunov'stability'theorem'