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Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
E.g. 11.4 (Page 862)
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Full-State Feedback Control Design
Full-state variable feedback to achieve
desired pole locations of the closed loop
poles
Assume all states are available for
feedback. The system input u(t) is given
by
Kx u =
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Full-state feedback block diagram
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Plant without/ with state variable feedback
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Full-state feedback Control Design
Kx u =
Bu Ax x + =
-
Control feedback is given by
State variables model is given by
Thus, closed loop system:
x BK A BKx Ax x ) ( = =
-
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
0 )) ( det( = BK A I
The closed loop system is stable if all the
roots of the C.E lie in the left half plane
The addition of a reference input can be
written as
Characteristics equation is given by
) ( ) ( ) ( t Nr t Kx t u + =
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Pole Placement For Plants in Phase Variable
Form
Steps for pole placement methodology:
Represent the plant in phase variable form
Feed back each phase variable to the input
of the plant through gain ki
Find the CE for the closed loop sys.
Represented in Step 2.
Decide upon all closed loop pole locations
and determine an equivalent CE
Equate like coefficients of the CE from Step
3 & 4 and solve for ki
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Pole Placement For Plants in Phase Variable Form
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
What is phase variable canonical form?
Recall Masons rule:
factors loop feedback the of sum 1
factors path - forward the of sum
1
) (
1
=
E
E
=
= q
N
q
k k
L
P
s G
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Ackermanns Formula
Another method of determining the state
variable feedback matrix
| |
n
k k k K ...
2 1
=
o
n
n
n
q o o + + + =
... ) (
1
1
| | ) ( 1 0 ... 0 0
1
A q P K
c
=
Desired characteristic equation
State feedback gain equation
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Refer to E.g. 11.7 (Page 868)
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Refer to E.g. 12.1 (Norman Page 640)
Given the plant as below, design the phase
variable feedback gains to yield 9.5%
overshoot and settling time of 0.74
) 4 )( 1 (
) 5 ( 20
) (
+ +
+
=
s s s
s
s G
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Step 1: Phase variable representation
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Step 2: Find desired CE
Step 3: Find the compensated system CE
Step 4: Compare to obtain feedback gain
matrix
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Observer Design
Needs of sensors to measure directly all
states- not practical and costy
If the system is completely observable with
a given sets of outputs, then it is possible
to determine/ estimate the states that are
not directly measures.
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
The Full-State Observer
) (
. .
-
.
-
+ + =
=
+ =
x C y L Bu x A x
Cx y
Bu Ax x
Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458
All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
Refer to E.g. 11.8 (Page 870)