INC$541$Modern$Control$Theory$ Using$State$Space$Methods
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INC 541 Modern Control Theory Using State Space Methods Lecture#9: Digital control system with state feedback Assoc. Prof. Benjamas PanomruKanarug [email protected]
Transcript of INC$541$Modern$Control$Theory$ Using$State$Space$Methods
INC 541 Modern Control Theory Using State Space MethodsLecture#9: Digital control system with
state feedback Assoc. Prof. Benjamas PanomruKanarug
State regulator design for digital control system
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Example: pole placement design
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Design of state observers 1. predicPon observer
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Design of predicPon observers
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Transposed auxiliary system:
Design of state observers (cont.)
2. Current observer: use when computaPon Pme is quite short compared to the sampling Pme
EsPmate an approximaPon of x(k+1) based on x_hat(k) m is obtained as before, except c is replaced by cF BP INC541 6
Design of state observers (cont.)
3. reduced-‐order observer
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Reduced order observer
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Error equaPon:
CharacterisPc equaPon:
Servo design
• Feedforward control • Feedback with integral control
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Feedforward control
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Control law:
Feedforward gain:
State feedback with integral control
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Integral state:
System:
Control law:
State feedback with integral control (cont.)
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Example
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