This preview shows page 1. Sign up to view the full content.
Unformatted text preview: K and the state feedback gain L so that the observer poles are at10 ,10, and the controller poles are at1 j 2. (b) Draw a block diagram of the closedloop system including the reference command r . (c) Express the controller in statespace form. (d) Find the controller transfer function. (e) Simulate the closedloop system for 0 t 30 seconds. Plot the output y and the command r versus t . For your simulation, use the initial conditions y (0) = 3 , y (0) =2, and the command r ( t ) = t < 5 6 5 t < 152 15 t < 30 Also, use the BandLimited White Noise block for the sensor noise n , with noise power 0 . 5. (f) Does it make sense to use integral control in this example? 1...
View
Full
Document
This note was uploaded on 01/25/2010 for the course ME 132 taught by Professor Tomizuka during the Fall '08 term at University of California, Berkeley.
 Fall '08
 Tomizuka

Click to edit the document details