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 at-10 ,-10, and the controller poles are at-1 j 2. (b) Draw a block diagram of the closed-loop system including the reference command r . (c) Express the controller in state-space form. (d) Find the controller transfer function. (e) Simulate the closed-loop 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 < 15-2 15 t < 30 Also, use the Band-Limited 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