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Unformatted text preview: 30 . 25 meters 30 < t (a) ind the control u required to maintain the height at y = . Linearize the system about this operating point. (b) Design a gain-scheduled controller based on the operating point oF the current height oF the ball, oF the Form u = L x + Fr . Place the poles oF the observer at-8 ,-8 and the poles oF the closed-loop ball dynamics at-2 ,-2. Choose F so the steady-state gain From r to y is 1. Simulate the system and plot the response. 1...
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- Fall '08