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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 gainscheduled 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 at8 ,8 and the poles oF the closedloop ball dynamics at2 ,2. Choose F so the steadystate gain From r to y is 1. Simulate the system and plot the response. 1...
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 Fall '08
 Tomizuka

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