lecture14_small

lecture14_small - Reference tracking Reference Tracking The...

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Reference inputs Reference inputs The reference state, x r , is determined by, x r ( k ) = N x r ( k ). For type 0 systems (no poles at z = 1), this will give a steady state error. In such systems u n = 0 at a non-zero equilibrium, and so x n = x r . Feedforward correction: u ss ( k ) provides a steady-state input. C z 1 A B K N x N u P ( z ) a a aA ±² + a a a a aA ±² + a a a ³ ³ A ± ± r ( k ) x r ( k ) x ( k ) x ( k ) y ( k ) ³ a ² aA ±² + u ss ( k ) The control input is: u ( k ) = K ( x r ( k ) x ( k )) + u ss ( k ). Roy Smith: ECE 147b 14 : 2 Reference tracking Reference Tracking The idea is to set the problem up as driving the state to a desired reference value. Approach: (assume state feedback for the moment) C z 1 A B K N x P ( z ) a a aA ±² + a a a aA ±² + a a a ³ ³ A ± ± r ( k ) x r ( k ) x ( k ) x ( k ) y ( k ) u ( k ) Design the state feedback gain, K , for good closed-loop pole positions.
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This note was uploaded on 04/06/2010 for the course ECE 145 taught by Professor Rodwell during the Spring '07 term at UCSB.

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lecture14_small - Reference tracking Reference Tracking The...

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