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Unformatted text preview: Integral control Integral control Recall the idea behind integral control. If we consider the integral of the error at time, t , integraldisplay t ( r ( ) y ( )) d, we want to make this quantity go zero. In other words, lim t integraldisplay t ( r ( ) y ( )) d = 0 . This means that as t , the error must go to zero, y ( t ) r ( t ) . If this wasnt the case (i.e. in steady state y negationslash = r ), then the integral would end up going to . Approach Make the integral of the error ( r ( k ) y ( k )) go to zero for state feedback. Roy Smith: ECE 147b 15 : 2 Integral control Steady state tracking Recall that integral control gives zero steady state error to a step even in the presence of plant modelling mismatch. This does not happen in our state feedback reference tracking scheme. u ( k ) = K ( x ref x ( k )) , so if x ( k ) x ref then u ( k ) 0. However with u ( k ) 0, and no plant poles at z = 1, we have, y ( k ) 0. Clearly then, y ( k ) negationslash = r ( k ), the reference. Feedforward compensation Recall that the matrix N u can provide some steadystate feedforward compensation: u ( k ) = K ( x ref...
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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.
 Spring '07
 RODWELL

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