lecture_notes_22 - EECS 221A LECTURE Z2, GOALS 0F Tms...

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Unformatted text preview: EECS 221A LECTURE Z2, GOALS 0F Tms LECTURE: v obsmve/L Amy/m . 0/7va in flgdbaC/c - r1an 0% «03¢an Pauli/mat {a}! $180 and MIMO 54447561440 SK/MAWM frz‘nufa « red/mud 0100A, 0175mva ’ Mam/7m . 7212478: Cal/Um anofi Damn) CI/Lachm IO. Esxla'mmfm Wag/m m S7‘a‘te, Space, "HOWWULJ OvaeVL WM Sfaie waor is I‘naccesm'b/e for direct mmnuren/unfi, 5720/4”,- yes home, Where/(m been mimic/96% 7L0 Wax/iota eszafeA of inaccesgA/e SMHS. ‘ .AMJ observer )5 6L S4g/naj, I’QCOVLS/xruc‘fim device AWL/{Oh provides an 65814444an of inexcusable 5%617‘35- LANT r N =42 + ' ' Observer ‘ - 3 _‘ Sup/mg, 6L flan/:15 Whose mamamfi hark/(J ’ . is flown/wot by 547% s/oau, 67¢}an )Z = + > ' : CX has EOWL ifsjmfut % cit/MIL ouirwtj Conmctwt 7‘0 VAL Sjm‘em beta/U: ’LL Sim \Q, rL-S'faILJ or all ovoLW ObSQ/LVUL. flu) If W6 dCeane, Wm 5+a+c W5 swm as 2) Wen an ins/Dub 'm’b fa am, am, SHONE. Watt #5 sh spawgquafim is: g = A2 + T('-Cé>+?m " :(A‘TC)£+EM +73. Werefm) \HAL Mam/Lad Aahmm'a/L 9/ abffexrmw 1%an We 9me oj We \lwa Sysflms is flh/ez/L by; :E" Ware (1ch fo/IOWS %0Lf we can 0/4/0095 WM, feedback mwhix T 7‘0 M yumth ' 04—70) l¢as mg7wkve “a5 fi%c -Z ‘9 X as 75—700 [ “$31194 iV/wE£:C\LU/\L y W Plant I'm/Ddt ’I/L. aamlylc: lHWLH’MC Pendulum, WH’l/L Dksxlurbamm 79:6 x3=oé 79:74; 5LZ=JLZXI ——/sz + 763 +71, 79:0 3%, o 2 o = = .Avlkfizflpcl] 3[F]C[IOOJ o o o O . 7716, obsmvm rum/Was are Vim/e, 94mm 0(7 dzwv ' 2‘ = (A—ng +'Bu+T7. = -T, i O O u + T. y Elf-TL -a( I A-I- 1 TL ' :1; 0 CD 0 T3 . a XL’r) t f C I flfit) "Maw" '} + you“ + I + T 6 I __ ! H r' 3 - W6 have See 0% W/Olan/‘C [AWL/‘1'" OLVLOC odfiflt/t foflgem an, MW/a‘l‘owc/ emlwwdx a W sfa' mam- NOW SUfl/Jogc W6 «wk/«My fwfit bow/L W Sfafl (Dim/Late 7L0 WP Wit I'm/Wt “5 S how Vb above. .me gamma Marlblnj W emu/6 Sysam C/Dlamf + 0bsmmx1+ccmhoim> “Va: , . g = (A-BF—Ta>%+‘rcx‘ >2 = AX -‘BF§. ‘ 1 W W W Mammwgm : anotW CLOILUMI Sffll—a/ f3 €6t>agu)_x(t é = (A~Ta>€ —- ’(Ar‘rwx . Nrife, W 37‘a7‘e, 47qu001, in fen/m!) Shit amt 6mm : ~ _ = (A'BF'DX *‘BFQ/ (*0 CWbi/H'VL? (7*) and (H): [4am Wat 6 ‘env % Wu; aM/asétc, Sjfigm 6W6 Wan/c (77 (fie—BF} viz/Lot (fie-TC), I I, SflPMaWMW1‘ncL/JLC '1 lg. (1‘) J66” /' an abSUU/M, 7L0 ode a, gm inflfflWM/Q ’ac/ajm Cc Sf”an wslm/w. w) an) dUNy/mnfi ac fauvwry/mrj SHE feed back mmklvix as Wm; M We 37%an mam «mimic CC on Wat meowuremzn‘c. Wu {CW /P0{67(a&wn‘é M Obsw/mDemg/V " Calm/lath T 50 %ME (A—Tc) W desired Myanvawuw: ’ 1&wa vmt We set 0/ ayean “My swam Wild/“Mix aVLOL (if/+5 WQVUA/Daért ‘ CLNJ Wm (Same. %M%7KW,W myenVa/WV o (A—Tc) are, We Same 0w ans/c CAT'CTTT). W . which is {Kg}; W Jam/woéam/ 14/6 SWIM/0C [AW/DOLL Péaupmcgrt 0%ijth of Lamas/Hm MW Wm '—_-OOO X[.M X+[' o 01—! 0 LL ‘7: [ O o I] x 1. 3699/14 an aésmvm mi% Pea/€13 at ' “'4 and ~4tJ‘Z 2.77694714/ 6L Sfm‘c 7/2606me 50%atw Closeaé Loo/p foéw are 60001de at? “Z and -2tJZ' Sch/44m 1_ Observe/L decay“ ' = O O 0 7T 0 o 1 (A TC) 1 O O],[TZ L j ‘o 1 “I 73 F O > : O __-T‘ ' O I — lng ' Characfmiswc quay/1m: dflt (4 I - (A40) :0 <—"> x13 +(/+75)AZ+ EAJFT, =0 7esfr66€ dhamcferisfic POWWM fad. 0954mm : (A+4>(Ak4+2j‘)(r¥+4—Zj) ;@ A3 + (BA‘M— 604‘ +100 : O [ ] ‘W Z. Sfafl feedback deg/c944,; (A—BF) =[ ]_[’][E a F33 I O ' 0 ,FS] 0 ’l Chmaafekiskac guayhm: 61% (AI' (A—BP)>=O 4=> A3+AZ(/—E>+A(—F;—g>—r—;-E " ’Deswwc: ' Max:171 4,1 + z > = <3 09+ 6A2 1- MA +/(g> =0 F=[F. F7, @3435 ~11 ~53 4:? mo éo {Z O O O I o O O I —I ._ Fl :: —- F, I O l O . _.. => 0 Where Wald Wm 6mm (00/: FO/w and. . “W‘mm‘m Pom) 66 Placed? C(osed L007: 20/68 : %=’Fx - COO/HUM min/7L is Pro me/Laf, 7‘0 am, F m lawyer/84m yam, Wm km emmc’ [VLFU‘LL ' We (CSSW POIUDAW’E/ move/0C OWL/0,304 LOOP +0 closed Loo?) W mm (7mm Milk/[31. . éswbimaiol 200113 : . Chews/u (USA/ac >faw7L6/LWVU denim/(21L aow— ‘vw a. am‘m 0&0, 21754172an /€JWCYLS Gain/7 ' 3/ ' . ugualuj a, Amt Wu 7% move, wlzmm’or 73on 7100 cm 7‘0 VAL aft, 54‘mL Mat/(aw bmdmd‘flu dthe 03%”?617101) Cam/fin more 904mm moigcfa Pass rm 7‘9 W Had HUD/AJwa field/mud“ 0 (M O}? gave/L?ng 4%“ 2 Mom) m; know vim—t ConsioUA é=MZ+Nu+L7 Som€M0L{wM)N;JL. new) moi—>49) Ne‘ Z—>7—;( 0%:- (fi’TX) = Mi+ Nu+ Ly-TUUHEM) (— MTX + MTX> = , M (z—Tx) -r MTX‘TAX‘F LCX (“TM + Nu —TBLL ("TM 1 “7“? m = M (a -Tx)+ (MT-TA+ i5) X (n‘erl ("THO'T) ' (n-PITh-r) + 1A. navO) m’oL xtlct g-TX a 0 ("Thin (at N'TE =0 MT-TA + LC = O VL be, MW‘I'OWQCLZ S+aLHL (all Exmb in, of £le 11an flaw) K/jws, fox)“; dong/m def: Cod/0C $6: I. choex mm M lie.obc‘afimal*€aflj) 2, ChocWL l, 3, solvefm Tm MT-TA +LC=O 4. M373 Sch/£411 A) 9. amok 4&0. NhIU, VIA/{s alas/{34¢ Woum AL 0k 4ng 34mm, v if [S VLO'K‘ VéWWnUOL I‘VL jet/WWII) [ye/cum If gfi/w I40 am Frat 0M WM. malm‘x . If fig} Is C(09L7‘o 6034:? fifty/1M “i753 [five/19¢ VOod in 0; {Wye flew/L in W bickwmoC Lao/b. Canada/L mm WLL UQUWUWj $.de 0Y0(UL obsmvm MM WOW: 6L S+an0CMOL focflfLaan/ULVCE' [Mala [LVl/L/ it. NAM/L (A—BFDT:VAT_ FTBT A22 ‘7’: All = M T WOM+ M +9 b6 Shim . Gib/UL (A A 0L 0L .' 22, \z D an Urnwa a tux/AW M W ohm T Sr“ j dim ) knows mjv‘m POLL ...
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This note was uploaded on 04/11/2011 for the course EE 221A taught by Professor Clairetomlin during the Fall '10 term at University of California, Berkeley.

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lecture_notes_22 - EECS 221A LECTURE Z2, GOALS 0F Tms...

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