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Aula8_SCII2010 - Sistemas de Controle II Adriano A G...

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Sistemas de Controle II Adriano A. G. Siqueira Aula 8 - Espac ¸o de Estados - Observador Sistemas de Controle II – p. 1/18
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Espaço de Estados Sistema ˙ x = A x + Bu y = C x + Du Controlador: realimentação do estado u = - K x Alocação dos pólos Sistemas de Controle II – p. 2/18
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Controle Ótimo Quadrático Sistema ˙ x = A x + B u Regulador Linear Quadrático (LQR) J = integraldisplay 0 x T Q x + u T R u Q e R : matrizes de ponderação (simétricas e definidas positivas) Sistemas de Controle II – p. 3/18
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Controle Ótimo Quadrático Solução u = - K x = - R - 1 B T P x P solução simétrica e definida positiva da Equação de Riccati A T P + PA - PBR - 1 B T P + Q = 0 Sistemas de Controle II – p. 4/18
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Controle Ótimo Quadrático Exemplo: Elo Flexível A = 0 0 1 0 0 0 0 1 0 489 . 7 - 31 . 93 0 0 - 845 31 . 93 0 , B = 0 0 56 . 2 - 56 . 2 Sistemas de Controle II – p. 5/18
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Controle Ótimo Quadrático Exemplo: Q = 100 0 0 0 0 200 0 0 0 0 0 0 0 0 0 2
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