38 - track38 filled

38 - track38 filled - ME 575 Handouts Tracking Systems...

Info iconThis preview shows pages 1–3. Sign up to view the full content.

View Full Document Right Arrow Icon
ME 575 Handouts 1 ME575 Session 38: Tracking & Integral Control School of Mechanical Engineering Purdue University Slide 1 Tracking Systems Tracking Systems Although regulators are useful, as for instance in the inverted pendulum case, we usually want the system inverted pendulum case, we usually want the system to track a reference. to track a reference. With full state feedback: With full state feedback: let u(t) = let u(t) = k r r(t) r(t) K x (t) (t) if y(t) = x if y(t) = x 1 (t), then (t), then ME575 Session 38: Tracking & Integral Control School of Mechanical Engineering Purdue University Slide 2 Tracking Systems Tracking Systems With output feedback (using observer): With output feedback (using observer): Two special cases: 1) Observer performance independent of r 1) Observer performance independent of r 2) Observer acts on tracking error (r 2) Observer acts on tracking error (r y) y) ± ee r ˆˆ x( AKC ) xBuK yM r ˆ uk rKx =− + + +
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
ME 575 Handouts 2 ME575 Session 38: Tracking & Integral Control School of Mechanical Engineering Purdue University Slide 3 Tracking Case 1 Tracking Case 1 r ee r ˆˆ exxA x B ( k r K x ) ˆ (A K C B K)x B k r K y Mr =−= +
Background image of page 2
Image of page 3
This is the end of the preview. Sign up to access the rest of the document.

This note was uploaded on 12/09/2011 for the course ME 575 taught by Professor Meckl during the Fall '10 term at Purdue.

Page1 / 7

38 - track38 filled - ME 575 Handouts Tracking Systems...

This preview shows document pages 1 - 3. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online