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Unformatted text preview: Topic #13 16.30/31 Feedback Control Systems State-Space Systems • Full-state Feedback Control Performance/Robustness • Reading: FPE 7.9.1 Fall 2010 16.30/31 13–2 LQ Servo Introduction • Can use scaling N can achieve zero steady state error, but the ap- proach is sensitive to accurate knowledge of all plant parameters • Can modify LQ formulation to ensure that zero steady state error is robustly achieved in response to constant reference commands. • Done by augmenting integrators to the system output and then including a penalty on the integrated output in LQ cost. • Approach: If the relevant system output is y ( t ) = C y x ( t ) and reference r ( t ) , add extra states x I ( t ) , where x ˙ I ( t ) = e ( t ) = r ( t ) − y ( t ) • Then penalize both x ( t ) and x I ( t ) in the cost • If state of the original system is x ( t ) , then the dynamics are modified to be x ˙ ( t ) A x ( t ) B u = + u ( t ) + r ( t ) x ˙ I ( t ) − C y x I ( t ) I T and define x ( t ) =...
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- Fall '04
- Feedback Control Systems