{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

MIT16_30F10_lec13

MIT16_30F10_lec13 - Topic#13 16.30/31 Feedback Control...

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

View Full Document Right Arrow Icon

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

View Full Document Right Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

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 ) =...
View Full Document

{[ snackBarMessage ]}

Page1 / 6

MIT16_30F10_lec13 - Topic#13 16.30/31 Feedback Control...

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

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