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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 16.30/31 132 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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This note was uploaded on 02/03/2012 for the course AERO 16.30 taught by Professor Ericferon during the Fall '04 term at MIT.
- Fall '04