现代控制理论chapter-LinearFeedbackControlSystem.pptVIP

outline 5-1 Introduction 5-2 State feedback and output feedback 5-3 Pole-Placement 5-5 State Estimator 5-1 Introduction 5-2　 State feedback and output feedback 5-3　Pole-placement 5-5 State Estimator　 Homework Note: The necessary and sufficient condition for pole placement is that the eigenvalues of uncontrollable subsystem have negative real parts. Such system can be stable (stabilization). 5.3.5 Characteristics of State Feedback （1）State feedback does not introduce a new state variable, So it does not increase the system dimension。 （2）State feedback does not change the zeros. （3）State feedback control can maintain the system’s controllability, but may not be able to maintain the system’s observability. Why ? Due to technical and economic reasons, a number of state variables is often not simple and not easy to measure its physical quantities, and some or even all state variables can not be measured. How to realize state feedback? To solve this problem, we are going to introduce a system that is easy to use measured input and output variables to estimate the states. So we can make the output of the device can approximate the true state variables This is the so-called state remodeling problem , but such a device is often referred to a state estimator or state observer. 5.5.1 Introduction 1.problem 2. Equivalence construct a system , the input of original control system as its input, and its states are the reconstruction of the original state of the system states. It is considered that the structure and the parameters of the simulation system are same to the original system. As long as the system is stable, that is, the eigenvalues have negative real parts, so Original system This is a free response，and its solution is 为重构状态 和 真实 状态间的等价指标。 5.5.2 State Estimator The necessary and sufficient condition for designing estimator is that the system is completely observable. Theorem