chapter Design of Control Systems in State Space章节设计状态空间控制系统.pdfVIP

Chapter 10 Design of Control Systems in State-Space (Chapter 12) 10.1 Introduction This chapter has been organized into four sections. In section 10.2 we give a complete solution to the state feedback pole placement. In section 10.3 we solve the pole placement problem using observer-based state feedback. In section 10.5, a more practical design problem, called the regulator problem, will be solved by augmented state feedback. 10.2 Pole Placement 10.2.1 State Feedback State feedback is complished by letting the control input in the state equation ˙ x = Ax + Bu be u = Rv − F x . Control system with state feedback is depicted in Fig. 10.1. In general, the external control input v has the same demension as u, The matrix R is therefore square. F is an m ×n matrix called the state feedback gain matrix. Without loss of generality, R is chosen nonsingular. D v u ˙ x y R B x C − A F Figure 10.1: System with state-feedback With the state feedback the state equation of the closed-loop system is ˙ x = (A − BF ) x + BRv In the state feedback systems, performance specifications are achieved by properly chosen matrices R and F . State feedback has the following properties. 1. State feedback doesn’t change the controllability, t