statespace-控制科学与工程学院-浙江大学.pdfVIP

Principle of Automatic Control State Space: Analysis and Design 浙江大学控制科学与工程学院 自动控制原理浙江大学控制学院2016 Outline of Chapter 9 ü Review and Introduction ü Controllability and Observability ü Linear transformation and Canonical forms ü State Feedback for SISO System ü State-Variable Feedback: Steady-State Error Analysis ü State Observer for SISO System ü ………….. 自动控制原理浙江大学控制学院2016 Outline of Section 2 ü Controllability and Observability üPhysical concept ü Definition üControllability üObservability üControllability observability and transfer function üExample üDuality Principle üControllability Observability of discrete system üControllability of the system output 自动控制原理浙江大学控制学院2016 1. Physical Concept 参考：胡5-P476 Ex.1: Consider the circuit of the Fig. There are two conditions: Let: x =i x =u y= u L iL 1 L , 2 C, C (1) If R R ≠ R R i1 i2 1 4 2 3 R1 R2 uC • Input u will control all state variables, that means u can be u C selected, so for any initial time R3 t , any initial state x(t ) can be R4 0 0 iL transferred to an