(电气工程和 与自动化专业英语)Chapter 11Modern Control System Design.ppt

4 Computing of the feedforward gain N 11.3 Pole placement approach The final design step is the computation of the feedforward gain N (11. 3) K is the controller gain matrix designed previously. The matrices Nu and Nx in Eq. (11. 3) are determined from the plant model as in Eq. (11. 4). (11. 4) Matrix 0 contains only zeros, and I is an identity matrix * 5 Combined observer-controller 11.3 Pole placement approach The next design step is to combine the observer and controller The complete computation of the state estimate and the plant act-uator u is conducted in Eq. (11. 5), using the reference input r and sensor measurements y as inputs to the algorithm. (11. 5) Equation (11. 5) requires the plant input vector u and the measu-red plant outputs y as inputs. In state-space models, only the outputs (elements of vector y) of a state-space component are available as inputs to a subsequent component. * 5 Combined observer-controller 11.3 Pole placement approach The solution is to form an augmented plant output vector by appe-nding the plant inputs to the vector. To do this, matrices C and D in the plant model are modified as in Eq. (11. 6), showing the modified matrices format. (11. 6) With the result of Eq. (11. 6), the closed-loop system equations consisting of the plant model and the observer-controller are written as follows. (11. 7) * 6 Integral Control 11.3 Pole placement approach An integral term can be added to eliminate steady-state errors. Figure 11.2 shows a control system configuration containing an ob-server and control algorithm similar to those developed previously, along with a term involving the error integral. Subtracting the reference input from the output and integrating the result forms the error integral as in Eq.(11. 8) (11. 8) * Multiplying the error integral by the gain -KI provides the integral control term, which is summed the output of a control algorithm sim-ilar to that developed previously. Wit