(电气工程和 与自动化专业英语)Chapter 12MIMO Systems.ppt

12.2 Control design for an aircraft glide slop system Example 12.2: Aircraft glide slope control 3 This plant is a third-order system, three closed-loop pole locations should be selected. Function select_poles()fulfill this task. n = 3; t_settle = 2; damp_ratio = 0.8; p = select_poles(n, t_settle, damp_ratio); The controller gain is computed with a call to function place(). K = place(ssplant.a, ssplant.b, p) Calling place() again determines the observer gain matrix L. obs_pole_mult = 3; q = obs_pole_mult * p; L = place(ssplant.a, ssplant.c, q) 12.2 Control design for an aircraft glide slop system Example 12.2: Aircraft glide slope control 3 The state- space observer-controller can now be formed based on the controller gain K and observer gains L by the following commands. ssobsctrl=ss(ssplant.a-L*ssplant.c,[L ssplant.b-L*ssplant.d],-K,0); We need one more step to form a modified plant model that passes the plant inputs as additional outputs. We do so because the observer-controller requires the plant inputs in addition to the plant outputs. r = size(b, 2); % Number of inputs n = size(a, 1); % Number of states ssplant_aug = ss(ssplant.a, ssplant.b, [ssplant.c; zeros(r, n)], [ssplant.d; eye(r)]); 12.2 Control design for an aircraft glide slop system Example 12.2: Aircraft glide slope control 3 Form a closed-loop system consisting of the augmented plant model and the observer-controller as below: sscl = feedback(ssplant_aug, ssobsctrl, +1); Plot the pole locations along with the design specifications by the command below. plot_poles(sscl, t_settle, damp_ratio); The resulting plot is shown in Figure 12.2. 12.3 Control design of the controller Text B: Optimal control for an inverted pendulum system 2 12.4 Control design of the observer * 1 Outline 12.3 Control design of the controller * An inverted pendulum on a cart has one input, the cart driving force F, and two outputs, the cart position x and