北京化工大自动控制原理期末复习.pptVIP

Course Review Youqing Wang College of Information Science Technology 2011.11.15 Final Exam Total 50 scores, 6 questions 3 questions for linear continuous systems (29) 2 questions for linear discrete systems (16) Linear continuous-time system theory Linear discrete-time system theory Overview: transfer function state space model Classical control vs modern control “Transfer function” to “SS model” (multi-choice) Canonical form Control canonical form Observer canonical form Modal canonical form 5 Namely We obtain Dynamic response of SS model Consider the following linear time-invariant system zero-input response Freedom motion zero-state response Forced motion 6 Its dynamic response is: Calculation of (1) (1) represents the power series of the matrix At (2) using typical matrix, such as Diagonal or Jordan matrix 7 Calculation of -2 （3） taking the inverse Laplace transform of example： 8 Controllability : input ----- state Observability : output ----- state Controllability and Observability 9 Their physical meanings? Criterion rank criterion PBH rank criterion System destruction according to controllability and observability 1 Substituting the feedback law, yields then the characteristic equation of the CL system is (a) 2 Assume the desired location are known, then the corresponding desired characteristic equation: (b) 3 the required elements of K are obtained by matching coefficients in Eq. (a) and Eq. (b) 10 Controller design Check controllability Full-state feedback control Full state feedback with reference input 11 How to select pole position Dominant second-order poles---deals with pole selection without explicit regard for control effort Natural frequency + damping factor optimal control (or symmetric root locus)--- specifically address th