杭州电子科技大学现代控制理论基础课件第四章 控制系统的稳定性（3）.ppt

Modern Control Theory Lecture 13 Modern Control Theory Letures Notes Coryrighr@Xiaodong zhao Home work #5: 5-6,5-7 Due Date: June, 22 Final Exam: June 22, 18:00~20:00 Address: 5-117 4.4.2 Lyapunov second method 1. Krasovski method Example 4-14 2. Linear approximation method Example 4-16 Chapter 5 State Feedback and State Observer 5.1 State feedback output feedback 5.1.1 state feedback 5.1.2 output feedback 5.1.3 Controllability Observability of Close Loop System Theorem 5-1: State feedback does not change the controllability of given system but may change the observability. Theorem 5-2 : Output feedback does not change the controllability and observability of given system. 5.2 Pole placement of close loop system 5.2.1 pole placement using state feedback Pole placement: Choose state feedback matrix K such that the poles of the closed loop system are at the desired positions. * * *