《MATLAB语言与系统仿真》Module24-13State – Space Controller Design.ppt

State – Space Controller Design Feedback Feedback Feedback 24.1 The Structure of State – Space Feedback Control 24.1 The Structure of State – Space Feedback Control Note: The sufficient and necessary condition of state feedback for poles placement 24.2 Pole placement via control canonical form (P534 ) Example 2 Example 3 24.4 Poles placement via output feedback The output feedback order is n-1 the constant feedback can not arbitrarily place the poles. It just partially place the poles. Example 4 Instructional objectives: At the end of module 24 students should be able to Plot the state-variable block diagram with State variable feedback Calculate the feedback gain matrix for placement closed-loop poles using state variable feedback . Example 24.3 24.5 24.5 24.6 24.6 24.6 Module 24 l is desired closed loop pole (a) (b) B C A + + u x y v + v - G B C A + + u x y B C A + + u x y + v - G B C A + + u x y + v - G B C A + + u x y + v - G B C A + + u x y B If the desired location of the closed-loop poles are λ1 ,λ2 , … , λn , the desired characteristic equation will be Characteristic equation is : We can obtained G to make the closed-loop poles to be located in desired position. G exist ?? System is controllable ? The state feedback matrix G exists B C A + + + u x v - G controllable y Example 1 A second - order system is represented by the state and output equations: Can the closed-loop poles of the system be placed to -5 and -6? If so, calculate the feedback gain matrix. Verify the condition under which a feedback gain matrix can exist. Set the matrix Let to calculate G. (2) we assume the feedback gain matrix : G = [g1 g2] (1) Controllability: The system is controllable. So the feedback matrix G exists. (4) (3) the desired characteristic equation: Desired characteristic equation: Corresponding system matrix A is: Desired poles are -2,-1?j, determine state feedback matrix G. Note: different control canonical forms Change closed