电子社现代控制理论基础（英文版）（第2版）mooc课件6-2.pptx

L6.2 Output feedback and its effect on the systems property Output feedback to the reference inputOpen-loop control systemOutput feedback systemL6.2 Output feedback and its effect on the systems property Another type of output feedback：Output feedback to the front of derivative of statesControl lawL6.2 Output feedback and its effect on the systems property Output feedback to the reference inputThe state equations of the output feedback system areWe have equations and should find variables. Since , we cann’t obtain the H from the given K.L6.2 Output feedback and its effect on the systems property Output feedback to the reference inputFor a LTI system, there are n state variables, p inputs and q outputs.If H is found uniquely, then we also can obtain an unique K.If K is found uniquely, but we can not obtain an unique H.L6.2 Output feedback and its effect on the systems property Output feedback to the reference inputControllability of the state feedback system depends on the pair {A-BHC,B}.Observability of the state feedback system depends on the pair {A-BHC,C}.Stability of the state feedback system depends on the eigenvalues of A-BHC.Note: When output feedback is used, controllability and observability of the open- and closed-loop systems are the same.A series of elementary column operations can be used to reduce to .Therefore for any gain matrix H. L6.2 Output feedback and its effect on the systems property ControllabilityNote: The output feedback does not alter the controllability of the open-loop system.The controllability matrix of the open-loop system isWith output feedback the controllability matrix becomesA series of elementary column operations can be used to reduce to .Therefore for any gain matrix H. L6.2 Output feedback and its effect on the systems property ObservabilityNote: The output feedback does not alter the observability of the open-loo