电子社现代控制理论基础（英文版）（第2版）mooc课件6-1.pptx

Lecture 6 State Feedback and State Observer ;The state equations that have been discussed extensively in the past chapters will be considered to constitute the open-loop system.;The open-loop control system;State feedback system;Stability of the state feedback system depends on the eigenvalues of A-BK.;Controllability;Observability;Note: The state feedback can alter the systems eigenvalues. The stability can be changed by choice of K .;Theorem 6-1 If a SISO system (A,B,C) is controllable then the eigenvalues of (A-BK, B,C) i.e. the poles of the state feedback system can be assigned arbitrarily.;The transfer function of the open-loop system is ;The state equation of the closed-loop system is ;Since the characteristic polynomial is ;In practical design, it is not necessary to change the SISO system into controllable canonical form. We only need to test the controllability of the system and then calculate , whose coefficients are functions of . By comparing them with the coefficients of the given desired polynomial, we can figure out uniquely. ;Pole Assignment Using State Feedback ;Pole Assignment Using State Feedback ;L6.1 State feedback and its effect on the systems property;L6.1 State feedback and its effect on the systems property;Solution Steps：