现代控制理论(双语)Chapter6.pptVIP

Chapter 6 Feedback control and synthesis of linear system Feedback control and synthesis of Linear system State feedback and output feedback Pole placement for LTI system Decoupling control system State observer design Closed-loop system with state observer 1. state feedback and output feedback Feedback control is the most widely used control algorithm. 1) State feedback Introduce the state variable to the input terminal. Considering system State feedback control law The closed-loop system is The transfer function matrix Note: State feedback does not change system dimension. State feedback may change system matrix eigenvalue—improve system performance by state feedback State feedback requires the state variables are measurable. Block diagram of state feedback closed-system System state space description 2) output feedback Block diagram of output feedback closed-system System state space description Introduce the output signal to the input terminal. Considering system output feedback control law where the closed-loop system The transfer function matrix Note: output feedback does not change system dimension. output feedback may change system matrix eigenvalue—improve system performance by output feedback (classical control) If then 3) Closed-loop system controllability and observability Theorem: State feedback will not change system controllability while probably change system observability. Theorem: Output feedback will not change system controllability and observability. Example: Considering LTI system state feedback matrix open-loop system controllability and observability system is controllable and observable Closed-loop system with state feedback so System is still controllable but not observable. State feedback may change the system observability. 2. Pole placement The closed-loop system poles determine the system performance and stability. The close