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Feedback Control System Lec 16

# Feedback Control System Lec 16

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07/17/2012

pdf

text

original

Topic

#16

16.30/31

Feedback

Control

Systems

reference

inputs

for

the

DOFB

case

FPE

7.8,

7.9

Fall

2010
16.30/31

16–2

Reference

Input

- II
On

page

15-6,

compensator

implemented

with

reference

command

by

changing

to

feedback

on

e
(
t
) =

r
(
t
)

y
(
t
)
rather

than

y
(
t
)
r

G
c
(
s
)

G
p
(
s
)

e u

y

So

u
(
t
) =

G
c
(
s
)
e
(
t
) =

G
c
(
s
)(
r
(
t
)

y
(
t
))

Intuitively

appealing

because

same

approach

used

for

classical

control,

but

it

turns

out

not

to

be

the

best.

Can

improve

the

implementation

by

using

a

more

general

form:

˙
x
c
(
t
)

=

A
c
x
c
(
t
)

+

B
c
y
(
t
)

+

G
r
(
t
)

u
(
t
)

=

c
x
c
(
t
)

+

r
(
t
)

Now

explicitly

have

two

inputs

to

controller

(
y
(
t
)

and

r
(
t
)
)

performs

the

same

role

that

we

used

it

for

previously.

Introduce

G

as

an

extra

degree

of

freedom

in

the

problem.

Turns

out

that

setting

G

=

B

is

a

particularly

good

choice.

Following

presents

some

observations

on

the

impact

of

G

November

2,

2010

Fall

2010
16.30/31

16–3

First:

this

generalization

does

not

change

the

closed-loop

poles

of

the

system,

regardless

of

the

selection

of

G

and

,

since

x
˙(
t
) =

A
x
(
t
) +

B
u
(
t
)

,

y
(
t
) =

x
(
t
)

x
˙
c
(
t
) =

A
c
x
c
(
t
) +

B
c
y
(
t
) +

G
r
(
t
)

u
(
t
) =

c
x
c
(
t
) +

r
(
t
)

x
˙(
t
)
A

B
c

x
(
t
)

B

x
˙
c
(
t
)=

B
c

A
c

x
c
(
t
)+

G

r
(
t
)

x
(
t
)

y
(
t
) =

0

x
c
(
t
)

So

the

closed-loop

poles

are

the

eigenvalues

of

A

B
c

B
c

A
c

(same

as

15–7

except

“–”

in

a

diﬀerent

place,

gives

same

closed-loop

eigenvalues)

regardless

of

the

choice

of

G

and

G

and

impact

the

forward

path,

not

the

feedback

path

Second:

if

= 0

and

G

=

L

=

B
c
,

then

we

recover

the

original

implementation,

on

15–6

since

the

controller

reduces

to:

x
˙
c
(
t
) =

A
c
x
c
(
t
) +

B
c
(
y
(
t
)

r
(
t
))

=

A
c
x
c
(
t
) +

B
c
(
e
(
t
))

u
(
t
) =

c
x
c
(
t
)

With

G
c
(
s
) =

c
(
sI

A
c
)
1
B
c
,

then

this

compensator

can

be

written

as

u
(
t
) =

G
c
(
s
)
e
(
t
)

as

before

(since

the

negative

signs

cancel).

November

2,

2010