Germn Andrs Ramos

UNIVERSIDAD

NACIONAL
DE COLOMBIA

S ed e B o g o t D .C .
Fa cu lta d d e In g en iera
D ep artam en to d e In g en iera Elctrica y Electr n ica

Control clsico

Taller de Control

Mtodos algebraicos

Diseo en variables de estado

11.26. Repeat the design in problem 11.10. Add an integral action and find the

state feedback such that the resulting system has eigenvalues larger than
-2. Design a full-order estimator with suitable eigenvalues. Finally,
connect both, state feedback and state estimator. Compute the
compensators from u to w and from y to w in figure 11.8. Also compute
the transfer function from r to y. What are the missing poles? Using
Simulink, find the step and ramp response of the system. Calculate the
position and velocity errors.

11.27. Repeat the design in problem 11.10. Add two integrators and find the

state feedback such that the resulting system has eigenvalues larger than
-2. Design a full-order estimator with suitable eigenvalues. Finally,
connect both, state feedback and state estimator. Compute the
compensators from u to w and from y to w in figure 11.8. Also compute
the transfer function from r to y. What are the missing poles? Using
Simulink, find the step and ramp response of the system. Calculate the
position and velocity errors.