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Automatic Control II Control System Design in State Space
Automatic Control II Control System Design in State Space
Space Design
Controllability of State Space
• Controllability
A system is completely controllable if there exists an unconstrained control
u(t) that can transfer any initial state x(t0) to any other desired location x(t)
in a finite time t0tT.
nn
Controllable x Ax Bu
nm
rank[Pc ] n Pc 0
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Example 1
• Controllability
Example 1: Controllability of a system
0 1 0 0
0 1 0 0
A 0 1 , B 0
x 0 1 x 0 u
0
0
a0 a1 a2 1
a0 a1 a2 1
0 0
AB 1 , A 2 B a2
y= 1 0 0 x 0 u
a2 (a22 a1 )
0 0 1
Pc [B AB A 2 B A n 1B] 0 1 a2 Pc 1
1 a2 (a22 a1 ) Controllable
제 14강 6
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Observability of State Space
• Observability
A system is completely observable if and only if there exists a finite time T
such that the initial state x(0) can be determined from the observation
history y(t) given the control u(t).
x Ax Bu 1n
Controllable y=Cx
n1
rank[Po ] n Po 0
Observability Matrix Po [C CA CA n 1 ]T
nn
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Example 2
• Observability
Example 2: Observability of a system
0 1 0
0 1 0 0
A 0 1 ,
x 0 1 x 0 u
0
0
a0 a1 a2
a0 a1 a2 1
C 1 0 0
y= 1 0 0 x 0 u CA 0 1 0 ,
CA 2 0 0 1
1 0 0
Po [C CA CA n 1 ]T 0 1 0 Po 1
0 0 1 Observable
제 14강 8
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Example 3
• Observability
1 1
y x1 x2
Pc Po 0 x1 x2 2 x1 ( x2 x1 ) u u
Not Controllable and Not Observable x1 x2
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Exercise 1
Page 2
• We can then control the pole locations by
finding appropriate values for K
• This allows us to select the position of all the
closed loop system roots during our design.
Mathematical Modeling:
0 1 0 20.601
1 0 20.601 0
Pc [B AB A 2 B A 3B]
0 0.5 0 0.4905
0.5 0 0.4905 0
Pc=[0 -1 0 -20.601
-1 0 -20.601 0 det(Pc)
0 0.5 0 0.4905 Controllable
ans =
0.5 0 0.4905 0] 96.2361
>> roots(A)
>> A=[1 0 -20.601 0 0]
ans =
A=
0
1.0000 0 -20.6010 0 0 0
4.5388
-4.5388
Mathematical Modeling