τ =( K T ∙ i )=( J ∙ ω̇ ) + ( B∙ ω )

u=( L∙ i̇ )+ ( R ∙ i )+ e b=( L∙ i̇ ) + ( R∙ i ) + ( K B ∙ ω )

τ =( 0.232 ∙i )=( 0.00049 ∙ ω̇ ) + ( 0.0026 ∙ ω )

u=( 0.014 ∙ i̇ ) + ( 5.16 ∙ i )+ ( 0.232∙ ω )

[ ][
( 0.232 ∙i )−( 0.0026∙ ω )

[] ][ ] [ ]
˙ω 0.00049
= = −5.31 473.47 ω + 0 u
i u− [( 5.16 ∙ i )+ ( 0.23 2 ∙ ω ) ] −16.57 −368.57 i 71.4
0.0 14

[
[ [] ] ]
K1 K2

[
−[ ( K ∙ A )+ ( A ∙ K ) +Q ] + [ ( K ∙ B ∙ R ∙ B ∙ K ) ]
]
˙K
[] K2 K4
[]
T −1 T
K
= → =
s −[ A −( K ∙ B ∙ R ∙ B ) ] s + ( Q∙ r ) s s1
T −1 T

s2

[ [] ][ ] [([ ] [ ]) [ ]] [([ ] [ ] [ ] [ ]) ]
]
˙

[ ][ ]) ( [
T T
K1 K 2 K 1 K 2 −5.31 473.47 −5.31 473.47 K K2 2 0 K1 K2 0 −1 0 K K2
− ∙ + ∙ 1 + + ∙ ∙ 0.5 ∙ ∙ 1
K2 K 4 K 2 K 4 −16.57 −368.57 −16.57 −368.57 K2 K4 0 0 K2 K 4 71.4 71.4 K2 K 4
=

[[ ([ K K ] 71.4 71.4 )] [ s ] 0 0] ∙ [ 0 ])
s1
] ∙[ ] ∙ 0.5 ∙ [ ] + [
(
T T
−5.31 473.47 K K 0 0 s 2 0 15 0
−1
s2 − − 1 2 1
−16.57 −368.57 2 4 2

u=−[ R−1 ∙ BT ] ∙ [ ( K x + s ) ]
 ( [ ] ) ([ ][ ] [ ])
T
−1 0 K 1 K 2 x 1 s1
u=− 0.5 ∙ ∙ +
71.4 K 2 K 4 x 2 s2