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Objectives: I Learn how the position of the reference input affects steady state error. I Learn how to decouple linear systems with several inputs using state feedback. I Learn how to increase the type of a system using integral control.
+ -
u
n
& x = A x + Bu
n
In most cases, n references are not required. In many cases we only want to control one state (usually defined as an output). In these cases, we only need ONE reference input.
If x1 is to be controlled to follow a constant reference (r1), then r2=0. E.g. If x1is the position of a system and x2 is the speed. Clearly, if we want the system to reach a certain position (r1), we require zero steady state speed (r2=0).
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k2 k2 k1 k1
-1 su m
r1
r1 k1 k1
x2
1 s Integrator
x1
1+k2/k1s H
1 s+3 G2 r2
x1
k2 k2 r1 k1 k1
If x1 is to be controlled to follow a constant reference, then the desired steady state value of x2 is 3x1. Specifying r2 will just alter the steady state errors. Easy to show!
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1 s+1 G1
1 s+3 G2
x1
k2/k1(s+3+k1/k2) H
Conclusion: If there is only one output or state to be controlled, then generally the systems are single input and one reference input is enough.
+ -
K1
1x1
& x = A x + Bu
K2
1xn n
& x = A x + Bu
K2
1xn n
& x = A x + Bu
K2
1xn n
& x = A x + Bu
K2
1xn n
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& x = A x + Bu
K2
1xn n
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& x = A x + Bu
K2
pxn n
For multi-input systems K1 is a matrix. Moreover: - State feedback does affect closed loop zeroes - K1 affects steady state error.
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& x = A x + Bu
K2
pxn n
Sometimes it is possible to make each controlled output dependent on only one input. E.g.
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& x = A x + Bu
KD2
pxn n
We want to obtain:
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& x = A x + Bu
KD2
pxn n
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& x = A x + Bu
KD2
n
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Note that xI is a new state. Therefore we have increased the order of the system. For sign convention reasons we define: If we want to introduce integral control to more than one output:
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Feedback Law:
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We want zero steady state error and eigenvalues placed at s=-5, -2, -3.
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. xI +
1/s
xI
u -
& x = A x + Bu
3 -1
x1 x2
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8.3 Examples
You should solve the following examples by next week: Ex. 3.7 Ex. 3.8
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