现代控制理论chapter5-Linear Feedback Control System.ppt

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1、Chapter5LinearFeedbackControlSystemoutline5-1Introduction5-2Statefeedbackandoutputfeedback5-3Pole-Placement5-5StateEstimator5.1.1AnalysisandDesign5-1IntroductionGiventhesystem,designofthestructureandparametersofcontrolleranalysisResponse,controllability,observabili

2、tystabilityquantitativeandqualitativeanalysisAnalysisandDesignControltheperformanceofthesystemtomeettheexpectedrequirementsgoalfoundation5-2Statefeedbackandoutputfeedback5.2.1statefeedbackGeneralexpressionLITSexpressionorTheintroductionofstatefeedbacknotonlychanges

3、theinputmatrix,butalsochangesthestatematrix.Asresult,itchangestheeigenvaluesofthesystemandthepolesoftransferfunction,anditisclearlyimportantandmeaningful.5.2.2outputfeedbackBylinearfeedbacklawStateandoutputequationsasClosed-looptransferfunctionmatrix:5.2.3Discussio

4、nonStateFeedbackandOutputFeedback1Theintroductionoffeedbackdoesnotaddanewstatevariable,namelytheclosed-loopsystemandopen-loopsystemhavethesamedimension.2Twoformscanmaintainthecontrollability,butnottheobservability.Forthestatefeedback,thesystemmaynotbeabletomaintain

5、theoriginalobservability;fortheoutputfeedback,theclosed-loopsystemwillbeabletomaintaintheobservability.3Outputfeedbackiseasilyrealizedinproject.Butstatefeedbackhasbetterfeatures.butwiththedevelopmentofthetheoryabouttheobserverandtheKalmanfilter,thephysicalrealizati

6、onofstatefeedbackhasbeenbasicallysolved.Sogenerallyspeaking,statefeedbackisamoreadaptivefeedback.Ofcourse,weselecttheformaccordingtotheactualsituation.5.2.3DiscussiononStateFeedbackandOutputFeedbackexplainFeedbacksystemwithstateestimatorWecannotmeasurethestatesphys

7、icallyWhy?AnswerWecanconstructthestatesbasedoninputandoutput-----stateestimatorFeedbackcontrolsystemwithstateestimatorNoteReconstructionvaluesofstatevariablesaregraduallyequaltotheirvalue.2.Theorderofobserver-statefeedbacksystemisequaltosumofthecontrolledsystemorde

8、randtheestimatororder,thatis,thesystemstatevariablesofestimatorcomposetheclosed-loopsystemstatevariables.5-3Pole-placement5.3.1questionThedynamic