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Lecture Signals, systems & inference – Lecture 11: State feedback, observer-based feedback. The following will be discussed in this chapter: System (“plant”), a good model, observer configuration, observer-based controller. | Lecture Signals, systems & inference – Lecture 11: State feedback, observer-based feedback State feedback, observer-based feedback 6.011, Spring 2018 Lec 11 1 System (“plant”) w[n] x[n] q[n] y[n] + A, b, cT, d 1[n] 2 A good model w[n] x[n] b[n q [n] yb[n] y[n] + A, b, cT, d 1[n] 3 Observer configuration w[n] x[n] q[n] y[n] + A, b, cT Plant Z[n] y[n] q[n] q[n] y[n] - + T A, b, c Observer B 4 State feedback x[n] p[n] + A, b, cT q[n] gT 5 Observer-based controller w[n] p[n] x[n] q[n] y[n] + + A, b, cT Plant ζ[n] y[n] q[n] q[n] y[n] - + gT T A, b, c Observer B 6 Actual Control of inverted Pendulum p(t) = 0, v(t) = 0, Z(t) = 0 x(t) generated by Estimate observer-based feedback /1 = -7, /2 = -18 0.15 Pendulum angle (q1) 0.1 0.05 0 Observer-based controller: -0.05 0 2 4 6 8 10 Time (sec) /1 = 14, /2 = 5 1.5 Controller 1 input (x) 0.5 0 -0.5 0 2 4 6 8 10 Time (sec) p(t) = 0, v(t) = 0, Z(t) = 0 x(t) generated by direct state feedback Pendulum 1.5 angle (q1) 1 State feedback control: 0.5 0 -0.5 0 2 4 6 8 10 Time (sec) 1.5 Controller 1 input (x) 0.5 0 7 -0.5 0 2 4 6 8 10 Time (sec) MIT OpenCourseWare https://ocw.mit.edu 6.011 Signals, Systems and Inference Spring 2018 For information about citing these materials or our Terms of Use, visit: https://ocw.mit.edu/terms. 8
