Chapter 5 Dynamic and Closed-Loop Control

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Chapter 5Dynamic and Closed-Loop ControlClarence W. Rowley Princeton University, Princeton, NJBelinda A. Batten Oregon State University, Corvalis, fundamental principles of feedback . . . . . . . . . . . . . . . . . . . Models of multi-input, multi-output (MIMO) systems . . . . . . . . Controllability, Observability . . . . . . . . . . . . . . . . . . . . . . State Space vs. Frequency Domain . . . . . . . . . . . . . . . . . . .83 Classical Closed-Loop PID feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transfer functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . Closed-Loop stability . . . . . . . . . . . . . . . . . . . . . . . . . . . Gain and phase margins and robustness . . . . . . . . . . . . . . . . Sensitivity function and fundamental limitations . . . . . . . . . . . Full-state Feedback: Linear Quadratic Regulator Problem.

2.1 Fundamental principles of feedback Why should one use feedback at all? What are the advantages (and disadvantages) of feedback control over other control architectures? In practice, there are many tradeoffs (including weight, added complexity, reliability of sensors, etc), but here we emphasize two fundamental principles of feedback ...

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