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 . . . . . . Observers for state estimation . . . . . . . . . . . . . . . . . . . . . . Observer-based feedback.

detailed explanation of all of control theory in a single chapter, so we merely touch on highlights, and refer the reader to the literature for further details. 2 Architectures. Within this section, we describe the basic architecture of a closed-loop system, dis-cussing reasons for introducing feedback, as opposed to strategies that do not use

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