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.

sensor noise covariance matrix y sensed output z controlled output: this vector contains quantities an optimal controller strives to keep small µ vector of parameters ϕ basis function Φ Poincaré map. 1 Introduction. In this chapter, we present techniques for feedback control, focusing on those aspects

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