Fa2004 16.3339-4 Full-state Feedback Controller Assume that the single-input system dynamics are given by Ar+ Bu y= Ca so that D=0 The multi-actuator case is quite a bit more complicated as we would have many extra degrees of freedom Recall that the system poles are given by the eigenvalues of A Want to use the input u(t) to modify the eigenvalues of A to change the system dynamics y A.B. C Assume a full-state feedback of the form u=r-Kx where r is some reference input and the gain K is rxn If r=0, we call this controller a regulatorFall 2004 16.333 9–4 Full­state Feedback Controller • Assume that the single­input system dynamics are given by x˙ = Ax + Bu y = Cx so that D = 0. – The multi­actuator case is quite a bit more complicated as we would have many extra degrees of freedom. • Recall that the system poles are given by the eigenvalues of A. – Want to use the input u(t) to modify the eigenvalues of A to change the system dynamics. r u y − OO / A, B, C / x  K • Assume a full­state feedback of the form: u = r − Kx where r is some reference input and the gain K is R1×n – If r = 0, we call this controller a regulator