State-Space Systems e Ful-state feedback Control How do we change the poles of the state-space system? Or, even if we can change the pole locations Where do we change the pole locations to? How well does this approach work?

State-Space Systems Open-loop Estimators Closed-loop Estimators Observer Theory (no noise)-Luenberger IEEE TAC Vol 16, No. 6, pp. 596-602, December 1971 Estimation Theory(with noise)-Kalman Copyright [2001 by JOnathan dHow

State-Space Systems e Ful-state feedback Control How do we change the poles of the state-space system? Or, even if we can change the pole locations Where do we change the pole locations to? How well does this approach work?

Weighting Matrix Selection a good rule of thumb when selecting the weighting matrices Rxx (or Ru and R uu is to normalize

北京航空航天大学：【智能系统】一类具有群体LEADER的多智能体系统的聚集行为

Reference input -II 16. 3117-23 On page 17-5, compensator implemented with a reference command y changing to feedback on e(t=r(t-y(t) rather than -y(t)

Deterministic lOR Optimal control and the riccati equation · Lagrange multipliers The Hamiltonian matrix and the symmetric root locus Factoids: for symmtric R

Bounded gain There exist very easy ways of testing(analytically) whether S Gu)< SISO Bounded Gain Theorem: Gain of generic stable system

MIMO Systems Singular Value Decomposition Multivariable Frequency Response Plots Copyright 2001 by Jonathan How

GPS Observables Today's class we start discussing the nature of GPS observables and the methods used to make range and phase measurements Start with idea of remotely measuring distances