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)

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

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

Closed-loop system analysis Robustness State-space -eigenvalue analysis Frequency domain- Nyquist theorem Sensitivity Copyright 2001 by Jonathan How

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?

Learning objectives Understand the importance of good project cost management Explain basic cost management principles, concepts, and terms Describe the resource planning, cost estimating, cost budgeting, and cost control processes

Goal: Design a controller K(s so that the system has some desired characteristics. Typical objectives Stabilize the system( Stabilization) Regulate the system about some design point(Regulation Follow a given class of command signals(Tracking) Reduce the response to disturbances(Disturbance Rejection Typically think of closed-loop control > so we would analyze the

earning objectives Explain the basic process for developing project schedules Describe how various tools and techniques help project managers perform activity definition, activity sequencing, activity duration estimating, schedule development, and schedule control