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

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?

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

Interpretations With noise in the system, the model is of the form =AC+ Bu+ Buw, y= Ca +U And the estimator is of the form =Ai+ Bu+L(y-9,y=Ci e Analysis: in this case: C-I=[AT+ Bu+Buw-[Ac+ Bu+L(y-gI A(-)-L(CI-Ca)+B

Full-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 put the poles? Linear Quadratic Regulator Symmetric Root Locus How well does this approach work? Copyright [2001 by JOnathan dHow

State-Space Systems What are the basic properties of a state-space model, and how do we analyze these? e Time Domain Interpretations System Modes Copyright 2001 by Jonathan How

16.31 Feedback Control State-Space Systems What are state-space models? Why should we use them? and how do we develop a state-space mode( &ased in classical control design How are they related to the transfer functions What are the basic properties of a state-space model, and how do we analyze these?

Obiectives Understand the systems view of project management Explain the four general phases in the project life cycle Explain the differences among functional, matrix, and project organizational structures