Control System Design: An Introduction to State-Space Methods (Dover Books on Electrical Engineering) by Bernard Friedland

Author:Bernard Friedland [Friedland, Bernard]
Language: eng
Format: azw3
Publisher: Dover Publications
Published: 2012-03-07T16:00:00+00:00

and to leave the pole at s = −25 unchanged.

(a) Find the gain matrix that produces this set of closed-loop poles.

(b) It is desired to move the cart from one position to another without causing the pendulum to fall. How must the control law of part a be modified to account for a reference input x, ?

Problem 6.2 Hydraulically actuated gun turret

It is desired to increase the bandwidth of the hydraulically actuated gun turret of Example 4E by use of state-variable feedback.

The dominant poles, i.e., those closest to the origin, are to be moved to . The other poles (at s = −64.5 ± y‘69.6) are already in suitable locations, but they can be moved in the interest of simplifying the feedback law by eliminating feedback paths.

(a) Determine the regulator gains for which the closed-loop poles are at and at s = −64.5 ± y69.6.

(b) For simplicity, only two nonzero regulator gains are permitted: the gain from xx = 6 and one other gain, either from x2 = ω or from x3 = p. Is it possible with a gain matrix of the form

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