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Static State Feedback: Capitolo 0. INTRODUCTION
Static State Feedback: Capitolo 0. INTRODUCTION
The design methods presented in the following sections will refer to the case
of designing a static feedback control law to solve the regulation problem.
y
ẋ = Ax + Bu u
S
y = Cx + Du
x
• The system (in this case a continuous-time system) can be graphically
represented in the following way:
D
u ẋ x y
B s−1 C
A
S
x
• The static state feedback control law has the following form:
v u y
S
u(t) = K x(t)+v(t) x
K
where K ∈ Rm×n is the design a matrix and v(t) is un additional input.
• Applying the control law u = K x + v to the previous continuous-time
system (the same holds for a discrete-time system) one obtains:
y
ẋ = (A + BK)x + Bv v
SK
y = (C + DK)x + Dv
x
The new dynamic system SK characterized by the following matrices:
A + B K, B, C + D K, D.
Zanasi Roberto - System Theory. A.A. 2015/2016
Capitolo 4. REACHABILITY AND CONTROLLABILITY 4.3
SK
D
v ẋ x y
B −1 C + DK
s
A + BK