POSITION

SERVO SYSTEM
SEMINAR ON-------------
BY
MD MAHFOOZ ALAM
ME MODULAR I&C
ROLL NO-211516
 POSITION SERVO SYSTEM

optimal control configuration of a position servo system.

Both the state variables—angular position q and angular velocity q—are assumed to be measurable.

It is desired to regulate the angular position to a unit-step function qr.

Find the optimum values of the
gains k1 and k2 that minimize
POSITION SERVO SYSTEM

The state variable description of the system, is given by

In terms of the shifted state variables

the state variable model becomes

with
The design problem is to determine optimal control

that minimizes

For this J,

The matrix Q is positive semidefinite;

The pair (A,H) is completely observable. Also, the pair (A,B) is completely controllable. Therefore, the
sufficient conditions for the existence of asymptotically stable optimal closed-loop system are satisfied.
The matrix Riccati equation is

or
or

or
The positive definite solution of the Riccati equation is

The optimal gain matrix

The minimum value of J for an initial condition

It can easily be verified that the optimal closed-loop system is stable.