Wiley - Chapter 1228 Chapter 12: Design via State Space Figure 12.27 Designed response of antenna...

©2000, John Wiley & Sons, Inc.Nise/Control Systems Engineering, 3/e

Chapter 12: Design via State Space1

Chapter 12

Design via State Space



Figure 12.1An automaticpharmacy systemshowing a robotpicking up drugsto deposit inboxes for individual patientsat a hospital © Dick Blume--Syracuse Newspapers/ The Image Works.



Figure 12.2a. State-spacerepresentationof a plant;b. plant with state-feedback



Figure 12.3a. Phase-variablerepresentation for plant;b. plant with state-variablefeedback



Figure 12.4a. Phase-variablerepresentationfor plant of Example 12.1;b. plant with state-variable feedback



Figure 12.5Simulation of closed-loopsystem ofExample 12.1



Figure 12.6Comparison ofa. controllable andb. uncontrollablesystems



Figure 12.7System forExample 12.2



Figure 12.8a. Signal-flowgraph in cascadeform for G(s ) =10/[(s + 1)(s + 2)];b. system with state feedback added



Figure 12.9Signal-flow graph for plant of Example 12.4



Figure 12.10Designed systemwith state-variablefeedback forExample 12.4



Figure 12.11State-feedback designusing an observer toestimate unavailablestate variables:a. open-loop observer;b. closed-loop observer;c. exploded view of aclosed-loop observer,showing feedbackarrangement toreduce state-variableestimation error



Figure 12.12Third-order observer inobserver canonicalform:a. before the addition of feedback;b. after the addition of feedback



Figure 12.13a. Signal-flow graph of a system using observer canonical form variables;b. additional feedback to create observer



Figure 12.14Simulation showingresponse of observer:a. closed-loop;b. open-loop withobserver gainsdisconnected



Figure 12.15Comparison ofa. observable andb. unobservablesystems



Figure 12.16System ofExample 12.6



Figure 12.17System ofExample 12.7



Figure 12.18Observer design



Figure 12.19Observer design step response simulation:a. closed-loopobserver;b. open-loop observer with observer gainsdisconnected



Figure 12.20a. Plant;b. designed observerfor Example 12.9



Figure 12.21Integral control forsteady-state errordesign



Figure 12.22Simplified block diagram of antennacontrol system shown on thefront endpapers (Configuration 1)with K = 200



Figure 12.23Conceptual state-space designconfiguration, showingplant, observer, and controller



Figure 12.24Signal-flow graph forG(s) = 1325/[ s(s2 + 101.71s + 171)]



Figure 12.25Plant with state-variable feedback for controller design



Figure 12.26Completedstate-space design for the antenna azimuthposition controlsystem, showingcontroller andobserver



Figure 12.27Designed response of antenna azimuthposition control system:a. impulse response—plant and observerwith the same initialconditions, x1(0) = b. portion of impulseresponse—plant andobserver with differentinitial conditions,x1(0) = 0.006 forthe plant,for the observer



Figure P12.1



Figure P12.2(figure continues)



Figure P12.2(continued )



Figure P12.3



Figure P12.4



Figure P12.5



Figure P12.6Block diagram of agas-fired heater

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Wiley - Chapter 1228 Chapter 12: Design via State Space Figure 12.27 Designed response of antenna...

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