# lec8

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Published on June 27, 2007

Author: TSBAIM

Source: authorstream.com

Module 8:State Space Control:  Module 8: State Space Control AA/EE 448 Winter 2007 Full State Feedback:  Full State Feedback For a reminder on how to choose K, see the EE447 notes, posted on Moodle. State space model Regulator (cannot track a step w/o an integrator) Resulting system Getting the Full State: Method One:  Getting the Full State: Method One : We have this from the potentiometer : estimate this via (new-old)/ i: we will add a (e.g. 1 ) resistor to the rig. Measure the voltage across this to get the current. A Note on Filtering:  A Note on Filtering There are a variety of ways to filter noisy signals. Make a discrete Butterworth filter (Look up 'butter' in the MATLAB help) Try something simple like a weighted average of the last few velocities: Getting the Full State: Method Two:  Make an Observer The discretized observer looks like Getting the Full State: Method Two For a reminder on how to choose L, see the EE447 notes, posted on Moodle. Deadzone Compensation:  Deadzone Compensation There is a range [-vdz,vdz] where if the motor is not moving, a voltage across the motor terminals does not do anything. This is called a deadzone or deadband. The simplest way to compensate for this is to adjust the voltage sent to the motor. First you compute v according to your control law, then you tweak it. vcontrol vadjusted deadzone

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