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State-Space Equations
Block Diagram
State-space model
Closed-loop system with state feedback.
Preamplifier with gain .
Feedback control
Closed-loop dynamics
(square)
Internally stable system implies nonsingular .
Assume stable closed-loop dynamics
Final Value Theorem (limit exists)
(square)
(square)
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Assume a square system (includes scalar) For , can use a (right) pseudoinverse
for
For : zero error by
adding a preamplifier with gain to make
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Transmission Zero SISO Example
Step Input:
i.e. the system has a transmission zero at zero. Cannot follow a step.
Cannot track a step input.
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Example: Error Due to Step Effect of Disturbance
State-space Model
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Steady-state Error Output Regulation
Design a regulator for in the steady state.
Equilibrium:
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or
For , the solution exists if the matrix is
invertible (full rank)
or
Reference input
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Perturbations from Equilibrium Perturbation Block Diagram
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