Difference between revisions of "Output Feedback"
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| Line 3: | Line 3: | ||
|Previous chapter=State Feedback | |Previous chapter=State Feedback | ||
|Next chapter=Transfer Functions | |Next chapter=Transfer Functions | ||
| + | |Chapter summary=In this chapter we show how to use output feedback to modify the dynamics of the system through the use of observers. We introduce the concept of observability and show that if a system is observable, it is possible to recover the state from measurements of the inputs and outputs to the system. We then show how to design a controller with feedback from the observer state. A general controller with two degrees of freedom is obtained by adding feedforward. We illustrate by outlining a controller for a nonlinear system that also employs gain scheduling. | ||
|Chapter contents=# Frequency Domain Modeling | |Chapter contents=# Frequency Domain Modeling | ||
# Determining the Transfer Function | # Determining the Transfer Function | ||
Revision as of 00:48, 28 December 2020
| Prev: State Feedback | Chapter 8 - Output Feedback | Next: Transfer Functions |
[[Image:{{{Short name}}}-firstpage.png|right|thumb|link=https:www.cds.caltech.edu/~murray/books/AM08/pdf/fbs-{{{Short name}}}_24Jul2020.pdf]] In this chapter we show how to use output feedback to modify the dynamics of the system through the use of observers. We introduce the concept of observability and show that if a system is observable, it is possible to recover the state from measurements of the inputs and outputs to the system. We then show how to design a controller with feedback from the observer state. A general controller with two degrees of freedom is obtained by adding feedforward. We illustrate by outlining a controller for a nonlinear system that also employs gain scheduling.