Module 8: Full-State Feedback and Pole-Placement

Lectures and Content

Folder description

Please click the folder link above to access the Module 8 instructional content. Module 8 contains six video lectures that present the following topics:

Full-State Feedback and Pole Placement (8A)
Control System Design via Pole Placement (Part I) (8B)
Control System Design via Pole Placement (Part II) (8C)
Control System Design via Pole Placement Example 6-6 (8D)
Dead-beat Control Using Pole-Placement (8E)
Pole Placement for Tracking (8F)

Technical

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Module at a Glance ObjectivesHow to Complete This Module:

Cell description

Objectives

By the end of this module, you will be able to:

Demonstrate and evaluate the necessary and sufficient conditions to perform arbitrary placement of closed-loop poles anywhere in the z-plane
Develop full-state feedback gains for arbitrary pole-placement
Use pole-placement to develop a unique discrete-time control system design called a dead-beat controller
Understand and apply two different topologies for formulating discrete-time full-state feedback tracking controller designs

How to Complete This Module:

Refresh reading Chapter 6.1 – 6.2 from Ogata 2nd Edition
View “Full-State Feedback and Pole Placement” (module 8A video)
Read Chapter 6-4 – 6.5 from Ogata 2nd Edition
View “Control System Design via Pole Placement (Part I)” (module 8B video)
View “Control System Design via Pole Placement (Part II)” (module 8C video)
View “Control System Design via Pole Placement Example 6-6” (module 8D video)
View “Dead-beat Control Using Pole-Placement” (module 8E video)
View “Pole Placement for Tracking” (module 8F video)
Complete the module assignment
Participate in the module discussions

Technical

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Readings

Cell description

This weeks readings include the following:

Ogata,K. (1995). Discrete-Time Control Systems (2nd Edition). Upper Saddle River, New Jersey. Prentice Hall.

Chapter 6.1 - 6.2
Chapter 6.4 - 6.52

Urbant, T. (2016) Digital Control and System Applications

Module 8A – Handouts
Module 8B – Handouts
Module 8C – Handouts
Module 8D – Handouts
Module 8E – Handouts
Module 8F – Handouts

Technical

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Prentice Hall.</p> \n <table summary=\"Discrete-Time Control Text graphic\" border=\"0\"> \n  <tbody> \n   <tr> \n    <td class=\"nowrapCell\"><span class=\"axScoreIndicator axVtbeEmbedded image\"><span data-ally-scoreindicator=\"_103909318_2\"></span></span>\n<img src=\"https://blackboard.jhu.edu/bbcswebdav/pid-9946501-dt-content-rid-103909318_2/xid-103909318_2\" alt=\"Discrete-Time Control Systems Textbook\" title=\"Discrete-Time Control Systems Textbook\" width=\"92\" height=\"119\"> \n<span class=\"contextMenuContainer image\" style=\" display: inline;\" bb:menugeneratorurl=\"/webapps/cmsmain/webui/courses/EN.535.645.81.SU21/Screen%20Shot%202016-09-29%20at%208.36.15%20AM.png?action=details&amp;subaction=generateFileMenuItem&amp;uniq=vd00d6&amp;course_id=_233190_1&amp;ctxMenuXythosId=103909318_2&amp;course_id=_233190_1\" bb:navitem=\"\" bb:contextparameters=\"\" bb:menuorder=\"openId_ba3f6cebe7e74f45aa5e68578945a11c,open_with_browser_ba3f6cebe7e74f45aa5e68578945a11c,open_with_bbdrive_ba3f6cebe7e74f45aa5e68578945a11c,openWebId_ba3f6cebe7e74f45aa5e68578945a11c,view360Id_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,*separator*,ax-ally-placeholder_ba3f6cebe7e74f45aa5e68578945a11c,ax-ally-markForAxAnalysis_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,*separator*,content_settings_ba3f6cebe7e74f45aa5e68578945a11c,content_editSettings_ba3f6cebe7e74f45aa5e68578945a11c,content_edit_ba3f6cebe7e74f45aa5e68578945a11c,properties_folder_ba3f6cebe7e74f45aa5e68578945a11c,itemcarot_managerecord_ba3f6cebe7e74f45aa5e68578945a11c,comments_tool_ba3f6cebe7e74f45aa5e68578945a11c,subscriptions_list_ba3f6cebe7e74f45aa5e68578945a11c,content_readfile_ba3f6cebe7e74f45aa5e68578945a11c,content_overwrite_ba3f6cebe7e74f45aa5e68578945a11c,passes_tool_ba3f6cebe7e74f45aa5e68578945a11c,permissions_tool_ba3f6cebe7e74f45aa5e68578945a11c,content_add_alignment_ba3f6cebe7e74f45aa5e68578945a11c,content_tracking_ba3f6cebe7e74f45aa5e68578945a11c,content_versions_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,*separator*,bookmarkId_ba3f6cebe7e74f45aa5e68578945a11c,itemsId_ba3f6cebe7e74f45aa5e68578945a11c,packagesId_ba3f6cebe7e74f45aa5e68578945a11c,emailId_ba3f6cebe7e74f45aa5e68578945a11c,removeContentFolderId_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,copyContentId_ba3f6cebe7e74f45aa5e68578945a11c,moveContentId_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,removeContentId_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,Metadata_General_ba3f6cebe7e74f45aa5e68578945a11c,Metadata_Dublin_Core_ba3f6cebe7e74f45aa5e68578945a11c,Metadata_IMS_ba3f6cebe7e74f45aa5e68578945a11c,Metadata_Full_IMS_ba3f6cebe7e74f45aa5e68578945a11c,\" bb:overwritenavitems=\"\" bb:beforeshowfunc=\"\"> <a id=\"cmlink_ba3f6cebe7e74f45aa5e68578945a11c\" onfocus=\"page.ContextMenu.LI(event, 'cmdiv_ba3f6cebe7e74f45aa5e68578945a11c',true);\" onmouseover=\"page.ContextMenu.LI(event, 'cmdiv_ba3f6cebe7e74f45aa5e68578945a11c',true);\" class=\"cmimg editmode jsInit   cmimg-hide\" href=\"#contextMenu\" title=\"Click for more options\"> <img src=\"/images/ci/icons/cmlink_generic.gif\" alt=\"Click for more options\" onload=\"page.ContextMenu.LI(event, 'cmdiv_ba3f6cebe7e74f45aa5e68578945a11c',true);\"></a> \n  </span> \n<input type=\"hidden\" name=\"103909318_2_fileReadWritePermAvl\" id=\"103909318_2_fileReadWritePermAvl\" value=\"false\"> \n<script type=\"text/javascript\" src=\"/javascript/cdn.js\"></script> \n<script type=\"text/javascript\" src=\"/groupjs/FF147D720E72E17F96127A7085584389.js?v=3800.0.9-rel.16+8f8c3e7\"></script> \n<script type=\"text/javascript\" src=\"/webapps/cmsmain/dirlistrightframe/dirlist.js?v=3800.0.9-rel.16+8f8c3e7\"></script> \n<script type=\"text/javascript\" src=\"/webapps/cmsmain/static/bbDriveUtil.js?v=3800.0.9-rel.16+8f8c3e7\"></script> \n<script type=\"text/javascript\">\n    (function(){\n     var f = function(){\n           if ( window.DWREngine )\n      {\n       if( DWREngine._batch )\n       {\n      \t try {DWREngine.endBatch();} catch(ignore) {}\n       }\n       try {DWREngine.beginBatch();} catch(ignore) {}\n      } \n             page.ContextMenu.hideMenuDiv('ba3f6cebe7e74f45aa5e68578945a11c');\n            if ( window.DWREngine )\n      {\n        try {DWREngine.endBatch();} catch(ignore) {}\n      }\n               };\n     var f2 = function()\n     {\n       if ( page.isLoaded )\n       {\n         f();\n       }\n       else\n       {\n         setTimeout( f2, 500 );\n       }\n     }\n     f2();\n    })();\n   </script></td> \n    <td> \n     <ul> \n      <li>Chapter 6.1 - 6.2</li> \n      <li>Chapter 6.4 - 6.52</li> \n     </ul> </td> \n   </tr> \n  </tbody> \n </table> \n <br> \n <p>&nbsp; Urbant, T. 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        "body": "\n    <div> \n <p>This weeks readings include the following:</p> \n <p>Ogata,K. (1995). Discrete-Time Control Systems (2nd Edition). Upper Saddle River, New Jersey. Prentice Hall.</p> \n <table summary=\"Discrete-Time Control Text graphic\" border=\"0\"> \n  <tbody> \n   <tr> \n    <td>\n \n<span bb:menugeneratorurl=\"/webapps/cmsmain/webui/courses/EN.535.645.81.SU21/Screen%20Shot%202016-09-29%20at%208.36.15%20AM.png?action=details&amp;subaction=generateFileMenuItem&amp;uniq=vd00d6&amp;course_id=_233190_1&amp;ctxMenuXythosId=103909318_2&amp;course_id=_233190_1\" bb:navitem=\"\" bb:contextparameters=\"\" bb:menuorder=\"openId_ba3f6cebe7e74f45aa5e68578945a11c,open_with_browser_ba3f6cebe7e74f45aa5e68578945a11c,open_with_bbdrive_ba3f6cebe7e74f45aa5e68578945a11c,openWebId_ba3f6cebe7e74f45aa5e68578945a11c,view360Id_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,*separator*,ax-ally-placeholder_ba3f6cebe7e74f45aa5e68578945a11c,ax-ally-markForAxAnalysis_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,*separator*,content_settings_ba3f6cebe7e74f45aa5e68578945a11c,content_editSettings_ba3f6cebe7e74f45aa5e68578945a11c,content_edit_ba3f6cebe7e74f45aa5e68578945a11c,properties_folder_ba3f6cebe7e74f45aa5e68578945a11c,itemcarot_managerecord_ba3f6cebe7e74f45aa5e68578945a11c,comments_tool_ba3f6cebe7e74f45aa5e68578945a11c,subscriptions_list_ba3f6cebe7e74f45aa5e68578945a11c,content_readfile_ba3f6cebe7e74f45aa5e68578945a11c,content_overwrite_ba3f6cebe7e74f45aa5e68578945a11c,passes_tool_ba3f6cebe7e74f45aa5e68578945a11c,permissions_tool_ba3f6cebe7e74f45aa5e68578945a11c,content_add_alignment_ba3f6cebe7e74f45aa5e68578945a11c,content_tracking_ba3f6cebe7e74f45aa5e68578945a11c,content_versions_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,*separator*,bookmarkId_ba3f6cebe7e74f45aa5e68578945a11c,itemsId_ba3f6cebe7e74f45aa5e68578945a11c,packagesId_ba3f6cebe7e74f45aa5e68578945a11c,emailId_ba3f6cebe7e74f45aa5e68578945a11c,removeContentFolderId_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,copyContentId_ba3f6cebe7e74f45aa5e68578945a11c,moveContentId_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,removeContentId_ba3f6cebe7e74f45aa5e68578945a11c,*separator*,Metadata_General_ba3f6cebe7e74f45aa5e68578945a11c,Metadata_Dublin_Core_ba3f6cebe7e74f45aa5e68578945a11c,Metadata_IMS_ba3f6cebe7e74f45aa5e68578945a11c,Metadata_Full_IMS_ba3f6cebe7e74f45aa5e68578945a11c,\" bb:overwritenavitems=\"\" bb:beforeshowfunc=\"\"> <a id=\"cmlink_ba3f6cebe7e74f45aa5e68578945a11c\" onfocus=\"page.ContextMenu.LI(event, 'cmdiv_ba3f6cebe7e74f45aa5e68578945a11c',true);\" onmouseover=\"page.ContextMenu.LI(event, 'cmdiv_ba3f6cebe7e74f45aa5e68578945a11c',true);\" href=\"#contextMenu\" title=\"Click for more options\"> </a> \n  </span> \n \n \n \n \n \n</td> \n    <td> \n     <ul> \n      <li>Chapter 6.1 - 6.2</li> \n      <li>Chapter 6.4 - 6.52</li> \n     </ul> </td> \n   </tr> \n  </tbody> \n </table> \n  \n <p>&nbsp; Urbant, T. (2016) Digital Control and System Applications</p> \n <ul> \n  <li>Module 8A – Handouts</li> \n  <li>Module 8B – Handouts</li> \n  <li>Module 8C – Handouts</li> \n  <li>Module 8D – Handouts</li> \n  <li>Module 8E – Handouts</li> \n  <li>Module 8F – Handouts</li> \n </ul> \n</div>\n  "
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Module 8 Discussion Question 1 -Controllability

Cell description

Controllability appears to be a requirement for pole-placement. Why should we care? What would be the worst thing that could happen if we don’t have controllability? Can’t we just design a state-estimator to overcome this shortfall?

You will be graded on your participation in this activity, not on the accuracy of solving the problem. Please share your thoughts to this question by Day 4 of Module 8, and provide feedback on your classmates comments by Day 6 of Module 8.

Technical

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Module 8 Discussion Question 2 - Deadbeat

Cell description

Why is the dead-beat controller something unique to the discrete-time domain? Why can’t we use pole placement to move all the poles to the origin in the continuous-time domain and hope to get the same response characteristics?

You will be graded on your participation in this activity, not on the accuracy of your answer. Please share your response by Day 5 of Module 8, and provide feedback to your classmates by Day 7 of Module 8.

Technical

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Module 8 Assignment

Cell description

Please open the attachments above and complete the Problem Set.

As you complete this Problem Set please show all your work. When you are finished, scan the document containing your final work or take a clear and readable picture with a camera or phone.
Submit your response by day 7 of Module 8

Technical

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</li></ul></div></div>\n\n    <div class=\"vtbegenerated\"> \n <p>Please open the attachments above and complete the Problem Set.</p> \n <ul> \n  <li>As you complete this Problem Set please show all your work. When you are finished, scan the document containing your final work or take a clear and readable picture with a camera or phone.</li> \n  <li><span style=\"text-decoration: underline;\">Submit your response by day 7 of Module 8 </span></li> \n </ul> \n</div>\n  </div>\n\n <div id=\"_9826926_1previewModule\" class=\"moduleSample\">\n </div>\n",
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</li></ul></div></div>\n\n    <div class=\"vtbegenerated\"> \n <p>Please open the attachments above and complete the Problem Set.</p> \n <ul> \n  <li>As you complete this Problem Set please show all your work. When you are finished, scan the document containing your final work or take a clear and readable picture with a camera or phone.</li> \n  <li><span style=\"text-decoration: underline;\">Submit your response by day 7 of Module 8 </span></li> \n </ul> \n</div>\n  </div>\n\n <div id=\"_9826926_1previewModule\" class=\"moduleSample\">\n </div>\n",
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Module 8 Homework Solutions

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Technical

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