Property of Penn Engineering, Vijay Kumar and Ani Hsieh

Video 6.
1
Vijay Kumar and Ani Hsieh
Robo3x-1.6 1
Property of Penn Engineering, Vijay Kumar and Ani Hsieh
In General
Disturbance
System Output
Input + Input + +
Controller
-
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Learning Objectives for this Week
• State Space Notation
• Modeling in the time domain
• Solutions in the time domain
• From Frequency Domain to Time Domain
and Back
• Design in the Time Domain
• Linearization
Robo3x-1.6 3
State-Space Representation
• Converts N-th order differential equation into
N simultaneous FIRST-ORDER differential
equations
• Allows for multiple inputs and/or outputs

• Versatility – our initial conditions DO NOT
have to be 0
Robo3x-1.6 4
State Variables
Smallest set of linearly independent system
variables s.t. state_variables(t_0) + known input
(or forcing) functions completely determines the
system.
# of state variables = Dimension of the State Space
# of state variables = order of the original diff eqn
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Example
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Another Example (1)
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
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Another Example (2)
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Video 6.2
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Transfer Function → State Space (1)
Given
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Given
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Given
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State Space → Transfer Function (1)
Given
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State Space → Transfer Function (2)
Given
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Solutions in the Time Domain
Given w/
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Time Domain Solution (2)
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Output of the System
Natural Particular
Response Response
Thus, output of the system is given by
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Video 6.3
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The Matrix Exponential
Properties of
•
• If then
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Characterizing System Response
Since , for constant

, then w/ constant and
Then,
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Steady-State Performance
Since
System is stable if and only if
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Transient Performance
What about complex eigenvalues?
Recall , then
with
results in
Complex eigenvalues come in pairs,

terms will cancel out.
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Example (1)
Given w/
Eigenvalues and eigenvectors of are

and
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Example (2)
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Example (3)
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State Space Design
Given w/
Linear State Feedback Control Law
Closed-loop system
Choose K such that CL response is stable.

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Advantages of State Space Design
Given w/
with
1. Not restricted to 2nd order approximations
2. Access to a larger range of closed-loop poles
3. Allows for full state feedback
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Video 6.4
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A Caveat – Controllability
A linear system is controllable if for each
and , there exists a that can
get the system from to at time .
Such a linear system is controllable if and only if
Controllability Matrix
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Feedback Law and Controllability
Let
s.t.
are real coefficients. Then there exists
such that
if and only if is controllable.
State feedback enables any controllable linear

system to have arbitrary closed-loop poles!
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Linear Quadratic (LQ) Control
Find optimal feedback control strategy that
Cost
Function
Constraints
Ø Constrained Optimization Problem

Ø Optimal Control
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Optimal LQ Controller
w/ symmetric, positive definite matrix Q and R

w/
where
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A Few More Words
The Algebraic Riccati Equation
• P is n x n matrix
• P is unique
• P is symmetric and positive definite
• w/ is optimal
w.r.t. the cost function J
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Caveat for the Caveat –
Observability
Recall: If is controllable, then
K can be chosen s.t.
achieves arbitrary CL poles.
Assumption:
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Example – Robot Joint Control (1)
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With
Note:
1. Only θm is can be measured
2. requires θl
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Observers
• State estimators
• Use system model and measured output to
estimate the full state
• Also a dynamical system
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Obtaining
Let
Error between plant

• A, B, C are known & estimate output
• Solve for from any initial condition
• Use in feedback law
• Pick L s.t. as
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Video 6.5
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Performance of the Estimator
Let be the estimation error
Then,
1. Dynamics determined by
2. Pick L s. t. as
Eigenvalues of can be arbitrarily

set if and only if system is observable.
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Observability
A linear system is observable if every
can be exactly determined from and
in a finite time interval .
The pair is observable if and only if
Observability
Matrix
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With
Separation Principle: Allows us to separately design

the feedback control and the state estimator
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For nonlinear systems
In general, given
where f is a nonlinear function in x, possibly u

What if …
1. We want to analyze system behavior around
?
2. We want to control system behavior around
?
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Linearization
Given and ,
• Let and ,
substitute into f(x,u)
• Apply Taylor series expansion about
Then
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Linearization
Let and
Proceed …
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Property of Penn Engineering, Vijay Kumar and Ani Hsieh

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh

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Video 6.

• Allows for multiple inputs and/or outputs

Since , for constant

System is stable if and only if

Complex eigenvalues come in pairs,

Eigenvalues and eigenvectors of are

Linear State Feedback Control Law

Choose K such that CL response is stable.

Such a linear system is controllable if and only if

State feedback enables any controllable linear

Ø Constrained Optimization Problem

w/ symmetric, positive definite matrix Q and R

• Also a dynamical system

Error between plant

Eigenvalues of can be arbitrarily

The pair is observable if and only if

Separation Principle: Allows us to separately design

where f is a nonlinear function in x, possibly u

• Apply Taylor series expansion about

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