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Theory
Lecturer :
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EEMCS
Input-output systems
Input
System
Output
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EEMCS
Glass tubes
glas
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lucht
EEMCS
Inputs:
Air pressure
Glass temperature
Pulling speed
Outputs:
Diameter tube
Wall thickness
Disturbances:
Outside temperature
Impurities in the glass
Non-uniform temperature distribution
Model uncertainties
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EEMCS
= Cx(k) + Du(k)
u(k)
k=1
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EEMCS
Stability
= Cx(k) + Du(k)
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EEMCS
x(0) = x0
= Cx(k) + Du(k)
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EEMCS
x(0) = x0
= Cx(k) + Du(k)
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EEMCS
Controllability
Consider a linear system:
x(k + 1) = Ax(k) + Bu(k)
y(k)
with x(k)
= Cx(k) + Du(k)
n.
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EEMCS
10/21
EEMCS
Stabilizability
= Cx(k) + Du(k)
11/21
EEMCS
12/21
EEMCS
x(0) = x0
= Cx(k) + Du(k)
We have:
y(k) = Du(k) + CAk x0 +
k1
CAkj1 Bu(j)
j=0
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EEMCS
x(0) = x0
= Cx(k) + Du(k)
We have:
y(k) = Du(k) + CAk x0 +
k1
CAkj1 Bu(j) +
j=0
k1
j=0
CAkj1 Ew(j)
Mw
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EEMCS
x(0) = x0
= Cx(k) + Du(k)
15/21
F x(k) + v(k) 1
EEMCS
16/21
EEMCS
17/21
EEMCS
18/21
t
EEMCS
19/21
EEMCS
Example: overshoot
Consider a stable system:
x(k + 1) = Ax(k) + Bu(k) + Ew(k),
y(k)
x(0) = x0
= Cx(k) + Du(k)
0
w(t) = H(t) =
t<0
t0
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EEMCS
State feedback: u = F x
Open loop: choose u(0), u(1), u(2), . . ..
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EEMCS