CDS 101/110 - Output Feedback

CDS 101/110a

Schedule

Recitations

FAQ

AM08 (errata)

Overview

Monday: Observability and Observers (Slides, MP3)

This lecture introduces the concept of observability and the use of estimators for linear systems. Observability is defined as the ability to determine the system state from the (past) time history of measurements. The observability matrix test is given to check if a linear system is observable, and the test is applied to an example. The concept of (linear) observer design is introduced and the ability to arbitrarily place eigenvalues of the closed loop observer error dynamics is related to observability. A cart and pendulum system is used as an example.

• Lecture handout
• MATLAB code: L5 ObservExamp.m,

Wednesday: Control Design Example/Demo: (MP3)

This lecture will use an in-class demo to work through a real-world control example.

Reading

• K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. Chapter 7 - Output Feedback.

Midterm/Homework

• CDS 101/110: Midterm exam information
• CDS 210: hwM - 210
  • heat_pde.m - A, B, C matrix for discretized 1-D heat equation

FAQ

Monday <ncl>CDS 101/110 FAQ - Lecture 5-1, Fall 2008</ncl> Wednesday <ncl>CDS 101/110 FAQ - Lecture 5-2, Fall 2008</ncl> Friday <ncl>CDS 101/110 FAQ - Lecture 5-3, Fall 2008</ncl> Homework <ncl>CDS 101/110 FAQ - Homework M, Fall 2008</ncl>