CDS 101/110  State Feedback
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CDS 101/110a  Schedule  Recitations  FAQ  AM06 (errata) 
Overview
Monday: Reachability and State Feedback (Slides, MP3)
This lecture introduces the concept of reachability and explores the use of state space feedback for control of linear systems. Reachability is defined as the ability to move the system from one condition to another over finite time. The reachability matrix test is given to check if a linear system is reachable, and the test is applied to several examples. The concept of (linear) state space feedback is introduced and the ability to place eigenvalues of the closed loop system arbitrarily is related to reachability. A cart and pendulum system and the predator prey problem are used as examples.
Wednesday: State Feedback Design (Notes, MP3)
This lecture will describe how to design state feedback controllers via eigenvalue placement. The performance of the system as a function of the placement of the closed loop eigenvalues will be described. The use of integral action and a brief introduction to LQR control will also be given.
Friday: Midterm review
Handouts
Monday

Wednesday (CDS 110)

Friday 
Reading
 K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Preprint, 2006. Chapter 6  State Feedback.
Midterm
FAQ
Monday <ncl>CDS 101/110 FAQ  Lecture 51</ncl> Wednesday <ncl>CDS 101/110 FAQ  Lecture 52</ncl> Friday <ncl>CDS 101/110 FAQ  Lecture 53</ncl> Homework <ncl>CDS 101/110 FAQ  Midterm</ncl>