State-space control:
DC Motor Modelling:
In Assignment, a model of the hardware was produced. In addition to this hardware, there are some components and calibration factors which were not modelled. The overall system is described by the transfer function:
(0(5) 193
2 (1)
r(s) 0.015 + 8s + 193
2. HIE-LABORATORY COURSEWORK ASSIGNMENT 2: CONTROLLER DESIGN
Write a short document which addresses the following points.
a) Express the model in equation (I) in state space format [Hints this was covered in Block
I. and in Nise Chapter 3.5]. Determine the poles of the open loop system. Compare your answer to the poles you found in Assignment 1, and comment on the dynamics of the system.
b) Design a state feedback controller for the system, so that the closed loop model responds to a step input with no more than 5% overshoot and a settling time of 0.253.
c) What are the states in physical terms (i.e. displacement, voltage)? Are they the same states used in the model you developed in Assignment. How would you obtain the other states?