Feedback for the robot arm is to be generated by a, Engineering Mathematics

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Feedback for the robot arm is to be generated by a

Question: Feedback for the robot arm is to be generated by a Kalman-Bucy filter with direct measurement of x1(t), and

(a) Compute the eigenvalues and eigenvectors of the closed-loop system.

(b) Holding the control gains, estimation gains, and estimation model fixed, vary ζ between - 0.3 and 0.6. Evaluate the resulting changes in closed-loop eigenvalues and eigenvectors. How might Q, R, W, and/or N be modified to desensitize the closed-loop system to these mismatches?

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