Date: Wednesday, 3 May 96
Outline:
For this lecture I started by reviewing the control methods we had seen so far (classical + pole placement) and then talked about how to close the loop and view a state space controller as a frequency domain controller using an observer.A. Observers 1. Basic idea: try to estimate state from outputs 2. Build up solution based on u = 0 and y = 0 + error feedback B. Optimal observers 1. Problem setup (botched) 2. Solution Next time: finish LQG + discuss class projects
I messed up my description of the optimal observer in class so I will redo that part on Monday.
Richard Murray (murray@indra.caltech.edu) Last modified: Sun May 12 16:21:32 1996