Lecture #8: Introduction to state space control

Date: Wednesday, 24 Apr 96

Outline:

A. State space concepts
   1. Transfer functions <-> state space, non-uniqueness
   2. Minimal realizations, controllability, observability
   3. Canonical forms (using third order transfer fcn example)

B. Pole placement
   1. Motivating example: PD control of second order system
   2. Thm: controllable => can place poles.  Pf using CCF
   3. Remarks: requires full state; no problems w/ zeros, gain/phase, etc

Next time: Trajectory tracking and LQR

Handouts: Homework #3 (due two weeks)