CDS 101/110 - State Feedback

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CDS 101/110a Schedule Recitations FAQ ()


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: Lecture notes (MP3)

This lecture will present more advanced analysis on reachability and on control using state feedback.


  • K. J. Åström and R. M. Murray,, Princeton University Press, 2008..


This homework set covers reachability and state feedback. The Whipple bicycle model is used as an example to illustrate state feedback with pole placement, and the dependence of both the tracking behaviour and the command response on the location chosen for the closed-loop poles.