Question

H(s)-θ(s) u(s) s{(s + KUL.)[s(s + m) + К://] + K ,KUKns) m45.9 and Kap 6.33 x 106 K,- 94.3 L 1.0 J-7900 K,-8.46 x 10 we find numerically that 100 980 H(s) - )S(S 140.2.s2 + 10449s +100 980) 10 S(s3 140s10449s 105) It is desired to increase the bandwidth of the hydraulically actuated guin turret of Example 4E by use of state-variable feedback. The dominant poles, i.e., those closest to the origin, are to be moved to s -- 10V2(1 +jl). The other poles (at s64.5 +j69.6) are already in sui table locations, but they can be moved in the interest of simplifying the feedback law by eliminating feedback paths (a) Determine the regulator gains for which the closed-loop poles are at s __ 10V2(1 1) and at s =-645 ±j696 (b) For simplicity, only two nonzero regulator gains are permitted: the gain from xi-8 and one other gain, either from x2-ω or from x3 P. Is it possible with a gain matrix of the form to place the dominant poles at s-10v2(1 j1) and still keep the "fast" poles at their approximate locations? If both g, and郘can achieve this requ- irement, which is the better choice? Explain. You can use Matlalb

Answer 1

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