-
[show]
[hide]
-
Prerequisite links
State Feedback Compensation of a2DOF Rectilinear
System
Objectives
- Design, simulate, and implement a state feedback compensator
for a 2DOF mass-spring system.
Pre-Lab
- Derive the equations of motion for the 2DOF rectilinear
mass-spring. The plant configuration is shown below. The first and
second mass carriages are free and the third is clamped. The medium
stiffness spring is connecting the first and second carriages, and
the low stiffness spring is connecting the second and third.
- Find a state-space realization of the system.
- Design and simulate a full state feedback compensator to
control the position of the second mass carriage. Design your
compensator to meet the following performance specifications:
- Percent overshoot
≤
10
%
≤10%
- Settling time
≤
1
sec
≤1sec
- Zero steady-state error to a step input.
Lab Procedure
- Configure the plant as shown in Fig. 1 above.
- Code your state feedback compensator into the control loop
VI.
- Perform a 3000 count step input and determine if you have met
the performance specifications.
- Once you have achieved the desired performance, save your
plot and turn it in with the rest of your work.
Post-Lab
- Explain how the state feedback gains affect the system's
response in terms of its characteristic equation.
- What effect does the compensator have on the zero(s) of the
system? If a system has an undesirable zero, how can its effect be
reduced using only a state feedback compensator?
- Why is full state feedback compensation often unfeasible
especially with higher-order systems?
Comments, questions, feedback, criticisms?
Send feedback
"This course, ASE 170P at the Univ. of Texas at Austin, introduces students to fundamental control systems theory with emphasis on design and implementation. These labs focus on technical […]"