Full State Feedback:
Full State Feedback For a reminder on how to choose K, see the EE447 notes, posted on Moodle. State space model Regulator (cannot track a step w/o an integrator) Resulting
system
Getting the Full State: Method One:
Getting the Full State: Method One : We have this from the potentiometer
: estimate this via (new-old)/
i: we will add a (e.g. 1 ) resistor to the rig. Measure the voltage across this to get the current.
A Note on Filtering:
A Note on Filtering There are a variety of ways to filter noisy signals.
Make a discrete Butterworth filter (Look up 'butter' in the MATLAB help)
Try something simple like a weighted average of the last few velocities:
Getting the Full State: Method Two:
Make an Observer
The discretized observer looks like Getting the Full State: Method Two For a reminder on how to choose L, see the EE447 notes, posted on Moodle.
Deadzone Compensation:
Deadzone Compensation There is a range [-vdz,vdz] where if the motor is not moving, a voltage across the motor terminals does not do anything. This is called a deadzone or deadband.
The simplest way to compensate for this is to adjust the voltage sent to the motor. First you compute v according to your control law, then you tweak it. vcontrol vadjusted deadzone