2. دانشگاه صنعتي اميركبير دانشكده مهندسي پزشكي State-space Models with Embedded Integrator استاد درس دكتر فرزاد توحيدخواه آبان 1388 کنترل پيشبين-دکتر توحيدخواه

3. Taking a difference operation on both sides:

5. New state variable vector:

6. Example 1:

8. Characteristic equation:

9. Prediction of State and Output Variables

10. The future control trajectory: Future state variables:

14. Optimization

17. Example 2:

23. We can verify this by increasing Nc to 9, while maintaining rω = 10 First four parameters in U are slightly different from the previous case

24. Receding Horizon Control

25. Example 4:

28. Receding horizon control

29. Closed-loop Control System

31. Standard form of linear time-invariant state feedback

33. Example 5 closed-loop feedback gain matrices in Ex. 2

36. State Estimation

37. Basic Ideas About an Observer

41. Example 7: Linearized equation of motion of a simple pendulum

42. (a) Estimation without observer

44. Model alone is not sufficient to predict the angle of the pendulum

45. (b) Estimation with observer

47. Example 8 DC motor

48. Discrete-time model is observable ?

49. Second pole at λ = 1 cannot be moved no matter what choice we make for j2

50. Kalman Filter