JJAbbottatUtah
University of Utah: ME EN 5210/6210 & CH EN 5203/6203
State-Space Control Systems
The correct sequence to watch these tutorials can be found on the web page:
http://www.telerobotics.utah.edu/index.php/StateSpaceControl
Source
Robust Tracking with Disturbance Rejection (Dr. Jake Abbott, University of Utah)
At 30:28, I believe there should be a minus sign. Also, in case anyone was slightly confused like I was when first watching this, there is no reference to input, r, in the G_yw transfer function because its assumed to be 0 since we are capable of controlling it. Amazing series btw!
I am not so sure as in how to obtain the value for Ka…can anyone guide me through this?
I am using 4 state model of Inverted pendulum…I designed LQR+observer controller ..Then i have given disturbance as in B matrix B*F_disturbance(step Disturbance as from input channel ). so it is matched disturbance…I am getting constant steady state error in Position of cart and angle of pendulum.. I have corrected error in cart position by Putting integral action or ADRC control but in both type of above control i am unable to remove the error in angle of pendulum… plz anybody suggest answer…??
Nice video, just noticed tough that there were a few disturbances in the audio output of your camera. 🙂
Thanks for the vid! 🙂 The demonstration recalling the final value theorem really made all more clear to me!