Week 06
State Feedback and Pole Placement
I use the saved simulation video as a starting point to revisit state-space control, observers, and digital control.
What I connect in this unit
State feedback uses u=-Kx+r so that K places the closed-loop poles of A-BK. Ackermann's formula computes K for a controllable SISO model, but aggressive poles can demand large gains and input magnitude.
Concept map
- Feedback gain
- Closed-loop poles
- Ackermann formula
- Input magnitude
Technical anchor
Choose the desired characteristic polynomial, compute K, and verify that eig(A-BK) matches the target poles. Also compare the peak of u(t)=-Kx(t)+r with actuator limits.
How I review it
Plot state response and control effort for several pole sets to see whether faster settling is purchased with excessive input or sensitivity.
Connection to the full course
Unit 6 of 12. This study sequence connects the system flow visible in the video with standard control topics; it is not a claim about lecture weeks.