This presentation is designed to describe the state space feedback control algorithms and implementations in Engineering control .

1. Ministry of High Education and Scientific Research
Sana'a University
Faculty of Engineering
Mechatronics Department
5th Year
MSD II
Supervised byProf.Hatem Al-Doais
Prepared byBassam Alghram 208-2015

2. Objectives:
• LTI systems (Linear Time-Invariant).
• Linearization.
• Stability.
• Output feedback.
• state feedback.
• Pole placement.
• Controller and Controllability.
• Observer and Observability.
• The separation principle.

3. LTI Systems

4. The car model is:

10. 𝜃

11. 𝜃

12. We can’t control the motion of the robot in Y-direction

19. 𝜃
𝜃

28. The {K} matrix tells us how much The system react with
each individual state of the system.
Notice

30. =

41. If the rank is less than the number of the states then,
the system isn’t controllable

49. X1 X2
Blue is the real state (X)
Red is the estimated state (X hat )

58. Further Topics
Related to the K matrix Design
Related to the L matrix Design

59. References:
- MagnusEgerstedt,ControlofMobileRobots,GeorgiaInstuteofTechnology. ( Supported by Coursera platform )