ECE 720, Spring 1996, Assigned 3/7/96, Due 5/9/96

- the robustness produced by the final compensator should protect against changes in the C matrix of the state-space description of the system;
- the closed-loop bandwidth must be approximately 0.5 rad/sec;
- the sensitivity must not exceed a value of 0.1 for all frequencies < 0.05 rad/sec for any signal direction;
- the amplification from sensor noise input to the output should not exceed 0.002 for any frequency > 50 rad/sec for any signal direction.

- Document your design activities in a final report. Include singular value
plots of the sensitivity, complementary sensitivity, return ratio, and
return difference for each of the following stages of your design:
- the given system;
- the final design of the Kalman filter;
- at least one intermediate Kalman filter design;
- the initial LQG design;
- the final LQG/LTR design; and
- at least one intermediate LQG/LTR design.

- Discuss your design procedures, and evaluate your results in terms of
the specifications. Describe the goal that you had for each step in your
design procedure and how that step led to the satisfaction of the
specifications. Discuss your final design in terms of its complexity, the
on-line computational burden of the controller, the ease of the design
process, and the expected performance of the closed-loop system.

*Click the icon to return to Dr. Beale's home page**Latest revision was made on 05/09/01 04:44 PM*