Embedded Digital Control with Microcontrollers

10State-space Based Controller Design

We introduced transfer function based controller design in Chapter 8. The idea there was using time and frequency domain properties of the LTI system in the controller design. State-space representation introduced in Chapter 9 provides other options in designing controllers. We will consider one such option, called pole placement, in this chapter. Before introducing this method, we should understand the general layout for state-space based controller design. Therefore, we will start with explaining the necessary information to be used throughout the chapter. Then, we will provide mathematical background for the controller design based on pole placement. Afterward, we will show how such controllers can be designed and implemented in code form. A state-space based controller may depend on estimating state values from the input and output signals. Therefore, we will introduce mathematical background for the observer structure to be used for this purpose. Then, we will provide the observer-based controller implementation in code form. Finally, we will provide an end of chapter application showing how the DC motor can be controlled via state-space based methods both in C and Python languages.

10.1 General Layout

The state-space based controller design is different from the previously introduced transfer function based methods in Chapter 8. Besides, there are several phases in the design. Therefore, it becomes a necessity to briefly introduce ...