Practical Implementation Issues with a Full State Feedback Controller

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In this video we investigate practical implementation issues that may arise when attempting to use a full state feedback controller on a real system. We illustrate and address control saturation as well as the inability to measure the full state of the system.
This video makes use of material developed in the previous videos so please watch these first before continuing with this lesson.
-‘Introduction to Full State Feedback Control’ (TBD)
In addition, some videos that may be helpful or relevant to the discussion at hand include:
-Modeling a DC Motor with Ordinary Differential Equations (TBD)
-Introduction to Linear State Estimation (TBD)
-Introduction to Linear State Estimation (TBD)
The Matlab/Simulink files associated with this video are located at:
-faculty.washington.edu/lum/Edu...
-faculty.washington.edu/lum/Edu...
Image of Voltaire By After Nicolas de Largillière - [1]; photographer: Erich Lessing, Public Domain, commons.wikimedia.org/w/index...

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22 июл 2024

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Комментарии : 99

@ChristopherLum 4 года назад

In case it is helpful, here are all my Control Theory videos in a single playlist ru-vid.com/group/PLxdnSsBqCrrF9KOQRB9ByfB0EUMwnLO9o. Please let me know what you think in the comments. Thanks for watching!

@brianblasius 2 года назад

Hello sir, Can you please share the link to the "Introduction to Linear State Estimation" video..

@Gholdoian Год назад

AE 511: The tracing of eigenvectors and eigenvalues to the states was very enlightening, I've never seen that perspective before and it definitely is insightful into developing a realistic K matrix.

@ChristopherLum Год назад

We'll take another look at this in AE512 in the context of aircraft systems, hopefully I'll see you there as well.

@kenrickchan1165 5 лет назад

My controller was demanding kilovolts and driving up my electricity bill before this video helped me pick more reasonable poles.

@mecrajib 4 месяца назад

Thank you Sir! Learned a lot.

@triskitman124 5 лет назад

Its great learning this after relying on PID for so long!

@everettkinyon7602 5 лет назад

Great to see some of the intuition behind choosing which poles to modify with full state feedback !

@alecwicklund3311 4 года назад

These lectures are so good that they cured my dog's arthritis. Thank u sir

@ChristopherLum 4 года назад

That is great to hear, I'm glad your dog is feeling better :). Thanks for watching!

@julianwoo1609 5 лет назад

It's nice to see the Matlab followup for this topic!

@jacobcarroll3933 5 лет назад

Great lecture! This is an awesome explanation of the Full State Feedback.

@darylfishback-duran3580 5 лет назад

Great explanation and examples on obstacles when using full-state feedback control.

@sidraman6950 5 лет назад

Clear explanation on full state feedback. Very easy to follow

@selamhendrix5252 5 лет назад

thank you for building on the previous topic with in depth explanations. It will be great to see how much better LQR is compared to this one which is easier to understand.

@andresfelipeluna7298 Год назад

Great lecture! Thank you very much for being so clear.

@morganwalker940 5 лет назад

Very nice lecture! I really enjoyed the giant X's on the board for the poles and eigenvalues. They please me.

@BonesBonesBonesBonesBones 5 лет назад

Amazing lecture! It's so helpful to see a quick physical example (something other than the inverted pendulum)

@ChristopherLum 5 лет назад

Thanks for watching, I hope to see you at other videos.

@geraldocarvalhobritojunior4793 4 года назад

Thanks for another excellent lecture! I enjoyed it very much!

@ChristopherLum 4 года назад

Glad you like it. There are other controls videos on the channel. Please feel free to check them out and let me know what you think. Thanks for watching!

@devinligman 5 лет назад

Really appreciate these videos!

@helenkuni9039 5 лет назад

Great video, very informative!

@kaisemuw7074 5 лет назад

AE 511. Great follow up to the previous lecture on how to actually use FSFB to meet realistic design constraints.

@iKyle775 5 лет назад

Very clear explanation

@krystoflis7157 5 лет назад

The introduction to state estimation was great and highlights the limitation of a true full state feedback controller. Kalman filters are a powerful tool!

@zhc3404 4 года назад

hi Lis !where did you find the vidio about The introduction to state estimation ?case i can't find it

@mohamedfarrag3869 2 года назад

Yes, I am searching for this video nearly daily but I didn't find it ... Do you have any information where did it disappear ?

@bartomiejwicher9374 2 года назад

Great lecture!

@edwardsanchez2331 5 лет назад

great video on implementation of this controller

@zacharywilliams2436 5 лет назад

Interesting exploration of optimizing the performance of the controller while keeping the voltage the motor draws minimal.

@marilynjasmer8365 5 лет назад

Good content on full state feedback

@jamesferrese2350 5 лет назад

Good info on a cool topic!

@MattAero 5 лет назад

AE511: great lecture. Definitely unsatisfying not to have a mapping of your “pole”(eigenvalue) placement to your actual state that you are affecting, so I’m quite interested in the next type of controller you mention at the end, LQRs.

@adrianrevolotaipe3855 3 года назад

Wao ,your explanation was amazing¡

@hassanhumayoun2797 5 лет назад

can you post the link for the video -Introduction to Linear State Estimation (TBD)

@antonete125 4 года назад

it’s very interesting the eigenvalues and eigen vectors analisys

@abdallahmohamed9159 3 года назад

great lecture

@spencergrayston1685 5 лет назад

Great video!

@ivancordero5930 5 лет назад

Full state feedback is a great follow up from other control schemes

@mrcjg42 5 лет назад

Yay, MATLAB! Thanks, Chris!

@omidhsd 2 года назад

very very nice lecture

@Bear_wonder 5 лет назад

this is a great video

@ChristopherLum 5 лет назад

Thanks, I hope to have a follow up video on LQR control up in a few days.

@aakashdewangan7313 11 месяцев назад

thanks a lot

@jimmiebruders2916 5 лет назад

great content

@balasriramkodi7128 4 года назад

hi christopher i didn't find below lecture video please keep the links -Modeling a DC Motor with Ordinary Differential Equations (TBD) -Introduction to Linear State Estimation (TBD) -Introduction to Linear State Estimation (TBD)

@sifouad6945 4 года назад

Me too 😢

@andrewelstein3596 2 года назад

Thanks!

@ChristopherLum 2 года назад

Hi Andrew, First let me say thank you for your generous support of the channel, it is very much appreciated! Do you have any particular interests in terms of videos or topics? I try to prioritize request made by interested parties as much as possible as I plan future videos. If you are interested, I interact personally with all Patreon members at www.patreon.com/christopherwlum. Given your interest in the topic, I'd love to have you as a Patron. In any event, I want to again say thank you for your contribution and for supporting the channel. I hope to hear from you at a future RU-vid video or on Patreon! -Chris

@cristianvalarezi7125 3 года назад

I suggest you to put and indication (video time) where you start talking about the problem of measure all the system states in the description.... For the rest, it is a good explanation.

@user-zp6zw3ot4o Год назад

Deer professor, I really enjoy your videos! Can you provide the video link to the linear state estimation? Thanks a lot!

@dhammartnawaghmare9081 3 года назад

Thank you for providing such a wonderful series in an understandable format with implementations in Matlab. Sir, I am unable to find the link for 'Introduction to Linear State Estimation.' Please provide the link.

@antonete125 4 года назад

when you design an quadcopter controller, can you ignore the effects of the actuators, and choose Force and the three moments as inputs? or you must choose the four actuators commands as inputs. thanks in advance, your classes are amazing. greetings from spain.

@hongkitchong71 4 года назад

Hey guys -- to derive a state matrix, do we still need to go through lagrangian? I guess the Lagrangian helps us on deriving the transfer function, then we can use Matlab tf2ss to make it state space?

@nardiverbanac6714 3 года назад

Dear Cristopher, have You already uploaded that video/lecture regarding linear state estimation? Unfortunately, I cannot find it...

@lxzhang4911 3 года назад

We are waiting for your videos of TBD

@jrcleeman 3 года назад

what if i wanted to move the controller to a non-zero position? How would i go about simulating that?

@nathanlipshutz3140 Год назад

AE511: Maybe you're going to get to this later in the video, but is there a way to set a "max" value of control authority, aka Vmax = 10 V or something, and solve for the poles associated with that max amount of control authority? Then you could solve for the FSFB gain matrix to get the best performance with that constraint in mind. I guess another consideration of FSFB is that probably in a lot of scenarios your initial conditions could be variable which could result in variable magnitude of control inputs.

@ChristopherLum Год назад

That is exactly the right question. This is what we will do next week with LQR control

@matthewjames7513 Год назад

Thanks for the video! When you used the place() MATLAB command you did it somewhat arbitrarily. Is there a way to determine them more optimally while applying constraints to control actuation? Thanks!

@ChristopherLum Год назад

Hi Matthew, Thanks for the kind words, I'm glad you enjoyed the video. If you find these videos helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum or via the 'Thanks' button underneath the video. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. I can also answer any questions you might have about any of the videos and have deeper discussions related these topics on Patreon. Thanks for watching! -Chris

@shuyangan3892 5 лет назад

great

@justinhendrick3743 5 лет назад

When giving a list of poles to the `place` command, does the order matter? Say for example, a system has poles at -1 and -2 and our desired pole locations are at -2 and -3. Is there a difference between `place(A, B, [-2, -3])` and `place(A, B, [-3, -2])` ? I just ran the above example through matlab and got the same K matrix in both situations. But does there exist a system and desired pole locations such that `place(A, B, p) ~= place(A, B, fliplr(p))`?

@soofiyanatar9247 5 лет назад

How to set a motor for constant velocity instead of zero velocity using FSFB controller. Please help!

@nicolasgcavalcante 5 лет назад

How do I build an pole placement controller with non zero final states values, for a controller with non zero setpoints?

@user-dz6vl5eq8v 4 года назад

Dear Professor! We have end up our discussion here that if we can only measure shaft angle the appropriate full state control K matrice is [0.2099 0.0442 0.0031]. In other words, as you explained we are able to neglect control signals from current and speed. Now I am trying to understand the actual implementation of this controller. it seems that given this K vector we need to solve system equations find solution for U (control signal) which will be the function of measured X (angle). Is it correct?

@fizi023 4 месяца назад

@ChristopherLum Could you please share the link to the linear state estimation video?

@srikrishnang5106 2 года назад

Where can i find your video on Modeling a DC Motor with Ordinary Differential Equations as you mentioned in 3:05 of the video.

@mattschierholtz2554 5 лет назад

How are the eigenvectors of system different from the pole locations?

@gitarplayer13 5 лет назад

Thanks professor. Would moving the pole in the last example to somewhere less than the pole at -4.77 (instead of to -2) be a bad idea, since this would make the other pole dominant and affect the system dynamics?

@ChristopherLum 5 лет назад

I don't think so. We'll see in the very next video how there are better ways to move the poles than trying to change specific eigenvalues. Perhaps let's defer this question for a week and hopefully the next video will answer this.

@ahungryflyer Год назад

AE511: This video made me eager to dive into LQR, since you point out that most "real life" systems are not as clear cut with regards to the pole-state coupling we see in the DC motor example. In practice with something like a consumer quadcopter, would we see regulators like FSFB and LQR used for stability augmentation?

@ChristopherLum Год назад

There are several codebases that you can inspect if you are curious. The ArduCopter firmware is popular and it does indeed use some of these ideas (as well as PID controllers).

@alanlee4326 5 лет назад

AE511-great presentation! I am confused about the last part where we set the K = [0.21 0.04 0.003] in the sense that I don't see how it solves the inability to measure the full state of the system issue. Since we can't measure x2 and x3, then the feedback only consist of x1. Thereby, no matter what values k2 and k3 is, the input will end up being u=k1x1?

@ChristopherLum 5 лет назад

Alan, you bring up an excellent point. The key here is that k2 and k3 are small relative to k1. Therefore, if we simply neglect x2 and x3 (since we cannot measure them) and only use the control law you mention of u = k1*x1, then this is hopefully not too much of an approximation of the true, FSFB control law of u = k1*x1 + k2*x2 + k3*x3 (since k2 and k3 are small).

@surjasekharchakraborty210 3 года назад

@@ChristopherLum Sir, Thank you for the lecture. Do you have any reference for this approximation? If I want to go for a publication whether it is okay to put this concept straight away or do I need to give some reference? Looking forward for your answer. Thank you Sir.

@ChristopherLum 3 года назад

@@surjasekharchakraborty210 Feel free to use as you see fit, thanks for watching.

@tonnirvana 5 месяцев назад

Hello sir, thanks for the great video.... And also as motioned in comments below, I also couldn't find "Introduction to Linear State Estimation"... :(

@ChristopherLum 5 месяцев назад

Hi, thanks for the kind words. Sorry about the estimation video, I'm actually in the process of making that video right now. I hope to have it up on the channel soon. Thanks for supporting the channel!

@lucksilva16 4 года назад

Dear professor, where can I find the video regarding the modelling of the dc motor? I can't find it in your channel. Thanks in advance and great lectures!

@ChristopherLum 4 года назад

Thanks for watching. I'm currently working on this video. I hope to have it up in a few weeks. If you are subscribed to the channel hopefully you'll see if when it goes live thanks!

@lucksilva16 4 года назад

That's great to hear. I'll be looking forward to it. Keep it up with the great work!

@aakashdewangan7313 11 месяцев назад

sir, state estimator video is NOT here on youtube. could you please post the link of it?

@gustavoexel5569 2 года назад

What happened to the DC motor modelling video? I can't seem to find it.

@kartikprakash4681 4 года назад

I really enjoy your videos! Will the linear state estimation video be out soon!

@ChristopherLum 4 года назад

Thanks, unfortunately I've got a backlog of other higher priority videos so this probably won't be up for a while. I've got a lot of other videos on control theory that I hope you'll enjoy, thanks for watching!

@BalajiSankar 4 года назад

Am unable to find the introduction to linear state estimation video in your list. Could you please post a link?

@lxzhang4911 3 года назад

The eigenvector analysis is impressive. Could you maybe dive into this topic? As you've mentioned, the eigenvalues are actually not exactly the poles. What is the relationship between them?

@ChristopherLum 3 года назад

Ix, great to hear from your again. I will try to work on a video to explain this in greater detail. I hope it will be up later in the fall.

@yanben 5 лет назад

Made lab easy!

@quincyjones3839 5 лет назад

Can you provide a link to the previous video you mention of Introduction to "Full State Feedback Control"?

@ChristopherLum 5 лет назад

Hi Quincy, thanks for watching. This video is going to be up in the next 2 weeks or so. If you subscribe and turn on notifications you'll get a message when it goes live. Thanks for watching.

@quincyjones3839 5 лет назад

@@ChristopherLum Already sub'ed! Great videos. I'll be on the lookout. Thank you.

@ChristopherLum 5 лет назад

@@quincyjones3839, in case you are still interested, this video is now up at ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-1zIIcYfp5QA.html.