1、single‐linkflexible robot armwangyuanArrangement:M1: Build this system in Simulinkwith D/A and A/D convertersM2: Design a state‐feedback controller (any form are OK)M3: Design a observer (full‐order or reduced‐order)M4: Design output‐feedback controller directly (e.g. PID)Group 4: single‐linkfle
5、ative order ofthesystemis2.3)Coordinatetransformation4)Systemisconvertedinto standardtype:Theoutput5)Statefeedbackmatrix,,Thesystembecome acompletelycontrollablelinearsystem2.StatefeedbackcontrolTheconstitutionofthestatefeedbackstatefeedbacku=-Kx+vStatedescription of close‐loopsystem=(A-BK)x+Bv
6、Solution:Becausethesystemcanbecontrolcompletely,soallitspolescanbearbitraryconfiguration.3.Design a observer (full‐order or reduced‐order)TheflexiblemechanicalarmvibrationforceanalysisTheobserverdesignandanalysisTotheautomaticcontrolsystemaccurately,itisnecessarytogettheaccuratevaluesofallstatus