🚀 go-pugleaf

Klaus Bernhard wrote:
> 
> Why would one use state feedback ( and therewith Kalman filtering)
> instead of output feedback, when I can feed my controller with the
> latter one directly instead of estimating the states with an observer
> and so on...?
> 
> Warum benutzt man Zustandsr�ckf�hrung (und ben�tigt einen
> Kalman-Filter) anstelle der Ausgangsr�ckf�hrung, wenn ich letztere
> direkt in den Regler geben kann anstelle der gesch�tzten Zust�nde
> usw...?
> 
> Klaus
> --

Hi Klaus,

In engineering the simplest things are always the better: so if you can
achieve a decent control scheme just with normal output feedback then do
it and don't even wonder about it. 
State feedback allows you a much more "sophisticated" approach to
things:
- you can position your poles anywhere you want (at the price of high
control gains) in the LHP not only on your root locus
- you have access to control tools like the LQR regulator

Bottom line, it has quite a lot of andvantages but you pay the price of
having a more complicated control system by including an observer,
etc...

Hope it helps.

Have fun.
Aufwiedersehen

Andrzej

-- 
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Kozakiewicz Andrzej                     Live and Let Die
McGill University
Biomedical Department
andrzej@ralph.biomed.mcgill.ca          (514) 398-6734
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