🚀 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
> --
> Klaus Bernhard
> Institut f�r Kraftfahrwesen Aachen      ika      Department of
> Automotive Engineering
> RWTH Aachen
> University of Technology Aachen, Germany
> 
> Please remove the '_no'-string from my
> email adress if you reply directly
> klausb@ika.rwth-aachen.de
Hi:

In fact state feedback allows you to position the close loop poles
anywhere you want by using any pole placement methods (ackermann, etc);
the problem is that you MUST have a very reliable process model because
the state estimation calculated by the state observer will be based on
that and the state feedback gains too, so if there is a mismatch between
the real process and your model the poles can go unstable in worst case.

The control algorithms based on the actual process response (output) are
far more robust and reliable than those based on process models, unless
you have a way to keep the model precisely updated.

Best regards

Jaime Ramirez