Controle por Realimentação e Robustez

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Problem 7.58PP
Consider a system with state matrices
^ = [ 0 - 1 ] ’ » = [ ! ] •
(a) Use feedback of the form u(t) = -Kx{t) + Nr(t), where A/ is a nonzero scalar, to move the poles 
to -3 ± 3).
(b) Choose N so that if r is a constant, the system has zero steady-state error; that is. y(^) = r.
(c) Show that if A changes to A+ 5A. where 5A is an arbitrary 2*2 matrix, then your choice of N 
in part{b) will no longer make yC“ ) = r. Therefore, the system is not robust under changes to the 
Ru