CD State-Space Controller VI

Owning Palette: State Feedback Design VIs

Requires: Control Design and Simulation Module

Builds a state-space controller based on known inputs, manipulated inputs, measured outputs, linear state-space model, estimator gain, and controller gain. You must manually select the polymorphic instance you want to use.

Details  

State-Space Controller (Compensator)

	Configuration specifies if this VI includes the system in the estimator or considers noise as an input of the estimator. The estimator also can be a standalone estimator. 0 System Included 1 System Included with Noise 2 Standalone (default)
	Estimator Gain (L) is the gain that premultiplies the output error to correct the model state dynamics towards the physical states of the system.
	State-Space Model contains a mathematical representation of and information about the process that you want to use to build the controller.
	Measured Outputs lists the index numbers of all the outputs that you can measure for state estimation. The index is zero-based. By default, this VI measures all outputs.
	Known Inputs lists the index numbers of all the inputs that are known for state estimation. The index is zero-based. By default, all inputs are known.
	Manipulated Inputs are the inputs that this VI adjusts in the system and uses for control.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	Controller Gain (K) is the gain that premultiplies the estimated state to calculate the manipulated inputs to drive the system towards or back to a reference.
	Controller Model returns the state-space model for the controller. The inputs, number of states, and outputs are a function of the configuration you select.
	error out contains error information. This output provides standard error out functionality.

State-Space Controller (Regulator)

	Configuration specifies if this VI includes the system in the estimator or considers noise as an input of the estimator. The estimator also can be a standalone estimator. 0 System Included 1 System Included with Noise 2 Standalone (default)
	Estimator Gain (L) is the gain that premultiplies the output error to correct the model state dynamics towards the physical states of the system.
	State-Space Model contains a mathematical representation of and information about the process that you want to use to build the controller.
	Measured Outputs lists the index numbers of all the outputs that you can measure for state estimation. The index is zero-based. By default, this VI measures all outputs.
	Known Inputs lists the index numbers of all the inputs that are known for state estimation. The index is zero-based. By default, all inputs are known.
	Manipulated Inputs are the inputs that this VI adjusts in the system and uses for control.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	Controller Gain (K) is the gain that premultiplies the estimated state to calculate the manipulated inputs to drive the system towards or back to a reference.
	Controller Model returns the state-space model for the controller. The inputs, number of states, and outputs are a function of the configuration you select.
	error out contains error information. This output provides standard error out functionality.

State-Space Controller (Regulator with Integral)

	Configuration specifies if this VI includes the system in the estimator or considers noise as an input of the estimator. The estimator also can be a standalone estimator. 0 System Included 1 System Included with Noise 2 Standalone (default)
	Estimator Gain (L) is the gain that premultiplies the output error to correct the model state dynamics towards the physical states of the system.
	State-Space Model contains a mathematical representation of and information about the process that you want to use to build the controller.
	Measured Outputs lists the index numbers of all the outputs that you can measure for state estimation. The index is zero-based. By default, this VI measures all outputs.
	Known Inputs lists the index numbers of all the inputs that are known for state estimation. The index is zero-based. By default, all inputs are known.
	Manipulated Inputs are the inputs that this VI adjusts in the system and uses for control.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	Controller Gain (K) is the gain that premultiplies the estimated state to calculate the manipulated inputs to drive the system towards or back to a reference.
	Integral Gain (Ki) is active when this VI independently tunes the integral action from the controller gain K. Integral Gain (Ki) is empty when this VI includes the integral action gain in the controller gain K.
	Controller Model returns the state-space model for the controller. The inputs, number of states, and outputs are a function of the configuration you select.
	error out contains error information. This output provides standard error out functionality.

CD State-Space Controller Details

The LabVIEW Control Design and Simulation Module provides three types of state controllers—a compensator, a regulator, and a regulator with integral action. The difference in these controllers is in how you calculate the control action.

A general system configuration for the state compensator is one where this VI appends the original model states (x) to the estimation model states () to represent the compensator with an estimator, as shown in the following equations.

A general system configuration for the state regulator is one where this VI appends the original model states (x) to the estimation model states () to represent the state regulator with an estimator, as shown in the following equations.

A general system configuration for the state regulator with integral action is one where this VI appends the output error integrator (z) to the estimation model states (). In addition, this VI augments the resulting vector (, z) with the original model states (x) to represent the state regulator with integral action and an estimator.

There are four different configurations to synthesize a state controller. These configurations are System Included, System Included with Noise, Standalone with estimator, and Standalone without estimator. Both the System Included and System Included with Noise configurations automatically include an estimator in the configuration. The configuration of a controller depends on the inputs.

The System Included configuration bases the control action on the estimated states. This VI calculates the states and outputs of the system internally. You do not need to provide the system outputs as the inputs of the estimator to synthesize the controller.

The System Included with Noise configuration incorporates sensor noise into the System Included configuration. Therefore, sensor noise is an input of the controller model. Sensor noise affects the estimated states that you use to calculate the control action.

The Standalone with estimator configuration bases the control action on the estimated states using the estimator gain this VI provides. The estimated states are based on the actual outputs of the system. The system outputs are inputs of the standalone controller. This configuration is useful for implementing the estimator on a real-time target.

The Standalone without estimator configuration bases the control action on the actual states because it does not require an estimator. This configuration considers a full state feedback structure and the controller internally calculates the system outputs.

Refer to the LabVIEW Control Design User Manual for more information about building a state-space controller.