8 - State feedback.

Lecture video:

Part 1.

Part 2.

Lecture notes: Chapter 8 in the lecture notes (swe Download swe,eng Download eng)

Note that the videos use the old notation where L is used to denote the state feedback gain vector instead of K that we use now. The same issue occurs if you use an older exams or older versions of the lecture notes (before 2021).

 

Extra material (from 2024):

Calculations demonstrating controllability of a cart with two pendula: controllability.pdf

A controller that does the job:

 

Matlab example Download Matlab example of state feedback design for the motor