{"id":6112,"date":"2024-01-19T21:43:20","date_gmt":"2024-01-19T12:43:20","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=6112"},"modified":"2026-10-04T08:29:39","modified_gmt":"2026-10-03T23:29:39","slug":"full-state-feedback-reference-input","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/full-state-feedback-reference-input\/","title":{"rendered":"full state feedback reference input"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1237\" height=\"456\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-13.png\" alt=\"\" class=\"wp-image-6113\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-13.png 1237w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-13-768x283.png 768w\" sizes=\"auto, (max-width: 1237px) 100vw, 1237px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"936\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/04\/\uc81c\ubaa9-\uc5c6\uc74c-5.jpg\" alt=\"\" class=\"wp-image-7246\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/04\/\uc81c\ubaa9-\uc5c6\uc74c-5.jpg 936w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/04\/\uc81c\ubaa9-\uc5c6\uc74c-5-768x1050.jpg 768w\" sizes=\"auto, (max-width: 936px) 100vw, 936px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/lpsa.swarthmore.edu\/Representations\/SysRepTransformations\/TF2SS.html\">https:\/\/lpsa.swarthmore.edu\/Representations\/SysRepTransformations\/TF2SS.html<\/a><\/p>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/04\/Transfomation_ss_to_tf.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"Transfomation_ss_to_tf\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-66ab8a12-79ce-4765-863f-4fb9e2dc8ccc\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/04\/Transfomation_ss_to_tf.pdf\">Transfomation_ss_to_tf<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/04\/Transfomation_ss_to_tf.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-66ab8a12-79ce-4765-863f-4fb9e2dc8ccc\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Feedback control of Dynamic Systems\uc758 7.5.2 Introducing the Reference Input with Full-State Feedback<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"880\" height=\"594\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-14.png\" alt=\"\" class=\"wp-image-6114\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-14.png 880w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-14-768x518.png 768w\" sizes=\"auto, (max-width: 880px) 100vw, 880px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"878\" height=\"640\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-15.png\" alt=\"\" class=\"wp-image-6115\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-15.png 878w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-15-768x560.png 768w\" sizes=\"auto, (max-width: 878px) 100vw, 878px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"868\" height=\"272\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-16.png\" alt=\"\" class=\"wp-image-6116\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-16.png 868w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-16-768x241.png 768w\" sizes=\"auto, (max-width: 868px) 100vw, 868px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/normal-engineer.tistory.com\/40\">\uc5ec\uae30<\/a> \ucc38\uc870<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">C matrix\ub294 X\uc5d0 tau\uc640 t\uc5d0 \ub300\ud558\uc5ec \uc0c1\uc218\ub85c \ucde8\uae09.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1498\" height=\"1074\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-17.png\" alt=\"\" class=\"wp-image-6118\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-17.png 1498w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-17-768x551.png 768w\" sizes=\"auto, (max-width: 1498px) 100vw, 1498px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1498\" height=\"2048\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-18.png\" alt=\"\" class=\"wp-image-6119\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-18.png 1498w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-18-768x1050.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-18-1124x1536.png 1124w\" sizes=\"auto, (max-width: 1498px) 100vw, 1498px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1498\" height=\"2048\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-19.png\" alt=\"\" class=\"wp-image-6120\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-19.png 1498w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-19-768x1050.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-19-1124x1536.png 1124w\" sizes=\"auto, (max-width: 1498px) 100vw, 1498px\" \/><\/figure>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/04\/10-expm.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"10-expm\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-9aa55f60-81cd-448b-a08e-bd490275d2aa\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/04\/10-expm.pdf\">10-expm<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/04\/10-expm.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-9aa55f60-81cd-448b-a08e-bd490275d2aa\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n&#8220;`html\n<div class=\"chapter19-wide\">\n\n  <h1>Full-State Feedback Reference Input<\/h1>\n\n  <div class=\"subtitle\">\n    State Feedback \u00b7 Reference Input \u00b7 Transfer Function \u00b7 Steady-State Error \u00b7 Reference Scaling\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. \uae30\ubcf8 \uc0c1\ud0dc\ubc29\uc815\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      \u1e8b = Ax + Bu\n    <\/div>\n\n    <div class=\"formula\">\n      y = Cx\n    <\/div>\n\n    <p>\n      \uc5ec\uae30\uc11c \uc0c1\ud0dc\ubca1\ud130 x, \uc785\ub825 u, \ucd9c\ub825 y\ub97c \uc0ac\uc6a9\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \ucd08\uae30\uc870\uac74\uc740 0\uc73c\ub85c \uac00\uc815\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      x(0) = 0\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. \uc785\ub825 u\uc5d0\uc11c \ucd9c\ub825 y\uae4c\uc9c0\uc758 \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc0c1\ud0dc\ubc29\uc815\uc2dd\uc5d0 Laplace Transform\uc744 \uc801\uc6a9\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      sX(s) &#8211; x(0)\n      =\n      AX(s) + BU(s)\n    <\/div>\n\n    <p>\n      x(0)=0\uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      (sI-A)X(s)\n      =\n      BU(s)\n    <\/div>\n\n    <div class=\"formula\">\n      X(s)\n      =\n      (sI-A)<sup>-1<\/sup>BU(s)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      X(s)\/U(s)\n      =\n      (sI-A)<sup>-1<\/sup>B\n    <\/div>\n\n    <p>\n      \ucd9c\ub825\uc2dd y=Cx\ub97c \uc801\uc6a9\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      Y(s)\n      =\n      C(sI-A)<sup>-1<\/sup>BU(s)\n    <\/div>\n\n    <div class=\"formula\">\n      Y(s)\/U(s)\n      =\n      C(sI-A)<sup>-1<\/sup>B\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        \uc0c1\ud0dc\uacf5\uac04 \ubaa8\ub378\uc758 \uc804\ub2ec\ud568\uc218\ub294\n        G(s)=C(sI-A)<sup>-1<\/sup>B\n        \ub85c \uad6c\ud560 \uc218 \uc788\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. \uc0c1\ud0dc\uc804\uc774\ud589\ub82c\uacfc\uc758 \uad00\uacc4<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc0c1\ud0dc\uc804\uc774\ud589\ub82c\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      \u03a6(t) = e<sup>At<\/sup>\n    <\/div>\n\n    <p>\n      \uc774\ub2e4.\n    <\/p>\n\n    <p>\n      \ub610\ud55c\n    <\/p>\n\n    <div class=\"formula\">\n      \u2112{e<sup>At<\/sup>}\n      =\n      (sI-A)<sup>-1<\/sup>\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      \u2112<sup>-1<\/sup>\n      {(sI-A)<sup>-1<\/sup>}\n      =\n      e<sup>At<\/sup>\n    <\/div>\n\n    <p>\n      \uc785\ub825\uc774 \uc874\uc7ac\ud560 \ub54c \uc0c1\ud0dc\uc751\ub2f5\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      x(t)\n      =\n      \u222b<sub>0<\/sub><sup>t<\/sup>\n      e<sup>A(t-\u03c4)<\/sup>\n      B u(\u03c4)d\u03c4\n    <\/div>\n\n    <p>\n      \uc774\uace0 \ucd9c\ub825\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      y(t)\n      =\n      C\n      \u222b<sub>0<\/sub><sup>t<\/sup>\n      e<sup>A(t-\u03c4)<\/sup>\n      B u(\u03c4)d\u03c4\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        (sI-A)<sup>-1<\/sup>\ub294 s-domain\uc758 \ud45c\ud604\uc774\uace0,\n        e<sup>At<\/sup>\ub294 time domain\uc758 \uc0c1\ud0dc\uc804\uc774\ud589\ub82c\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. Full-State Feedback<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uae30\ubcf8 \uc804\uc0c1\ud0dc \ud53c\ub4dc\ubc31\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      u = -Kx\n    <\/div>\n\n    <p>\n      \ub85c \ud45c\ud604\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uc774\ub97c \uc0c1\ud0dc\ubc29\uc815\uc2dd\uc5d0 \ub300\uc785\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      \u1e8b\n      =\n      Ax + B(-Kx)\n    <\/div>\n\n    <div class=\"formula\">\n      \u1e8b\n      =\n      (A-BK)x\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        K\ub97c \uc124\uacc4\ud558\uba74\n        closed-loop state matrix\n        A-BK\uc758 pole\uc744 \ubc30\uce58\ud560 \uc218 \uc788\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. Reference Input \ucd94\uac00<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uae30\uc900\uc785\ub825 r\uc744 \ucd94\uac00\ud558\uba74 \ub2e8\uc21c\ud558\uac8c\n    <\/p>\n\n    <div class=\"formula\">\n      u = -Kx + r\n    <\/div>\n\n    <p>\n      \ub85c \uc0dd\uac01\ud560 \uc218 \uc788\ub2e4.\n    <\/p>\n\n    <p>\n      \uadf8\ub7ec\ub098 \uc774 \ubc29\uc2dd\uc740 \uc77c\ubc18\uc801\uc73c\ub85c\n      step reference\uc5d0 \ub300\ud574 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\uac00 \ubc1c\uc0dd\ud560 \uc218 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"warning\">\n      <strong>\n        Pole Placement\ub85c transient response\ub97c \uc124\uacc4\ud574\ub3c4\n        reference tracking\uc758 steady-state error\uac00\n        \uc790\ub3d9\uc73c\ub85c 0\uc774 \ub418\ub294 \uac83\uc740 \uc544\ub2c8\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. Reference Scaling\uc744 \ud3ec\ud568\ud55c \uc81c\uc5b4\uc785\ub825<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uae30\uc900\uc785\ub825\uc744 \uc2a4\ucf00\uc77c\ub9c1\ud558\uc5ec\n    <\/p>\n\n    <div class=\"formula\">\n      u\n      =\n      -Kx\n      +\n      N\u0304r\n    <\/div>\n\n    <p>\n      \ub85c \uad6c\uc131\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uc5ec\uae30\uc11c N\u0304\uc740 reference input\uc5d0 \uacf1\ud558\ub294\n      constant gain\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        N\u0304\uc740 state-feedback gain K\uc640 \ubcc4\uac1c\ub85c\n        reference tracking\uc758 \uc815\uc0c1\uc0c1\ud0dc \uac12\uc744 \ub9de\ucd94\uae30 \uc704\ud55c gain\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. Reference Input\uc5d0 \ub300\ud55c Closed-Loop \uc0c1\ud0dc\ubc29\uc815\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc81c\uc5b4\uc785\ub825\n    <\/p>\n\n    <div class=\"formula\">\n      u = -Kx + N\u0304r\n    <\/div>\n\n    <p>\n      \uc744 \uc0c1\ud0dc\ubc29\uc815\uc2dd\uc5d0 \ub300\uc785\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      \u1e8b\n      =\n      Ax\n      +\n      B(-Kx + N\u0304r)\n    <\/div>\n\n    <p>\n      \uc815\ub9ac\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      \u1e8b\n      =\n      (A-BK)x\n      +\n      BN\u0304r\n    <\/div>\n\n    <p>\n      Laplace Transform\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      sX(s)\n      =\n      (A-BK)X(s)\n      +\n      BN\u0304R(s)\n    <\/div>\n\n    <div class=\"formula\">\n      [sI-A+BK]X(s)\n      =\n      BN\u0304R(s)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      X(s)\n      =\n      [sI-A+BK]<sup>-1<\/sup>\n      BN\u0304R(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. Reference Input r \u2192 Output y \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ucd9c\ub825\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      Y(s) = CX(s)\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      Y(s)\n      =\n      C\n      [sI-A+BK]<sup>-1<\/sup>\n      BN\u0304R(s)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c \uae30\uc900\uc785\ub825\uacfc \ucd9c\ub825 \uc0ac\uc774 \uc804\ub2ec\ud568\uc218\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      Y(s)\/R(s)\n      =\n      C\n      [sI-A+BK]<sup>-1<\/sup>\n      BN\u0304\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Full-State Feedback + Reference Scaling\uc5d0\uc11c\n        r \u2192 y \uc804\ub2ec\ud568\uc218\ub294\n        C[sI-A+BK]<sup>-1<\/sup>BN\u0304\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. \uad50\uc7ac\uc758 Steady-State Reference \uc124\uc815<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac\uc5d0\uc11c\ub294 \uc6d0\ud558\ub294 \uc815\uc0c1\uc0c1\ud0dc \uc0c1\ud0dc\uac12\uacfc \uc785\ub825\uac12\uc744\n      \uac01\uac01 x<sub>ss<\/sub>, u<sub>ss<\/sub>\ub85c \ub454\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      u\n      =\n      u<sub>ss<\/sub>\n      &#8211;\n      K(x-x<sub>ss<\/sub>)\n    <\/div>\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc\uc5d0\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      x = x<sub>ss<\/sub>\n    <\/div>\n\n    <p>\n      \uc774\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      u = u<sub>ss<\/sub>\n    <\/div>\n\n    <p>\n      \uac00 \ub41c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. \uc815\uc0c1\uc0c1\ud0dc \ubc29\uc815\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc2dc\uc2a4\ud15c\uc744\n    <\/p>\n\n    <div class=\"formula\">\n      \u1e8b = Fx + Gu\n    <\/div>\n\n    <div class=\"formula\">\n      y = Hx + Ju\n    <\/div>\n\n    <p>\n      \ub85c \ub098\ud0c0\ub0b8\ub2e4.\n    <\/p>\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc\uc5d0\uc11c\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      \u1e8b = 0\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      0\n      =\n      Fx<sub>ss<\/sub>\n      +\n      Gu<sub>ss<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      y<sub>ss<\/sub>\n      =\n      Hx<sub>ss<\/sub>\n      +\n      Ju<sub>ss<\/sub>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. Nx\uc640 Nu<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc \ucd9c\ub825\uc774 reference\uc640 \uac19\ub3c4\ub85d\n    <\/p>\n\n    <div class=\"formula\">\n      y<sub>ss<\/sub>\n      =\n      r<sub>ss<\/sub>\n    <\/div>\n\n    <p>\n      \ub85c \ub454\ub2e4.\n    <\/p>\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc \uc0c1\ud0dc\uc640 \uc785\ub825\uc744\n    <\/p>\n\n    <div class=\"formula\">\n      x<sub>ss<\/sub>\n      =\n      N<sub>x<\/sub>r<sub>ss<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      u<sub>ss<\/sub>\n      =\n      N<sub>u<\/sub>r<sub>ss<\/sub>\n    <\/div>\n\n    <p>\n      \ub85c \uc124\uc815\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc \ubc29\uc815\uc2dd\uc5d0 \ub300\uc785\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      [\n      F &nbsp;&nbsp; G\n      <br>\n      H &nbsp;&nbsp; J\n      ]\n      [\n      N<sub>x<\/sub>\n      <br>\n      N<sub>u<\/sub>\n      ]\n      =\n      [\n      0\n      <br>\n      1\n      ]\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      [\n      N<sub>x<\/sub>\n      <br>\n      N<sub>u<\/sub>\n      ]\n      =\n      [\n      F &nbsp;&nbsp; G\n      <br>\n      H &nbsp;&nbsp; J\n      ]<sup>-1<\/sup>\n      [\n      0\n      <br>\n      1\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. N\u0304 \uc720\ub3c4<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc81c\uc5b4\uc785\ub825\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      u\n      =\n      N<sub>u<\/sub>r\n      &#8211;\n      K(x-N<sub>x<\/sub>r)\n    <\/div>\n\n    <p>\n      \uc774\ub2e4.\n    <\/p>\n\n    <p>\n      \uc804\uac1c\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      u\n      =\n      -Kx\n      +\n      (N<sub>u<\/sub> + KN<sub>x<\/sub>)r\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      N\u0304\n      =\n      N<sub>u<\/sub>\n      +\n      KN<sub>x<\/sub>\n    <\/div>\n\n    <p>\n      \ub85c \uc815\uc758\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      u\n      =\n      -Kx\n      +\n      N\u0304r\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        N\u0304 = N<sub>u<\/sub> + KN<sub>x<\/sub>\uc774\uba70,\n        step reference\uc758 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub97c \uc81c\uac70\ud558\uae30 \uc704\ud55c\n        reference gain\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. Block Diagram \uc758\ubbf8<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac\uc758 \ube14\ub85d\uc120\ub3c4\uc5d0\uc11c\ub294\n      reference r\uc774 \ub450 \uacbd\ub85c\ub85c \ub098\ub25c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      r\n      \u2192\n      N<sub>u<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      r\n      \u2192\n      N<sub>x<\/sub>\n    <\/div>\n\n    <p>\n      \ub450 \ud56d\uc744 \uc815\ub9ac\ud558\uba74\n      \ud558\ub098\uc758 reference gain N\u0304\uc73c\ub85c \ud45c\ud604\ud560 \uc218 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      N\u0304\n      =\n      N<sub>u<\/sub>\n      +\n      KN<sub>x<\/sub>\n    <\/div>\n\n    <p>\n      \uacb0\uacfc\uc801\uc73c\ub85c \ube14\ub85d\uc120\ub3c4\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      r\n      \u2192 N\u0304\n      \u2192 (+)\n      \u2192 u\n      \u2192 Plant\n      \u2192 y\n    <\/div>\n\n    <p>\n      \uc640 state feedback\n    <\/p>\n\n    <div class=\"formula\">\n      x\n      \u2192 -K\n      \u2192 (+)\n    <\/div>\n\n    <p>\n      \uc758 \uad6c\uc870\ub85c \ub2e8\uc21c\ud654\ub41c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. C Matrix\uc758 \uc758\ubbf8<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc6d0\ubb38 \ud544\uae30\uc5d0\uc11c\ub294 \ucd9c\ub825\uc2dd\uc744\n    <\/p>\n\n    <div class=\"formula\">\n      y = Cx\n    <\/div>\n\n    <p>\n      \ub85c \ub450\uace0,\n      C matrix\uac00 \uc0c1\ud0dc\ubca1\ud130\uc5d0\uc11c \ud544\uc694\ud55c \uc0c1\ud0dc\ub97c \uc120\ud0dd\ud55c\ub2e4\uace0 \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uc608\ub97c \ub4e4\uc5b4\n    <\/p>\n\n    <div class=\"formula\">\n      C\n      =\n      [\n      1\n      &nbsp;\n      0\n      &nbsp;\n      &#8230;\n      &nbsp;\n      0\n      ]\n    <\/div>\n\n    <p>\n      \uc774\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      y = x<sub>1<\/sub>\n    <\/div>\n\n    <p>\n      \uc774 \ub41c\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        C matrix\ub294 \uc0c1\ud0dc\ubca1\ud130 x\uc5d0\uc11c\n        \ucd9c\ub825\uc73c\ub85c \uc0ac\uc6a9\ud560 \uc0c1\ud0dc\uc758 \uc870\ud569\uc744 \uacb0\uc815\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. \uc8fc\uc694 \uad00\uacc4\uc2dd \uc815\ub9ac<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>\uad00\uacc4\uc2dd<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>State Equation<\/strong><\/td>\n          <td>\u1e8b = Ax + Bu<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Output Equation<\/strong><\/td>\n          <td>y = Cx<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>State \u2192 Transfer Function<\/strong><\/td>\n          <td>\n            Y\/U = C(sI-A)<sup>-1<\/sup>B\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>State Transition Matrix<\/strong><\/td>\n          <td>\n            \u03a6(t)=e<sup>At<\/sup>\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Full-State Feedback<\/strong><\/td>\n          <td>\n            u=-Kx\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Reference Input \ud3ec\ud568<\/strong><\/td>\n          <td>\n            u=-Kx+N\u0304r\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Closed-Loop State Equation<\/strong><\/td>\n          <td>\n            \u1e8b=(A-BK)x+BN\u0304r\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Reference \u2192 Output<\/strong><\/td>\n          <td>\n            Y\/R=C(sI-A+BK)<sup>-1<\/sup>BN\u0304\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Reference Gain<\/strong><\/td>\n          <td>\n            N\u0304=N<sub>u<\/sub>+KN<sub>x<\/sub>\n          <\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>16. \ud575\uc2ec \uae30\uc5b5 \ubb38\uc7a5<\/h2>\n\n  <div class=\"memory\">\n\n    <ol>\n\n      <li>\n        <strong>\n          \uc0c1\ud0dc\uacf5\uac04\uc758 \uc804\ub2ec\ud568\uc218\ub294\n          C(sI-A)<sup>-1<\/sup>B\uc774\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          \uc0c1\ud0dc\uc804\uc774\ud589\ub82c\uc740\n          \u03a6(t)=e<sup>At<\/sup>\uc774\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          Full-State Feedback\uc740\n          u=-Kx\ub85c \uad6c\uc131\ud55c\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          \ub2e8\uc21c\ud788 u=-Kx+r\ub85c reference\ub97c \ucd94\uac00\ud558\uba74\n          step \uc785\ub825\uc5d0 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\uac00 \ubc1c\uc0dd\ud560 \uc218 \uc788\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          \uc815\uc0c1\uc0c1\ud0dc reference tracking\uc744 \uc704\ud574\n          u=-Kx+N\u0304r \ud615\ud0dc\ub97c \uc0ac\uc6a9\ud55c\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          N\u0304=N<sub>u<\/sub>+KN<sub>x<\/sub>\uc774\ub2e4.\n        <\/strong>\n      <\/li>\n\n      <li>\n        <strong>\n          reference r\uc5d0\uc11c \ucd9c\ub825 y\uae4c\uc9c0\uc758 \uc804\ub2ec\ud568\uc218\ub294\n          C(sI-A+BK)<sup>-1<\/sup>BN\u0304\uc774\ub2e4.\n        <\/strong>\n      <\/li>\n\n    <\/ol>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    Full-State Feedback, Reference Input, State Space,\n    State Transition Matrix, Pole Placement,\n    Reference Scaling, Nbar, Nx, Nu,\n    Steady-State Error, Transfer Function\n  <\/div>\n\n<\/div>\n&#8220;`\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>https:\/\/lpsa.swarthmore.edu\/Representations\/SysRepTransformations\/TF2SS.html Feedback control of Dynamic Systems\uc758 7.5.2 Introducing the Reference Input with Full-State Feedback \uc5ec\uae30 \ucc38\uc870 C matrix\ub294 X\uc5d0 tau\uc640 t\uc5d0 \ub300\ud558\uc5ec \uc0c1\uc218\ub85c \ucde8\uae09. &#8220;`html Full-State Feedback Reference Input State Feedback \u00b7 Reference Input \u00b7 Transfer Function \u00b7 Steady-State Error \u00b7 Reference Scaling 1. \uae30\ubcf8 \uc0c1\ud0dc\ubc29\uc815\uc2dd \u1e8b = Ax + Bu y = Cx \uc5ec\uae30\uc11c [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_feature_clip_id":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_post_was_ever_published":false},"categories":[1185],"tags":[1218,1217],"class_list":["post-6112","post","type-post","status-publish","format-standard","hentry","category-1185","tag-reference-input","tag-transfer-function"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6112","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/comments?post=6112"}],"version-history":[{"count":6,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6112\/revisions"}],"predecessor-version":[{"id":9547,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6112\/revisions\/9547"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=6112"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=6112"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=6112"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}