{"id":6977,"date":"2024-03-25T11:29:34","date_gmt":"2024-03-25T02:29:34","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=6977"},"modified":"2026-10-04T10:12:36","modified_gmt":"2026-10-04T01:12:36","slug":"full-state-feedback-controller","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/full-state-feedback-controller\/","title":{"rendered":"full state feedback controller"},"content":{"rendered":"\n
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\n\n

Full-State Feedback Controller<\/h1>\n\n
\n State Variable Feedback \u00b7 Full-State Feedback \u00b7 Pole Placement \u00b7 u = -Kx\n <\/div>\n\n\n \n

1. \ubb38\uc81c<\/h2>\n\n
\n\n

\n \uc0c1\ud0dc\ubcc0\uc218 \ud53c\ub4dc\ubc31 \uc81c\uc5b4\n (State Variable Feedback Control)\ub97c \uc0ac\uc6a9\ud558\uc5ec\n \ud3d0\ub8e8\ud504 \uc2dc\uc2a4\ud15c\uc758 \uadf9\uc810\uc744\n \uc6d0\ud558\ub294 \uc704\uce58\uc5d0 \ubc30\uce58\ud560 \uc218 \uc788\uc74c\uc744 \uc124\uba85\ud55c\ub2e4.\n <\/p>\n\n 

\n                \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n          u \u2500\u2500\u2500\u25ba\u2502  \u1e8b = Fx + Gu   \u2502\u2500\u2500\u2500\u2500\u25ba x \u2500\u2500\u2500\u25ba [ H ] \u2500\u2500\u2500\u25ba y\n                \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n                     \u25b2\n                     \u2502\n                     \u2502\n                \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n                \u2502 u = -Kx \u2502\n                \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n    <\/pre>\n\n  <\/div>\n\n\n  \n  
2. \uc0c1\ud0dc\ubc29\uc815\uc2dd<\/h2>\n\n  
\n\n    
\n      \uc190\uae00\uc528 \ud480\uc774\uc5d0\uc11c\ub294 \uc0c1\ud0dc\ubc29\uc815\uc2dd\uc744\n      \ub2e4\uc74c\uacfc \uac19\uc774 \ub454\ub2e4.\n    <\/p>\n\n    
\n      \u1e8b = Ax + Bu\n    <\/div>\n\n  <\/div>\n\n\n  \n  
3. Full-State Feedback<\/h2>\n\n  
\n\n    
\n      \ubaa8\ub4e0 \uc0c1\ud0dc\ubcc0\uc218\ub97c \ud53c\ub4dc\ubc31\ud558\uc5ec\n      \uc81c\uc5b4\uc785\ub825\uc744 \ub2e4\uc74c\uacfc \uac19\uc774 \uad6c\uc131\ud55c\ub2e4.\n    <\/p>\n\n    
\n      u = -Kx\n    <\/div>\n\n    
\n      \n        \uc0c1\ud0dc\ubca1\ud130 x\uc5d0 Feedback Gain K\ub97c \uacf1\ud558\uc5ec\n        \uc785\ub825 u\ub97c \uacb0\uc815\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
4. \ud3d0\ub8e8\ud504 \uc0c1\ud0dc\ubc29\uc815\uc2dd<\/h2>\n\n  
\n\n    
\n      \uc0c1\ud0dc\ubc29\uc815\uc2dd\uc5d0\n      u = -Kx\ub97c \ub300\uc785\ud55c\ub2e4.\n    <\/p>\n\n    
\n      \u1e8b\n      =\n      Ax + B(-Kx)\n    <\/div>\n\n    
\n      \u1e8b\n      =\n      Ax – BKx\n    <\/div>\n\n    
\n      \u1e8b\n      =\n      (A – BK)x\n    <\/div>\n\n    
\n      \n        Full-State Feedback \uc801\uc6a9 \ud6c4\n        \ud3d0\ub8e8\ud504 \uc0c1\ud0dc\ud589\ub82c\uc740 A – BK\uac00 \ub41c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
5. \ud3d0\ub8e8\ud504 \uc751\ub2f5<\/h2>\n\n  
\n\n    
\n      \uc190\uae00\uc528 \ud480\uc774\uc5d0\uc11c\ub294\n      \ud3d0\ub8e8\ud504 \uc0c1\ud0dc\uc751\ub2f5\uc744 \ub2e4\uc74c\uacfc \uac19\uc774 \uc801\ub294\ub2e4.\n    <\/p>\n\n    
\n      x(t)\n      =\n      e(A-BK)t<\/sup>x(0)\n    <\/div>\n\n    
\n      \ub530\ub77c\uc11c \uc2dc\uc2a4\ud15c\uc758 \ub3d9\ud2b9\uc131\uc740\n      A – BK\uc758 \uace0\uc720\uac12\uc5d0 \uc758\ud574 \uacb0\uc815\ub41c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  \n  
6. Characteristic Equation<\/h2>\n\n  
\n\n    
\n      \ud3d0\ub8e8\ud504 \uc2dc\uc2a4\ud15c\uc758 \ud2b9\uc131\ubc29\uc815\uc2dd\uc740\n      A – BK\ub85c \uacb0\uc815\ub41c\ub2e4.\n    <\/p>\n\n    
\n      det\n      [\n      sI – (A – BK)\n      ]\n      =\n      0\n    <\/div>\n\n    
\n      \uc6d0\ubcf8 \uc190\uae00\uc528\uc5d0\uc11c\ub294 \uc774\ub97c \uac04\ub7b5\ud788\n      \ub2e4\uc74c \uc758\ubbf8\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    
\n      Characteristic Equation\n      \u2192\n      A – BK\n    <\/div>\n\n  <\/div>\n\n\n  \n  
7. Pole Placement<\/h2>\n\n  
\n\n    
\n      Feedback Gain K\ub97c \uc870\uc815\ud558\uba74\n      A – BK\uc758 \ud2b9\uc131\ubc29\uc815\uc2dd \uacc4\uc218\uac00 \ubc14\ub010\ub2e4.\n    <\/p>\n\n    
\n      K \uc870\uc815\n      \u2192\n      Characteristic Equation \ubcc0\uacbd\n      \u2192\n      Closed-Loop Pole \uc774\ub3d9\n    <\/div>\n\n    
\n      \n        K\ub97c \uc801\uc808\ud558\uac8c \uc120\uc815\ud558\uc5ec\n        \uc6d0\ud558\ub294 \uc704\uce58\uc5d0 \ud3d0\ub8e8\ud504 \uadf9\uc810\uc744 \ubc30\uce58\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
8. Full-State Feedback\uc758 \ud575\uc2ec \uad00\uacc4<\/h2>\n\n  
\n\n    
\n      Open-Loop System\n\n          \u1e8b = Ax + Bu\n               \u2502\n               \u25bc\n\n      State Feedback\n\n          u = -Kx\n               \u2502\n               \u25bc\n\n      Closed-Loop System\n\n          \u1e8b = (A-BK)x\n               \u2502\n               \u25bc\n\n      Characteristic Equation\n               \u2502\n               \u25bc\n\n      Closed-Loop Pole\n               \u2502\n               \u25bc\n\n      K \uc870\uc815\uc73c\ub85c Pole Placement\n    <\/pre>\n\n  <\/div>\n\n\n  \n  
9. \uc0c1\ud0dc Feedback Gain K<\/h2>\n\n  
\n\n    
\n      K\ub294 \uc0c1\ud0dc\ubcc0\uc218\uc5d0 \uc801\uc6a9\ub418\ub294\n      Feedback Gain\uc774\ub2e4.\n    <\/p>\n\n    
\n      K\n      =\n      [\n      k1<\/sub>\n       \n      k2<\/sub>\n       \n      \u00b7\u00b7\u00b7\n       \n      kn<\/sub>\n      ]\n    <\/div>\n\n    
\n      \uac01 \uc0c1\ud0dc\uac12\uc5d0 \ub300\ud55c \ud53c\ub4dc\ubc31 \ud06c\uae30\ub97c\n      K\uac00 \uacb0\uc815\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  \n  
10. Pole \uc704\uce58\uc758 \uc758\ubbf8<\/h2>\n\n  
\n\n    
\n      \uc190\uae00\uc528 \uacb0\ub860\uc740\n      K\ub97c \uc870\uc815\ud558\uc5ec\n      \ub0b4\uac00 \uc6d0\ud558\ub294 \uc7a5\uc18c\uc5d0 Pole\uc744\n      \uc704\uce58\uc2dc\ud0ac \uc218 \uc788\ub2e4\ub294 \uac83\uc774\ub2e4.\n    <\/p>\n\n    
\n      Desired Pole Location\n      \u2192\n      K Selection\n    <\/div>\n\n    
\n      \n        Full-State Feedback Controller\uc758 \ubaa9\uc801\uc740\n        \uc6d0\ud558\ub294 \ud3d0\ub8e8\ud504 \uadf9\uc810\uc774 \ub098\uc624\ub3c4\ub85d K\ub97c \uc120\uc815\ud558\ub294 \uac83\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
11. \uc6d0\ubcf8 \ubb38\uc81c \ud45c\uae30\uc640 \ud480\uc774 \ud45c\uae30<\/h2>\n\n  
\n\n    
\n      \uae30\ucd9c\ubb38\uc81c \uadf8\ub9bc\uc5d0\uc11c\ub294 \uc0c1\ud0dc\ubc29\uc815\uc2dd\uc744\n    <\/p>\n\n    
\n      \u1e8b = Fx + Gu\n    <\/div>\n\n    
\n      \ub85c \ud45c\uae30\ud558\uace0,\n      \uc190\uae00\uc528 \ud480\uc774\uc5d0\uc11c\ub294\n    <\/p>\n\n    
\n      \u1e8b = Ax + Bu\n    <\/div>\n\n    
\n      \ub85c \ud45c\uae30\ud55c\ub2e4.\n    <\/p>\n\n    
\n      F \u2194 A\n    <\/div>\n\n    
\n      G \u2194 B\n    <\/div>\n\n    
\n      \n        \ub450 \uc774\ubbf8\uc9c0\ub294 \uac19\uc740 \uc0c1\ud0dc\uacf5\uac04 \uad6c\uc870\ub97c\n        \uc11c\ub85c \ub2e4\ub978 \uae30\ud638\ub85c \ud45c\ud604\ud55c\ub2e4.\n        \uc6d0\ubcf8 \ud45c\uae30\ub97c \ubaa8\ub450 \ubcf4\uc874\ud558\uc600\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
12. Full-State Feedback\uacfc \ucd9c\ub825<\/h2>\n\n  
\n\n    
\n      \ubb38\uc81c \uadf8\ub9bc\uc5d0\uc11c\ub294 \uc0c1\ud0dc x\uac00\n      \ucd9c\ub825\ud589\ub82c H\ub97c \uac70\uccd0\n      \ucd9c\ub825 y\uac00 \ub418\ub294 \uad6c\uc870\ub85c \ud45c\uc2dc\ud55c\ub2e4.\n    <\/p>\n\n    
\n      y = Hx\n    <\/div>\n\n    
\n      State x\n         \u2502\n         \u25bc\n       [ H ]\n         \u2502\n         \u25bc\n         y\n    <\/pre>\n\n  <\/div>\n\n\n  \n  
13. \uc804\uccb4 \uc815\ub9ac<\/h2>\n\n  
\n\n    \n\n      \n        \n          \n\n        \n          \n          \n          \n          \n          \n          \n          
\ud56d\ubaa9<\/th>\n          \uc774\ubbf8\uc9c0 \ub0b4\uc6a9<\/th>\n        <\/tr>\n      <\/thead>\n\n      
State Equation<\/strong><\/td>\n          \u1e8b = Ax + Bu<\/td>\n        <\/tr>\n\n        
Feedback Law<\/strong><\/td>\n          u = -Kx<\/td>\n        <\/tr>\n\n        
Closed-Loop Equation<\/strong><\/td>\n          \u1e8b = (A-BK)x<\/td>\n        <\/tr>\n\n        
State Response<\/strong><\/td>\n          x(t) = e(A-BK)t<\/sup>x(0)<\/td>\n        <\/tr>\n\n        
Characteristic Matrix<\/strong><\/td>\n          A-BK<\/td>\n        <\/tr>\n\n        
\uc124\uacc4\ubcc0\uc218<\/strong><\/td>\n          K<\/td>\n        <\/tr>\n\n        
\ubaa9\uc801<\/strong><\/td>\n          \ud3d0\ub8e8\ud504 Pole\uc744 \uc6d0\ud558\ub294 \uc704\uce58\uc5d0 \ubc30\uce58<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  \n  
14. \uc774\ubbf8\uc9c0 OCR \uc804\uccb4 \ud750\ub984<\/h2>\n\n  
\n\n    
\n      \u1e8b = Ax + Bu\n            \u2502\n            \u25bc\n         u = -Kx\n            \u2502\n            \u25bc\n      \u1e8b = (A-BK)x\n            \u2502\n            \u25bc\n      x(t)=e^[(A-BK)t]x(0)\n            \u2502\n            \u25bc\n      Characteristic Equation\n            \u2502\n            \u25bc\n          Pole \uc704\uce58\n            \u2502\n            \u25bc\n         K \uc870\uc815\n            \u2502\n            \u25bc\n      Desired Pole Placement\n    <\/pre>\n\n  <\/div>\n\n\n  \n  
\n    \n      \uc774 HTML\uc740 \ud398\uc774\uc9c0 \ubcf8\ubb38 \uc124\uba85\uc744 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uace0,\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0 2\uc7a5\ub9cc OCR\/\uc2dc\uac01 \ud310\ub3c5\ud558\uc5ec \uc791\uc131\ud588\ub2e4.\n\n      \uc774 \ud398\uc774\uc9c0\uc5d0\ub294 NeoStudio PDF\uac00 \uc5c6\ub2e4.\n\n      \uc6d0\ubcf8 \uc190\uae00\uc528\uc5d0\ub294 Controllability Matrix\ub098\n      Ackermann \uacf5\uc2dd\uc758 \uc720\ub3c4\uac00 \ud3ec\ud568\ub418\uc5b4 \uc788\uc9c0 \uc54a\uc73c\ubbc0\ub85c\n      \uc77c\ubc18 \uc81c\uc5b4\uc774\ub860 \uc9c0\uc2dd\uc73c\ub85c \ucd94\uac00\ud558\uc9c0 \uc54a\uc558\ub2e4.\n\n      \ub530\ub77c\uc11c \uc774 \uc790\ub8cc\uc5d0\uc11c\ub294\n      u = -Kx\ub97c \uc801\uc6a9\ud558\uba74\n      \ud3d0\ub8e8\ud504 \uc0c1\ud0dc\ud589\ub82c\uc774 A-BK\uac00 \ub418\uace0,\n      K\ub97c \uc870\uc815\ud558\uc5ec \uc6d0\ud558\ub294 \uadf9\uc810\uc744 \ubc30\uce58\ud560 \uc218 \uc788\ub2e4\ub294\n      \ud575\uc2ec \uad00\uacc4\uae4c\uc9c0\ub9cc \ubc18\uc601\ud588\ub2e4.\n    <\/strong>\n  <\/div>\n\n\n  \n  
\n    Full-State Feedback,\n    Full State Feedback Controller,\n    State Variable Feedback,\n    State Feedback,\n    Pole Placement,\n    Pole Assignment,\n    State Space,\n    Feedback Gain,\n    K Gain,\n    Closed-Loop Pole,\n    A-BK,\n    u=-Kx\n  <\/div>\n\n<\/div>\n“`\n","protected":false},"excerpt":{"rendered":"
“`html Full-State Feedback Controller State Variable Feedback \u00b7 Full-State Feedback \u00b7 Pole Placement \u00b7 u = -Kx 1. \ubb38\uc81c \uc0c1\ud0dc\ubcc0\uc218 \ud53c\ub4dc\ubc31 \uc81c\uc5b4 (State Variable Feedback Control)\ub97c \uc0ac\uc6a9\ud558\uc5ec \ud3d0\ub8e8\ud504 \uc2dc\uc2a4\ud15c\uc758 \uadf9\uc810\uc744 \uc6d0\ud558\ub294 \uc704\uce58\uc5d0 \ubc30\uce58\ud560 \uc218 \uc788\uc74c\uc744 \uc124\uba85\ud55c\ub2e4. \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 u \u2500\u2500\u2500\u25ba\u2502 \u1e8b = Fx + Gu \u2502\u2500\u2500\u2500\u2500\u25ba x \u2500\u2500\u2500\u25ba [ H ] \u2500\u2500\u2500\u25ba y \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 \u25b2 \u2502 […]<\/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":[1541,1215],"class_list":["post-6977","post","type-post","status-publish","format-standard","hentry","category-1185","tag-full-state-feedback-controller","tag-pole-placement"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6977","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=6977"}],"version-history":[{"count":3,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6977\/revisions"}],"predecessor-version":[{"id":9616,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6977\/revisions\/9616"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=6977"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=6977"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=6977"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}