state space model with constant term
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Nikolaj Goodger
on 30 Jan 2013
Commented: Asser Mohamed
on 8 Apr 2020
If i linearize a nonlinear system model of the form
dx/dt=f(x,u) so that it can be written in the form
dx/dt=Ax+Bu+constant
What is the best way to handle the constant if I want to create an lqr regulator or an observer? For example the system below?
A=[0 1 0;0 0 1;0 0 0] B=[0;0;1] Constant=[0;1;0]
2 Comments
Shashank Prasanna
on 30 Jan 2013
This is not technically a state space representation. Could you give some information on what the constant is? is it an initial condition? Or atleast share what the f(x,u) looks like.
Accepted Answer
Azzi Abdelmalek
on 30 Jan 2013
You can consider a constant as a disturbance signal. You can calculate your lqr regulator without this constant, but you should add to your system an integrator which will eliminate the effect of any disturbance signal. (m integrators for m outputs)
More Answers (1)
Hesam Mazaheri
on 28 May 2018
Edited: Hesam Mazaheri
on 28 May 2018
hello, regarding your answer, how can i model this disturbance as an constant to the system in m-file by defining matrices A,B,C,D as ss, how can I add this constant term. after linearing a nonlinear system, my state space is like this: Xdot=Ax+Bu+G1(Constant term) y=Cx+Du+G2(another constant term)
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