6.3 State Feedback
When the state variables become known (either through measurement or estimation), it is sometimes desirable to feed their values back to the inputs via a controller to change the dynamics of the system in a certain way (see Chapter 9). Figure 6.8 shows such a connection for a continuous-time system; the diagram for a discrete-time system is structurally similar. This type of connection can be formed using StateFeedbackConnect.
Figure 6.8. State feedback schematic.
State feedback connections.
To form state feedback, system must be in state-space form; controller can be supplied in either state-space or transfer function form, or simply as a gain matrix (such as that returned by StateFeedbackGains, for example); connections can be specified using the same format as for FeedbackConnect.