ASSIGNMENT

What plant input are you going to use to control the current? What will be the ‘ B‘ matrix used in place?
• how is the current reference incorporated into the feedback structure? (see notes!)
• you need to specify 3 eigenvalues since the system is 3rd order. Two of them should be easy to find. But what of the third?

Augment the new system with an additional integral state for the speed. Check the eigenvalues of the new augmented system matrix. Select (four) eigenvalues and use place to find the gains. The eigenvalues are much easier to select this time. Did you expect the feedback gains on the current and the integral–of–current to be non–zero? Would it matter if they were zero?