Enhancing state-space control teaching with a computer-based assignment

This paper describes an assignment study that is undertaken at Heriot-Watt University by students who have elected to study the digital/state-space co ntrol module as part of their Masters program in Digital Systems Engineerin g. The assignment is based around the inverted pendulum system and uses the computer package MATLAB/SIMULINK. The assignment allows exploration of top ics that are difficult through conventional tutorial examples and is struct ured in a manner that enhances the traditional classroom teaching approach. The topics covered are pole-placement design and both deterministic and st ochastic state estimation. The given design performance specifications resu lt in nonunique state-feedback and observer gain matrices, This has the dua l advantages of reflecting a common practical control situation and also he lps eliminate the potential for plagiarism among the students.