An approach to State Space Control Teaching

In the process of learning control techniques, the control by state feedback is a highly studied method, due to the associated benefits: it only implies a feedback by amplification of the states (it has no associated dynamics) and the extension of the SISO to MIMO systems is almost trivial. The most common techniques allow to control a system around an operation point, based on the disposition of a linearized model of the system around said point. In general, good results can be achieved when the system is close to the operation point. This paper shows a proposal for an Advanced Control course based on this technique, which allows the student to progress gradually in the way to perform the control, the solutions that can be given to the most common problems, to end up understanding the reasons apply non-linear control techniques when the system requirements should be extended to conditions far from the operation point. The control design techniques studied includes pole-placement by state feedback, control based in state observers, and Linear Quadratic Regulator (LQR). In addition, the proposal is illustrated for the example of the inverted pendulum cart.