EcE 550 LECTURE 14 We will now discuss the effect of introducing linear state feedback of the form wD CED + Ka CO) =) where x6) te the stote vector, yt) may stand for some desired reference input, and Kic some real constant mateix called a feedback gam matrix. Let's stort by considering the single-veriable, Mnear, times invariant, dynamical equation Ax + bu yr ext da @® where 2 fe the nx state vector, wie the scalar inpet, gre the scalar output, A isan nxn real constant matrix, b is an nX1 real constant column vector, and c sa txn real constant row vector. Tn stave feedback, every state variable is multi- plied by a gain and then fed back nto the input terminal. Let the gain between the ith state variable and the Input be kz, se that eS Ee kee kT -.®ECE 550 LecTuRE 1q t Ns the resulting feedback gain vector. Thus, SF we replace ult) by vt)+k xl), then the dgremicel equetion becomes w+ (Atbk)x + by gt Cetdkx + dv -® The block diagrom of the state feedback system a 's a5 Follows x + oc Note thot equations ® and@ hove the same di- mension and the same stote space. Equation @ is contrellable for ang fxn veal veeter k iff equation © is controllable. Al- though state feedback preserves controllability, Me mag net preserve observability. Co the Following exampleECE 550 LECTURE 19 » oe =p 1 + ~o £ Let's introduce the following state feedback oe te £ Thus, the dynamical equation becomes be on on me + — -o < yo le als Checking for controllability OrLE I< [o 3] Note that de+ U = -2#0. Thos, controllability is preserved. Now, let's check for ebservability LATE) 4] Note that rank V =I. Thos, the system with stote feedback indicated is not observable,ECE 550 LECTURE {q even though the system witheut feedback ss observable. Hence, observability may not be preserved when state Feedback 1s applied. Let's return ence again to equatien @. If the dynamicel equation is controllable, then applying state feedback uzvikx, where kisatxn real vector, the eigenvalues of CA + bk) can be arbitrarily assigned. This te knewn as the pole placement theorem, We know the+/f equa- tion @ 12 controllable, then via an equivalence: tranefermation it can be placed inte the con- trellatle canonical form. If K and B denote. the matrices of the canenical form, then we know that A= PAP and B= Pb. Hence, the state feedback becomes where ri > r a ©ECE 550 LECTURE {q The eigenvalues of CA+tbkK) and CA+bE) are identical, since these ore equivalent repre~ sentations, Let the characteristic polynomial of either representation have the desired eigenvalues and be denoted as If Kis chosen as ke [«, Oo eaor ° ° oo o|_ ° oo O° of—F tlolyv © Oo octet ° fate face el ! eee eC ae uce + B+ dla -a)] 2 + dv Note that the characteristic polynomial of equotion @) we given by equotion®@, as desired.ECE 550 | LECTURE 1q We can summarine the procedure of choosing k as Fellows : 1) Find the cheracteriste polynomial of A, le. det (sI-A)* stash ete, 2) Compute the charactermtie polynemial corresponding to the deswed eigenvalues R's, ie. Coe BM s-Fd-Cs-R de oh eae te tk, 3) Compute KE using equaticn®) 4) Compote q” "= Aq +a. 4", for betas) Cnet), with gab 5) Feem Qe Lg! q@e- 4°] 6) Fina P2Q" T) ke EP (equehin®) The transfer function of equation © ss given by Bye + Bast? +--+ + Bo Soe gods oe ds" + (6, tda,)s" 4 1. +4 (Bn ten) toy i. SheehyECE 550 LECTURE 19 The transfer function of equation@ is LB, +d (o,-3,)1s” o4 LD Bat dCetn-a,) » a td 3568) * 1 S74 Se Ty ds" + (P.tdays" "+... + (Bn tdan) 374 she eee ba, ® Note thet the numerotors of equations © and @ ore identical. Hence, the terces of Jes) remain vnchanged after the introduction of state feed- back. Nee lets oeeider he creel feces invoriant, multivvariable dynamical equatien Re Ax t+ Bu © ge cx + De where A,B, C,and D ore, respectively, ner, nx py qXn,and qx p constant real matrices Tnerder te apply state feedback, the inpot uw tm equation @ Is replaced by oe ®Eck 550 LECTURE 14 where vy isthe reference input veeter, and K tsa pxn real constant matnix called the feed- back goin matrix. Thos, equation (2) becomes = CA+BKIx + By = (C+0K)x + Dy &® 4 Lf equetion (2) 1s controllable, then its controllability matric Os oice tate | where b; 1a the i* column of B, has rank n. If there exists b; such that the matnix Lo; abs ++ avo] - & has conk n, then the control of the abate oF equation @ can be achieved by using the €@ Ece 550 LEcTURE 14 th ith component of u alone. If ne euch by exists, then control of the etete will require two or more components of u. However, if we introduce a proper state feedback , the resulting multiveriable dynamical equation cen always be made te be controllable by a single component of the input. bet £A,B} be sentrolfable and let b,, ba, bp be the column vectors of B. Then for ony ip Cwhere b; $0), there exits 2 pxn real constant matrix K; euch that E A+ BK; , bb: 3 te controllable. We need te determine Kz. Since £A, BAe controllable, there aren linearly independent columns tn Fave]. We need to choote these us [ Biapi n columns. We proceed os follows Stort with the veetor b, and then preceed te Ab, , A%b,, up to Ab, until the vector ANb, can be expressed as a linear combination of Re Ab Avge ye ete he equation can be controlled by the first column of Balene. If yen, we select bzEcE 550 LecTuRE 19 @ ond repeat the process until A%b, can be ex~ pressedasa linear combination of £6,777, AN 'b,, Bee Abe) IG ven we pre-coa te bs and seforth. Let's ascume that v+vatyyen. We define the nxn non-singular matrix Q as fellows Qe [be Ab a, Be Ab | © e and we define the pun matrix Sas follews 84[ 00-04, 0---04e,0--- 00] t i t ath we Hea column column es where e; is the ith column of a px p unit matrix Thos, we hove that @ECR 550 LECTURE 1q If £4,683 12 controllable bya linear state. feedback of the form uty +Kx, where K 3a pk n real constant motnk, the eigenvalues of CA+BK) can be arbitrarily assigned. We have already shown thot £ Bb, 3 Ws controlla- ble where A= A4BK, ond bre the first column of B. We new intreduce another state feedtsc ge Ma ke . .@® where mand © are Ixn row vectors. Thos, -(Aean)x + By be 2 CR + bm) x + By cD) Since £R,b, 33 controllable, the eigenvalues. of equation @) can be arbitrarily assigned by a proper choice of m,. Combining beth feedbacks we obtain 1ECE 550 LECTURE 14 i K . x * s -@® The gern matrix Kile not unique. For examp we could have selected bz and formed the motrin Kz, such thet £A+BK,, b, $4 con- trellable. As forthe transfer Function, unlike the single variable case, the numeraters of some elements of Gls} are changed after introducing Feedback