Control System Design in state-space
Dr. Abdul Qayyum Khan
Department of Electrical Engineering
Pakistan Institute of Engineering and Applied Sciences
P.O. Nilore Islamabad Pakistan
url: www.pieas.edu.pk/aqayyum
Email: aqkhan@pieas.edu.pk
Outline of the section
In this part of the lecture, we shall discuss control system
design using state-space; which is based on
Pole placement approach
Pole placement design
Observer design
Regulator design
Observer based controller design
Servo system design/Integral Control design
Quadratic optimal regulator
Control System Design-II by Dr. A.Q. Khan
Quiz
D e t e r m i n e t h e o b s e r v a b i li t y
f o r t h e f o l lo w i n g s y s t e m
2
x& = 0
0
y = [1
0
2
0 x
3
1
1 1] x
0
Control System Design-II by Dr. A.Q. Khan
Duality properties
Symmetry properties exists
Observability (Reconstructability)
Controllability (Reachability)
The Linear time-invariant system
x = Ax + Bu
y = Cx
is the dual of the system (and vice versa)
z = A1z + B1v
y * = C1x*
where A1 = AT ,B1 = CT ,C1 = BT
The principle of duality is useful in that it allows the state
reconstruction problem can be casted as dual control problem and
vice versa.
Control System Design-II by Dr. A.Q. Khan
Controllability and Observability indices
Controllability index
Consider the controlability matrix
M = B AB A n1B
If there exists a least integer q such that
Rank( B AB
AB A q1B ) = n
1 q n
Then this least integer refferred to as is called controlability index
Control System Design-II by Dr. A.Q. Khan
Controllability and Observability indices
Observability index
Consider the observability matrix
*
*
* *
*
* n1
OM = C C A C ( A )
If there exists a least integer v, such that
*
*
* *
*
* n1
Rank( C C A C ( A ) ) = n
1 v n
Then this least integer refferred to as is called observability index
Very powerful concept
Quite often used in minimum order observer design
Control System Design-II by Dr. A.Q. Khan
Pole Placement
Pole placement
All poles are placed at the desired location
Also known as Pole assignment
All states should be measureable and available for feedback
CSC implies pole placement
Root locus
Similar to pole placement approach as for as placing of poles is
concerned
Only dominant closed loop poles are at the desired location
Control System Design-II by Dr. A.Q. Khan
Let
s1 = 1 ,s 2 = 2 , L s n = n
be the desired poles. So by choosing a proper gain matrix for state feedback, it is
possible to force the system to have closed loop poles at the desired location, Provided
the system is completely state controllable.
Given
x& = Ax + Bu
y = Cx + Du
where
x n : State vector;
y m : Measurement/output vector;
u p : Vector of conrol signal;
(
( B
( D
B n p B n1 : For single input system
C mn
1 n
D m p
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A nn ;
: For single output system
: For single input single output system
Let's choose control signal as u ( t ) = Kx ( t ) . This shows that u is determined by the instanteneous values
state. This scheme is referred to as state feedback control and the matrix K pn is called feedback gain.
For single input system, its dimensions are 1 n.
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Control System Design-II by Dr. A.Q. Khan
Control System Design-II by Dr. A.Q. Khan
Referring to figure, subsitute u = Kx in state equation, we have
x& = Ax BKx = ( A BK ) x
or
x ( t ) = e A BK x ( 0 ) ;
for x ( 0 ) 0, then
x ( 0 ) : initial conditions
eig ( A BK ) < 0 stability
eig ( A BK ) > 0 instability
The figure has no reference input. The objective here is to maintain
zero reference input. This system is known as regulator input
For a constant reference input, the problem can be casted as regulator
problem
If the reference input is time varying, the problem is referred to as
tracking problem
The Pole placement problem is placing the regulator poles at the desired
10level Control System Design-II by Dr. A.Q. Khan
Conditions for computing gain matrix K
Prove that the state controllability is the necessary and
sufficient conditions for computing state feedback gain
matrix K
Proof :
Necessity: Let Rank B AB L A n 1 B = q < n
q : Linearly independent column vectors
Let f1 , f 2 ,L f q , be linearly indep. col. vectors. Choose n - q additional vectors
vq +1 , vq + 2 ,L v n such that
P = f1 M f 2 M LM f q M vq +1 M vq + 2 M L M v n has rank n. Then
1AP = A11
A=P
0
A12
B11
1
=
=
;
B
P
B
, Also define K=KP=
[ K1 M K 2 ] , Then we have
A 22
0
+ BK
sI A + BK = P 1 ( sI A + BK ) P = sI P 1AP + P 1BKP = sI A
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Control System Design-II by Dr. A.Q. Khan
+ BK
=0
sI A + BK = P 1 ( sI A + BK ) P = sI P 1AP + P 1BKP = sI A
A11 B11K1
= sI
0
A12 B11K 2 sIq A11 + B11K1
=
0
A 22
= sIq A11 + B11K1 sI n q A 22 = 0
A11 + B11K1
sI n q A 22
=0
Iq : q q identity matrix
where
I n q : n q n q identity matrix
Note that eig(A22 ) does not depend on state feedback gain K. It means
it cannot be placed by any K. In other words all the states of the
system can not be controlled by K.
Conclusion: Complete state controllability is necessary conditions for computing
K in order to place the eigenvalues at the desired location.
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Control System Design-II by Dr. A.Q. Khan
Sufficiency: It is convenient to transform the system into controllable
canonical form.
Define
T = MW ,
where
M= B M AB M LM An 1 B ,
an 1
a
n2
W = M
a1
1
an 2 L a1
an 3 L 1
M
1
M
0
M
0
where a ' s are the coeff. of sI A = s n + a1 s n 1 + a2 s n 2 + L + an = 0
Define a new x as x = Tx , Then
x& = T 1 ATx + T 1 Bu
where
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0
0
A = T AT = M
0
Control System Design-II by Dr. A.Q. Khan an
1
0
M
0
an 1
0
0
0
1 L 0
M
M
M ;B = M
0 0 1
0
1
L a2 a1
0
1
0
M,
0
0
The above transformation is known as controllable canonical
form (CCF).
The state feedback controller can be designed if a system can
be transferable to into CCF.
Let 1 , 2 ,L n be the desired poles; that is
( s 1 )( s 2 )L ( s n ) = s n + 1s n1 L + n1s + n = 0
with K=KT=
Consider the control u = Kx
[1 2 L n ]
The state space equation is
x& = T 1 ATx T 1 BKx
The ch. equation for the closed loop system is
s n + ( a1 + 1 ) s n 1 + L + ( an 1 + n 1 ) s + ( an + n ) = 0
Notice this ch. equation should be the same with the desired one. Therefore
a1 + 1 = 1 ; a2 + 2 = 2 ; L ; an + n = n
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The state feedback gain matrix K is then given as
1 = [
K = KT
Control System Design-II by Dr. A.Q. Khan
L n ] T 1
Thus if the system is completely state controllable, all the
eigenvalues can be arbitrarily placed by choosing a proper
gain matrix K
Stablizabe Systems:
Uncontrollable mode>>>>>> stable
In that particular case, state feedback controller can only be
designed controllable mode.
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Control System Design-II by Dr. A.Q. Khan
