Professional Documents
Culture Documents
10, p 722 )
Systems are required to achieve certain desired goals and objectives. If such goal is not
fulfilled by a system on its own, a need arises to enforce changes to that system
ranging from re-building it to externally introducing additional extra components
( controllers ) . These may encompass: gain factors , derivative actions , integral actions
, PID, and many other controllers taught in classical control systems .
Since poles of a transfer function are the eigenvalues of the A matrix , these methods are
also known by the names pole/eigenvalue assignment , pole/eigenvalue allocation.
u=r−Kx
exhibits desired
dynamics through a suitable set of
eigenvalues/pole. ( diagram is courtesy of
ctms.engin.umich.edu)
Methods for determination of the eigenvalues are in the hundreds. Only three will be
considered.
In this case , the system assumes the following standard form, i.e. a stair-case form for
A . B is all zeros except for the last element which shouldn’t equal zero . Such form
always results in what is known as a controllable system .Considering n=4.
0 1 0 0 0
0 0 1 0 0
x x u
0 0 0 1 0
a4 a3 a2 a1 1
For this form , the characteristic polynomial │ A−λ I n │=0, is always given by.
0 1 0 0 0
0 0 1 0 0
x x r
0 0 0 1 0
a4 k 4 a3 k 3 a2 k 2 a1 k1 1
Following the pattern, the closed loop characteristic polynomial is therefore
( λ−γ 1)¿
λ 4 +α 1 λ 3+ α 2 λ2 +α 3 λ+ α 4=0
So
0 1 0 0
Example 1 ; consider a system given by
x 0 0 1 x 0 u
1 2 3 1
Let MATLAB poly function calculate the closed loop characteristic polynomial :
The open loop characteristic polynomial is by inspection λ 3−3 λ2−2 λ−1=0 , hence,
K=[117 47 11 ] . Checking the answer using
≫eig(A-B*K)
Exercise 2 : for the same A matrix in Example 1, assign -2, -4, and -4 , when B is
changed to B = [0 0 5 ]T.
The companion controllable form method requires a system to be in that form for it to
work. However, most systems are not represented in that form, so the method will not
work with such systems . There is a method to convert controllable systems to that
form ( see book p 726 ) but we shall not consider that . Instead, we consider the
following method which deals with any general form. However, it works only with
single input systems , and it still requires systems to be controllable .
Ackermann's method .
Once more let the desired eigenvalues to be assigned ( placed ) are γ 1, γ 2, γ 3 ,∧γ 4 ,
then the desired closed loop characteristic polynomial is
ϕ ( λ )=λ 4 +α 1 λ3 + α 2 λ2 +α 3 λ+ α 4=0
−1
K= [ 00 0 1 ] [ B AB A 2 B A 3 B ] ϕ( A)
The matrix in the middle will not have an inverse unless the system is controllable,
hence, the requirement of a system to be controllable .
It’s always worth it to check that K results in the correct assignment using.
>>AK=A-BK, e=eig(AK)
e=
Giving , 0 1 0 -4.0000 + 0.0000i
AK 22 11 50 -2.0000 + 5.0000i
1 2 3 -2.0000 - 5.0000i
The methods described so far apply to controllable single input systems . what about
uncontrollable and multi-input systems?.
[ A−λi I n ] w i=B z i
for w i and i=1,2 , … , n , where z i is a scalar whose value should ensure consistency of
−1
K= [ z 1 z2 z 3 … z n ] [ w1 w2 w 3 … wn ]
As simple as that .
Example 3 : consider the system given in Example 2 . Assuming all z 1 , z 2 , z 3 are
equal to 1 , the system of equations are solved giving w 1 , w 2 , w 3 as listed in the matrix
below , hence
1
0.0256 + 0.0222i 0.0256 + 0.0222i -0.0667
K=[ 1 1 1 ] 0.0597 - 0.1726i 0.0597 - 0.1726i 0.2667
0.0178 + 0.0468i 0.0178 + 0.0468i -0.0667
K=[ 22 11 51 ] as before.
Let 1 0 1
z1 , z2 , z3
0 1 1
1
0.3469 0.1143 0.3194
1 0 1 -0.0408 0.5429 0.4031 0.1460 2.7021 8.6538
K=
0 1 1 0.1224 -0.1714 -0.0157 -1.4162 3.8082 5.2819
Check
that the eigenvalues are indeed assigned using MATLAB eig(A-B*K).
Exercise 4. For the system given in Example 4, assign -2± 5j, and -4.
Choose different z i each time. You should get different K’s , but all of them result in
-2± 5j, and -4 being assigned.
No wonder it gives a different K from that given by the eigenstructure method when a
system is multi-input.