System Dynamics & Control State

Space Design
 Controllability of State Space
• Controllability
 A system is completely controllable if there exists an unconstrained control
u(t) that can transfer any initial state x(t0) to any other desired location x(t)
in a finite time t0tT.

nn

Controllable x  Ax  Bu
nm

rank[Pc ]  n Pc  0

Controllability Matrix Pc  [B AB A 2 B  A n 1B]

nn 제 14강

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 Example 1
• Controllability
Example 1: Controllability of a system 

 0 1 0  0
 0 1 0  0
A   0 1  , B  0 
x   0 1  x  0  u
0
0
 a0  a1  a2  1 
 a0 a1 a2  1 
 0   0 
AB   1  , A 2 B    a2 
y= 1 0 0 x   0 u
 a2   (a22  a1 ) 

0 0 1 
Pc  [B AB A 2 B  A n 1B]  0 1  a2  Pc  1
1  a2 (a22  a1 )  Controllable
제 14강 6

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 Observability of State Space
• Observability
 A system is completely observable if and only if there exists a finite time T
such that the initial state x(0) can be determined from the observation
history y(t) given the control u(t).

x  Ax  Bu 1n
Controllable y=Cx
n1

rank[Po ]  n Po  0

Observability Matrix Po  [C CA  CA n 1 ]T

nn

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 Example 2
• Observability
 Example 2: Observability of a system

 0 1 0 
 0 1 0  0
A   0 1  ,
x   0 1  x  0  u
0
0
 a0  a1  a2 
 a0 a1 a2  1 
C  1 0 0

y= 1 0 0 x   0 u CA   0 1 0 ,
CA 2   0 0 1

1 0 0 
Po  [C CA  CA n 1 ]T  0 1 0  Po  1
0 0 1  Observable
제 14강 8

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 Example 3
• Observability

 Example 3: Controllability and Observability of a two-

two-state system

 2 0 1 1 2 1 2

B    , AB    , Pc   B AB   
x    x    u
 1  2   1 2
 1 1   1
y= 1 1 x 1 1
C  1 1 , CA  1 1 , Po  C CA   
T

1 1

y  x1  x2
Pc  Po  0 x1  x2  2 x1  ( x2  x1 )  u  u
Not Controllable and Not Observable  x1  x2

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 Exercise 1

Is the following system completely state controllable and completely

observable?

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• We can then control the pole locations by
finding appropriate values for K
• This allows us to select the position of all the
closed loop system roots during our design.

• There are a number of methods for selecting

and designing controllers in state space,
including pole placement and optimal control
methods via the Linear Quadratic Regulator
algorithm.
 Pole Placement
• Represent the plant in state space via the phase-
variable form
• Feed back each phase variable to the input of the
plant through a gain, Ki
• Find the characteristic equation of the closedloop
system
• Decide upon closed-loop pole locations and determine
an equivalent characteristic equation
• Equate like coefficients of the characteristic equations
and solve for Ki
 Design of Regulator-type Systems by Pole Placement

 We assume that the moment of inertia of the

pendulum about its center of gravity is zero
 Define state variables
 In terms of vector-matrix equations.
  By substituting the given numerical values

Mathematical Modeling:

 Use state-feedback control:

Controllability Matrix Pc

 0 1 0 20.601
 1 0 20.601 0 
Pc  [B AB A 2 B A 3B]   
 0 0.5 0 0.4905 
 
 0.5 0 0.4905 0 

Pc=[0 -1 0 -20.601
-1 0 -20.601 0 det(Pc)
0 0.5 0 0.4905 Controllable
ans =
0.5 0 0.4905 0] 96.2361
 >> roots(A)
>> A=[1 0 -20.601 0 0]
ans =
A=
0
1.0000 0 -20.6010 0 0 0
4.5388
-4.5388
 Mathematical Modeling

The desired characteristic equation

 Inverted-pendulum system with state-feedback control