Linear System Design

Chapter 1
85
On taking laplace
transform of equ(1.55) we get,

U)-K,EK,EK, sE)-EK,K"| S

Transfer function of PID-controller, G,() K,K (1.56)

The
PD controller have the combined efect of all the three control
proportional, integral and derivative control actions. Hence the introduction of PIDactions-1e
controer
stabilises gain, reduces the steady state error and
the
peak overshoot of the system.
DESIGN OF PI, PD AND PID cONTROLLERS IN FREQUENCY DOMAIN
In
frequency domain PI, PD and PID controllers can be designed to satisfy a specified
gain margin and error constant.

Let Gain crossover frequency of the system with cascade PI/PD/PID

controller.
A, = (Gjo)) at o,

Phase of Gjo) at o
Y Phase margin of uncompensated system at o
Y Desired phase margin
at o
Angle to be contributed by PI/PD/PID controller at gain crossover
frequency, o, to achieve a phase margin of
By definition of phase margin
Y 180° +
The desired phase margin, y, is given by

0Y .(1.57)
Transfer function G , ( ) = K , + A + K , s = K s + K , s + K ,
of PID controller S

On replacing s by jo in G(s) we get,

K(jo)
G.(jo)=
+K,Go) +K,_(-Ko +K,)+ jK,o
JD JO ..1.58)
Let A G j»)) at o =o,
and 0 = Phase of Gjo) at o =
 Advanced Control Theoiy A,L0
2G,jo,)=A,
86 =10,jo,)}
er frequen
At o =o, G . G o ) - G j 0 )
function
transfer
atgain
crossover

frequency is unit
T'he magnitude ofopen loop

At o-o G.jo,).Gjo,) =1

AA=1 (or) AA
From equ(1.59) and (1.60) we can write,

Gjo,)20 6
A
From equ(1.58) at o =
0, we
get

G(jo,)= -K+K,)+jK,oj 62
On equating, equations (1.61) and(1.62) we ge

-Ko +K, +jK,0L20

Jo A

-Ko +K+ jK,o joj1 =

Here, jo = @0,290°

1
-Kf +K, + jK,o @,490° =

A
-Kf K, +jK,o, =(90°+0)
+

Ka®f + K,+ jK,o =cos(90+0) +jsin(90°+0)

-

Kgof +K, +jK,o, =

-sin+jcos6
A A (1.63)

On equating real parts of equ(1.63) we get,

-Kg®j+K,=sin
A
(or) Kg+ -0 Sin6
- -A
sin6
.Ka aA +.
(1.64)
 Chapter 1 Linear System Design
On cquating imaginary parts of 87
equ(1.63) we get,
K, A
cose
cos
K,= A (1.65)
The equations (1.64) and (1.65)
used to design cascade PD or PI or PID
are
controller. For designing a PD
controller put K, 0, in
constants K, and K of PD controller are given the equation (1.64). Hence the
=

by two following equations,

K =- sine cos6
A and K
A
For designing a Pl controller
and K, of PI controller are
put K,-0, in equation (1.64). Hence the constants K,
given by the fo!lowing two equations,
K 1sin9 cose
and Kp
A A
For designing a PID
controller, determine the constant K, to satisfy the
eror constant. Then
calculate K, and K, from specified
equations (1.64) and (1.65).
PROCEDURE FOR DESIGN OF PD/PI/PID CONTROLLER IN
FREQUENCY DOMAIN
The following
the given
procedure can be followed to design a PD/PI/PID controller when
specifications are desired phase margin, Y, at gain crossover frequency,
a
o
Step-1 Determine the magnitude and phase of
transfer function [i.e., GGo)}
uncompensated open loop sinusoidal
Let
A,= [Gj»)l at o =o
and ZG(j») at o=o
ep-2: Determine the phase margin of uncompensated system and the
contributed by the controller to achieve the desired
angle to be
phase margin.
Lety, =Phase margin of uncompensated system.
Y Desired phase margin at o,.
Phase angle of the controller at =
0.
Now. y, =180° +,
and y-Y.
 Design
Chapter1 Linear System
89
Open loop transfer
compensated system, G,(s) function
=G(s) xG(s)of o.oo
: Verify the design by
margin of compensatedçalculating
Sep
phase
margin or compensated svstem5 Pnase Fig 1.22: Block diagram of system with
system. onscade controller
LetA, Gjo) at o , =

2G,go) at o a =

Phase
Yo margin of compensated
Now, Y 180+ system.
It can be observed that A I and y, satisfies the
EXAMPLE 1.11
specifications.
Consider unity feedback system with
a
open loop transfer
G(s)=5/s(s+0.5)(s+1). Design a PD
controller function,
so that the phase margin
system is 30° at a frequency of 1.2 of the
rad/sec.
sOLUTION

Step-1: To find magnitude and phase

of Gjo)
Given that, G(s) =
5
- 10
s
(s+05) (s+1)
Sx05|1+(+s s(1+2s) (1+s)

Put s jo in G(s)
10
Gjo) =- jo 10
(1+j20) (1+ jo)
10
o90 v1+40 tan 20V1+oL tano
G(jo)=-
ov1+402 V1+02
LG(jo) = -90°-tan 20-tan o

The gain crossover frequency of compensated system,

o, =
1.2 rad/sec.
Let, A, =
|Gj»)} at o
=o,
ZGj») at o=o
10
A- = 2.052
12xv1+4x 122 xv1+122
-90-tan"(2 x 12)-tan"(1.2) = -207.5
 Advanced Control Theory
90
Step-2 : To find y, and 8
system
uncompensated
LetY
PhasePhase margin
of
margin ofcompensated
system.

aDesired phase
Ya
Phase of G,(jo) at o= =
-27.5°
Now, Y180+ = 180°+(-207.5°)

Y-Y,= 30°-(-27.5)
=57.5°
Step-3: To find transfer function of PD-controller.

Derivative constant, Ka sinesin57.=

1.2x 2.052
0.343
A
Proportional constant,K, = cos cos57-0262
A 2.052

Transfer function|
of PD controller 9,0-(,+K)-K
=0.262 14 0.262 =0262 (1+1.3s)
Step-4: To find open loop transfer function of compensated system.
The PD-controller is
10
connected in cascade
with G(s) as shown in
0262 0.262 (1+1.3s) s (1+2s) (1 +s)
figure 1.11.1
Flg 1.11.1: Block diagram of compensated system
Open loop transfer function
of compensated system Go )-G,() xG(6)

0.262 (1+1.3s)x - 10
S(I +2s) (1 +s)
2.62(1+1.3s)
s(1+2s) (1+s)
Step-5: To verify the design
Put s j o in G,(s).

2.62 (1+jl.30) 2.62 V1+1.6902 tan 1.30

G(jo)= io (1+j2») (1+ jo) o290° V1+402 2tan 1 2o 1+@2tan
 Chapter1 Linear System Design
91
Let Ag -Go(jo)} and ¢o 2G,(jo)
=

2.62 V1+1.6902
A
ov1+402 V1+o?
o tan 1.3)-90°-tan 20- tan o

At o=O, Ag = Apj = 2.62 V1+1.69 x 1.22

=

12x1+4x 123 xv1+122

At o =
@1, o =
o= tan (1.3 x 12) -90°-tan (2 1.2)- tan
x 1.2 =-150°

Phase margin of
compensated system, Yo =
180°+01=180°-150°30°
cONCLUSION
The phase margin
of the compensated system is satisfactory. Hence the
acceptable. design is
RESULT
1. Transfer function
of PD controller, G,(s) (0.262 +0.343s) =

0.262(1+1.3s). =

2. Open loop transfer function of compensated system,

Ga(s)= 202 (1+13s)
s(1+2s) (1+s)"
EXAMPLE 1.12
Consider unity feedback system with open loop transfer
a
function,
G(s)- 100
(s+1) (s+2) (s+5) Design
a Pl controller, so that the
phase margin of the
.

system is 60° at a frequency of 0. rad/sec.

SOLUTION
lep-l: To find
magnitude and phase of GGo,)
100 100
Given that, G(S) =

(s+1) (s+2) (s+3)

(s+1)x2x|1
10
(s+1) (1+0.5s) (1 +0.2s)
 Advanced Control Theory
92
Put s jo in G(s)
10
Gjo)=(1+jo) (1+j0.S») (1+j0.20)
10

tan'o y1+0.250
tan"0.SoVl+0.04*2tan0 L tan0.2o
VI+
10
G(jo)=
V1+o2 Vi+02502 v1+0.0402
LGjo) -tano-tan' 0.50- tan" 020
=

The gain crossover frequency of compensated system, o , =

ad/sec.
0.5 rad/sec.

Let, A,= IGj»)} at o

=o,
2GGo) at o=0
10
A V1+0.5x
= 8.63

V1+025x 05 x V1+0.04 x0.5

tan05- tam(0.5x05)-tan (02x0.5) = -46°

Step-2: To find y, and

Let Y, Phase margin of uncompensated system
Y Desired phase margin of uncompensated system.
e = Phase of G (jo) at o =

Now, y= 180° +,=180°-46° 134

- Y - Y , = 60° - 134° = -74

Step-3: To find transfer function of Pl-controller.

-05 xsin(-74°)
Integral constant, K, =OSin6-05x sin(-14)-0.056
A 8.63
COse
Proportional constant, K, =. cos(-74°) = 0.032
A 8.63
Transfer function
of PI controller,0-x,)-

0.032s+0.05600.0s6
0.056 s+1
S
0.056 (1+0.57s)
 Chapter 1 Linear System Design
- To find open loop transfer function 93
of compensated system.
The Pl-controller is
connected in cascade 0.056 (1+0.57s) | 10
with G(s) as shown in (1+) (1+0.5s)(1+0.2s)|
figure 1.12.1
Fig 1.12.1: Block
diagram of compensated system
Open loop transfer function
of compensated system
Gos)=G,()x G(S)
0.056 (1+0.57s) 10
S
(1+s) (1+0.5s) (1 +0.2s)
0.56(1+0.57s)
s(1+9) (1+0.5s) (1+0.2s)
Step-5: To verify the design
Put s-jo in
G,(s),
056 (1+ jo.57)
.Gojo) =
(jo) (1+ jo) (1+ j0.5o) (1+
j0.20)
1+(0.570) Ztan0.570
0.56
o90° 1+o tan y1+(0.50)' Ztan o
0.5oo
I+(0.20) Ztan 0,20)
Let Ag =G,(jo) and ¢o =
2G,(jo)
0.56 V1+ 0.32492
Ap
V1+@V1+0250 1+0.040
otan0.570-90°-tan"o- -tan0.50- tan 020

At 0.56x V1+0.3249 x 0.52

o= @1, Ag Ao =

05?
0.51+05 1+025x
V1+025x 0.5
0.52 V1+004
V1+0.04 x 0.52
0.5°
At =
0, do ¢o1 tan (0.57
= = x 0.5) -90-tan 0.5 tan (0.5 x 0.5)
-

tan" (0.2x 05)

=-120°

nase
margin of compensated system, Yo =
180°+¢o1=180°-120°= 60°
 Chapter 5 Analysis and Design of Control System in State Space
EXAMPLE 5,9 481
A single-input system is described by the
following state equation.
101

Design a state feedback controller

which will give closed-loop poles at-tJ2,-0.
SOLUTION
Check for controllability

-1 0 0
Given that A
10
=

|1-2 0 and B =|
2 1 -3

[-1
A =A.A = -2 -10
0
100
-3 4 0
2 12 1 -7-5 9 5.9.1)
-10 0 10 -10
AB =1 -2 1 =
8
2 -3o l2
0 107
AB=-3 4
=-26
-7-5 -75
10 -10 10
Co
Composite matrix o=[B
for controllability
AB A"B] =|1 8-26 5.9.2)
0 21 -7s

10 -10 10

Determinant of Q. = A=18-26
0 21-7
 Advanced Control Theory
482
Aoe 10[8x (-75)-21 x(-26)]+10[-75]+10[21]
-540-750+210
-1080
Since, Aoc +0, The system is completely state controllable.
5.9.3)
To find Q

From equations (5.9.2) and

(5.9.3) we get,
10-10 10
Q-18-26
ac and Aoc -1080.
o 21 -75

[-54 75 21
Q=cofactor of Q I
Determinant of Qc
Aoc--540-750-210
180 270 90

1-54-540 180 0.05 0.5 -0.1667

-1080 75 -750 270--0.0694 0.6944 -0.25
21 -210 90 -0.0194 0.1944 -0.0833 5.9.4)
To find desired
characteristic polynomial
The desired closed loop
poles are,
4-1+j2, 4-1-j2and u,=-6
Hence the desired characteristic
polynomial is,
( 4) (-H2) (-H) =(A +1- j2) (A +1+j2) (A+6)
=
(a +1 -62*) (a +6)
=
(A* +2A +1+4) (A +6)
=(a+2+5) (a +6)
=
+2A +5A +6^ +122 +30
=a+8+172+30
The desired characteristic polynomial is +82+17%+30=0 5.9.5)
 Chapter 5 Analysis and
Design of Control System in State Space
ine the state variable feedback matrix, K
To
d e t e r m i n et h e
483
ethod-I

he characteristic equation of
The
original system is given by,
0
AI-A]=0 1 o
o o
-2-1 +3
a+1 0
2-Al|-1 +2
-2 1 -(a+1)(A +2)(A +3)
a+3

=(+1) (O2 +5A +6) =3 +513+6+22+ 52 +6

= "+62+11+6
The characteristic polynomial of original system is,
23+622 +
11+6=0 ....(5.9.6)
From equation (5.9.5) we get the desired characteristic polynomial as
23+812 + 17+30=0 (5.9.7)
From equation (5.9.4) we get,

0.05 0.5 -0.1667

0.6944 -0.25
Q=-0.0694
-0.0194 0.1944 - 0.0833

0.05 0.5 -0.1667

0 1]-0.0694 0.6944 -0.25
[0 0 1]Q =
[0
P =

-0.0194 0.1944 -0.0833

0.1944 -0.0833]
= [-0.0194

0
-1
1-2

P,A=[-0.0194 0.1944 -0.0833

2
-0.4721
0.2499]
= [0.0472
 Advanced Control Theory
484
0
PA'=[-0.0194 0.1944-0.0833]| 4
5 9
[-0.0195 1.1941 -0.7497]

-0.0194 0.1944-0.0833
PePA 0.0472 -0.4721 0.2499

RA" -0.0195 1.1941 -0.7497

The state
feedback gain matrix, K [a, -a, d2 -a2 a ] Pc
=

From
equation (5.9.7) we get, a, =30 a=17 a=8
Fromequation (5.9.6) we get, a, =6 ; a,=1l
a=6
K =
[30-6 17-11 8-6)Pe
-0.0194 0.1944 -0.0833
= [24 6 21 0.0472 -0.4721 0.2499
-0.0195 1.1941 -0.7497
=[-0.22 4.22-2]
Method II
From the given state model
we get

0 01 10
A =1-2 0 and B-1
2 1-3
Let, K =
[k k k
The characteristic
polynomial of the systems with state feedback is
AI-(A- BK) =I- A+BK|=0 given by,
 in State sp
e SAnalysis and Design of Control System 485

[AI-A+BK] =a o 1o k,k, k,

o1 10k, 10k 10k,

k
0

a+1+ 10k, 10k 10k,

-1+k, a+2+ k2 k
-2 -1
+3
a+1+1Ok 10k2 10k
-A+BK|=| -1+k A+2+ k2 k
-2 -1 +3

= (a+1+10k,) [(a+2+k2) (+3) +k,]-10Ok2[(-1+kj)(a+3)+2k3

+10k--1+k,) +2(A +2+k2)]
=
[a+(1+10k,)]+3A +2 +6+ak, +3k, +k3
-

10k-A -3+k, +3k, +2k,]+10k[1-k +2 +4+2k

=
[a+(1+1ok,)]| +(5+k,)%+(6+3k, +k,
-

10k [(-1+k,) % (-3+3k, +2k,)]+ 10k, [2A +(5-k, +2k,)]

+

= a* + (5+ k,) 22 +(6+3k +k,) A

+(1+10k)A +(1+10k,) (5+ka)a +(1+ 10k,) (6+3k2 +k,)

-

10k, (-1+k,)%-10k, (-3+3k +2k,) +20k,A + 10k,(5-k, +2k,)

=a +(6+ 10k, +k,) A +(6+3k, + k, +5+k, +50k, +10k,k,

+10k, -10k,k2 +20k,) A+(6+ 3k +k, 60k, +30k,k,
+

+10k,k, +30k2 -30k,k2 -20k2k3 +50k, -10k,k, +20k,k,)

=A+(6+10k, +k2)A*+(11+50k, +14k, +21k,) a

+(6+60k, +33k, +5ik,)
 Advanced Control Theory
486 is
he characteristic polynomial of system with state feedback

A+(6+10k, +k,)a2 +(11+50k, +14k, +21 k,)% +(6+60k, +33k, +51k,) =0

5.9.8)
From equation (5.9.5) we get the desired characteristic polynomial as,

3+822+172 +30 =0 5.9.9)

On equating the coefficients of2 term in equations (5.9.8) and (5.9 9) we get,

6+10k,+k,-8
10k, +k, =
8-6

10k,+k 2 .5.9.10)
On equation the coefficientsof term in equations (5.9.8) and (5.9.9) we get,

11+50k,+14k, +21k,=17
50k, +14k,+21k,=17-11
50k+14k, +21k,=6 (5.9.11)
On equating the coefficients of 1 term (constant) in equations (5.9.8) and (5.9.9) we
get,

6+60k, +33k, +51k,=30

60k, +33k,+51k,=30-6
60 k,+33%,+51k,=24 5.9.12)
The equations (5.9.10),(5.9.11) and (5.9.12) can be arranged in the matrix fom and
k, k, and k, are solved using cramer's rule as shown below.

10 1 01
50 14 21 k2 6

60 33 51 ks 24
10 1
14 2110(14
A=50 14 21 x51-33x21)-1(50x51-60x21)
60 33 51=210-1290= -1080
 Chapter 5 Analysis and Design of Control System in 487

2 1
21)
1(6 x 51-24
x
A, =|6. 14 21 =
2(14 x51-33 x 21) -

24 33 51 | = 42 +198 = 240

10 2
21)
A =50
A50 6 21=10(6x51-24 x 21)-2(50x51-60 x

60 24 =-1980-2580-45600

|10 1 2

A 50 14 6 =
24-33x 6)-1(50 x
10(14x24 24 60x 6)
60 33 24 +2(50 x 33-60 x 14)

= 1380-840 + 1620=2160

240 = -0.22
-1080
k,- -4560 4.22
-1080
k, = 2160 2
k, A -1080

4.22-2]
Thestate feedback gain matrix, K =[k, k, k=[-0.22
Method III
desired characteristic polynmomial as,
From equation (5.9.5) we get the

33 +822+ 172 +30=0 5.9.13)

Here, (A) =A3 + a, A2 +a, A+a,l
; a,= 17 ; a,=30
Fromequation (5.9.13) we get, a,=8
and equation (5.9.1)
we get,
state equation
omthe given
0 0
-1 0
-3 4
A=1 2 0 and A -5
21
 Advanced Control Theory
488 0
7 -8 0
A =A2.A =| -3 4 0 1-2 0
-7-5 9l2 1-3 20 19-27
. (A) = A' +a,a2+a,A +a,l

-1 o 0
o 0 -1 0
01
7-8 0 |+8-3 4 0+17 1 -2 0+300 1

20 19 27 -7-5 9 2 1 -3 o 0 1

-10 0 -17 [30 0 01

8 0 0 0

7 -8
0|-24 32 0 17 -34 0 0 30 0

20 19-27 -56 40 72] 34 17 -51 o o 30

20 0 0
=|0 20 0
-24 24
From equation (5.9.4) we get,
0.05 0.5 -0.1667
Q--0.0694 0.6944 -0.25
-0.0194 0.1944 -0.0833|
From Ackermann's formula we
get,
K [0 0 I]Qe A)

0.05 0.5 -0.1667] [ 20 0 0

= [0 0 1]-0.0694 0.6944 - 0.25
0 20
-0.0194 0.1944
-0.0833-24 24
20 0 0
= [-0.0194 0.1944 0.0833] 0 20 0= (-0.22 4.22 -2
-24 24
The state feedback gain matrix, K={-0.22 4.22-2]
Note The resuit obtained from all the three methods are same.
 Chapter 5 Analysis and
ENAMPLE
5.10 Designnofof Control System dt Space
System inin State
model of a system is 491
The state
The
givenby
[ 0
-2 -3 o
0 2 -3 +2 u
Convert the state model to
observable phase variable form.
$OLUTION

The given state model can be

is
he system completely observable.
transformed to observable phase
Hence check for variable form, only it

Klman'stest for observability observability.

From the given state model we
get,
0

A =-2. -3 and C=[I 0 0]

2-3
0 0 0 -2 01
AT =-2 -3 -3 2
2
-3 0 -3
o-2 010-2 6 -4
(AT =0 -3 2 0 3 2 9 -12

0-31 0 -3 -2 9

C=[ 0 o =0

o-2 0 0 6 -4

ATCT =0 -3 2 0 0 (AT)'C" =| 2 9 -12

o=|2
0-3]0 -3-2 9o
 Advanced Control Theory
0

492 0 2
A'C (A'}C']=|0
hecomposite matrix
-Ict 1 -3
for observability

2-1(-2)=-2
Determinant of Q, = Ao0
0 1 -3

is completely observable.
-3. Hence the system
Since 4 , the rank ofQ,
To find transformation matrix, P,
0
-3
From the given state model we get, A |-2 =

2 -3

01

-A] o i -2 -3 02 +3 0

0 0 1o 2-3] o -2 3+3
0 0 -1
jaI-Al |2= +3 =(+3)
0 -1(-4) =(a3 +62 +9) +4
+91+4
-2 2+3 =+6

The characteristic equation is,

3+622+91 +4 = 0

The standard form ofcharacteristic equation when n= 3 is given by,

1+a,23 + a,a ta, =0

On comparing the characteristic equation ofthe system with standard form we ge

a,=6, a =9 and a,=4

 Chapter 5 Analysis and Design of Contro! System in State ce
493
6

10=6 1 0
W=/3,

0
[9 6 11 2
9 6 0 0
WO=6 1 0 2
-6
o olo 1 -3] o olo 2 -3]
Cofactor ofP,]" pT
o, cof
Determinant of P Apo

9 2 3
60 1=-2(-1)=2

1 fo 2
0-3 2=1 -3 9
2 9 -12 2 -12
0 2
o 011
P 2 | - 3 9-05 1.5 4.5
0 2-12 1 -6

Todetermine the observable phase variable form of state model

The observable phase variable form of state model is given by,

}= A, Z+B.u
y-CZ (Here D is not given)

where, A, P, A P, = B.-P. B and C. = C P.

1
9 2 30 1
P AP' =6 0 -2-3o|
oo 2 -3
0.5
o
-1.5
1
4.5
-6
 Advanced Control Theory

500 EXAMPLE 5.11

model
Consider the system described by the state

X=AX where A :C-[ 0)

y=CX
observer matrix
The desired eigenvalues for the
Design a full-order state observer.
are,-5 -5.
SOLUTION
Check for observability

-1 1
Given that, A=
-2
and
C-[ 0

c- o
Aer-l-T
Composite matrix 1 -1
for Q-c ATc"]= .(5.11.1)

Determinant of Q, =
AQo =| ...(5.11.2)

Since, A0, the systemi is observable.

To determine the characteristic polynomial of original system
The characteristic polynomial of the system is given by |Al-AJ=0.
-1
-AJ-
-1 A+2
aI-A= (h +1)(a+2)-1- +3 +2-1=+3+1
Hence the characteristic polynomial of original system is
+ 3 + 1 =0 (5.11.2)
 pace
napter 5 Analysis and Design of Control System in
501
ermine the desired characteristic
To
det
polunomial
The deisred eigenvalues are ,= --5 and , =-5
:-4) -4)-(A+5) (A+5) =
+10a+ 25.
The desired characteristic polynomial is
2 +10+25 0 (5.11.3)

To determine the state observer gain matrix, G

METHOD-I

From equ(5.11.2) we get the characteristic polynomial of original system as

3+3+ 1 = 0

a3a,=1
From equ(5.11.3) we get the desired characteristic polynomial as,
2+10A+25 0
.a 10 a=25
Using the coefficients of characteristic polynomial of original system the matrix W
is constructed as shown below.

W=a 3
From equ(5.11.1) we get

The transformation matrix, P, which transforms the state model to observable

phase variables form is given by,

P=WQ
T

P Cofactor of P,]Pcof
Determinant of P% Apo

Po,cof 1 -1
Apo 2
 Advanced Control Theory

502
P, 0 =(-1)
Apo
25
he observerG-Po a-81
gain matrix

METHOD -II is given by

with state observer
The characteristic polynomial ofthe system

I-(A-Gc)) =0
Here, G=/81

21-(A-GC)]= [I-A +GC]

2+1t81 -11
-1+82 A+2

a+1+81 -1
AI-A+G 1+8, A+2= ( +1+g) (1+2) -(-1+82) (-1)

= +2 +1+2+g1à +2g1 - 1+82

= +(3+g1) A+ (2g1 +82 +1)

The characteristic polynomial ofthe systemn with state observeris
1+(3 +8,)1+ (2g,+8, +1)=0 .(5.11.4)

From equ(5.11.3) we get the desired characteristic polynomial

ofthe system as.
2+107+25 0 (5.11.5)
 Chapter 5 Analysis and Design of Control Svstem in State SPoce
aring the coefficients of Ain equations (5.11.4) and (5.11.5) we get,
n comparingthe 503
3+8,0
8,10-3 7
On Comparing the coefficients of in equations
(5.11.4) and (5.11.5)) we ge
2 8 , + 8 + 1 = 25

g 25-1-2g,= 24 2(7)= 10
: The observer gain matrix, G=8
METHOD-III
10
From equation (5.11.3) we get the desired characteristic
polynomial ofthe systerm as,
2+ 10+25 0
(5.11.6)
'a10 a,= 25
Here, (A)= A*+a, A+a,I.

D(A): .-1

10125 01
-s 10 -200 25
17 7
10

From Ackermann's formula we get,

711 0o [24
101

10 methods are same.

ote: The results obtained from all the three