Control of Electro-Mechanical

Systems:
A state space approach
State Feedback (1)
Sisdarmanto Adinandra, PhD (UII)
Peerawat Arithang, M.Eng (VRU)

State space control design

Controllability and observability

Page 2

State space control design

Controllable if rank of controllability matrix = n !!

Page 3

State space control

design

Page 4

State space control

design

observable if rank of observability matrix

= n !!

Page 5

State space control

design

Page 6

State feedback
Pole Placement

Page 7

State feedback
Design by pole placement
plant

controller
closed loop
Page 8

State feedback
Design by pole placement
Closed loop

Stability and transient karakteristik:

Eigen values of matrix A-BK or
Pole of the closed loop systems!!

Page 9

K can be chosen
arbritraly so that
Stability and
performance can be
acheived

State feedback
Design by pole placement
K can be chosen
arbritraly so that
Stability and
performance can
be acheived

Choose K:
1. Using transformation matrix
2. Direct substitution
3. Ackermann formula

Page 10

Step-by step:
1. Cek controllability/observability
2. Choose desired closed loop poles /
eigen values A-BK
3. Find K using the available method
4. You get the state feedback-pole
placement control

State feedback
Regulator

Desired closed loop pole positions:

Find state feedback gains!!

Page 11

State feedback
Regulator
Controllability matrix:
Rank = 3

Page 12

State feedback
Regulator

Page 13

State feedback
Regulator

Regulator
simulation

Page 14