EEE3001 – EEE8013

State Space Analysis and Controller Design

This lecture will be recorded and

you will be able to download it

Dr Damian Giaouris
http://www.staff.ncl.ac.uk/damian.giaouris/
 Goals/Aims of Chapter 4

 Controller design in state space

 Controllability/Observability
 State feedback control (pole placement)
 Linear Quadratic Regulator (LQR)
 Estimator design in state space
 Open loop estimator
 Closed loop estimator
 Summary
 Feedback Controlled Systems
Open Loop Transfer Function (OLTF):

U Y
G(s)

Closed Loop Transfer Function (CLTF): OLTF + Feedback of the output

R U Y
Gc(s) G(s)

RRR RR11 U YY
GcK(s)
1 G(s)
G(s)

GK
c(s)
 State Feedback State Space Models
Open Loop Transfer Function (OLTF):

dt
U Y u Dx x y
G(s) B C

Closed Loop Transfer Function (CLTF): OLTF + Feedback of the State

R U Y r
Gc(s) G(s) u Dx x y
Controller B   dt C

x
A
 State Feedback State Space Models
R R1 U Y
K1 G(s)

r + u Bu + x x y
K1 B   dt C
+ +

A
Ax
Plant

-K
 State Feedback - Equations
r + u Bu + x x y The task of the controller is to produce the
K1 B   dt C appropriate control signal u that will insure
+ +
that y=r.
A
Ax
u  t   K1 r  t   Kx  t 
Plant
u  t   K1 r  t   Kx  t  

-K 
x  t   Ax  t   Bu  t  

x  t   Ax  t   B  K1 r  t   Kx  t    x  t    A  BK  x  t   BK1r  t 
WE MUST
      CHECK
      IF THE SYSTEM
y t  Cx t  Du t  C  DK x t  DK1r t

x  t   ACL x  t   BCL r  t  


IS CONTROLLABLE.

y  t   CCL x  t   DCLu  t  
K? : A  faster/stable. CL
ACL  A  BK 
BCL  BK1 

 This method is called pole placement.
CCL  C  DK 
DCL  DK1 
 RL Circut
L R

di 1 di R 1
 V  iR     i  V x  Ax  Bu
I dt L dt L L

A=-R/L, x=i, B=1/L and u=V

V
Obviously the eigenvalue is –R/L (assume here 0.5 and u=0)

0.8

0.6
x(t)

0.4

0.2

0
0 2 4 6 8 10
time, s
 RL Circut
L R

di 1 di R 1
 V  iR     i  V x  Ax  Bu
I dt L dt L L

A=-R/L, x=i, B=1/L and u=-Kx=-Ki

V
R K R  K
ACL  A  BK   
L L L
RK R
Choose to place the eigenvalue at -6R/L  6  K  5 R
L L
0.5
Open loop u=V=-5Ri
Closed Loop
0.4

0.3
x

0.2

0.1

0
0 2 4 6 8 10 12
Time, s
 Unstable System
x  3x  u u  kx x   3  k  x Hence the eigenvalue of the CL system is 3-k

k=13

Hence the eigenvalue of the CL system is -10 (stable)

2
Open loop
Closed Loop
1.5

1
x

0.5

0
0 0.2 0.4 0.6 0.8 1
Time, s
 LQR
1 2  1  1 0 
x (t )   x (t )  u  t  , y (t )  u   Kx, K   26 72  I x    x1  x2  dt
3 4  0  0 1  x (t )
     

2
x 4
1
1 x

|x |
2

1
2

0 0
0 0.2 0.4 0.6 0.8 1
2
x,x

time, s
1

-1 2

|x |
1

2
-2
0
0 0.2 0.4 0.6 0.8 1
-3 time, s
0 0.2 0.4 0.6 0.8 1
time, s
1
0.9383
0.8

0.6
x
I

0.4

0.2

0
0 0.2 0.4 0.6 0.8 1
time, s
 LQR
I x    x12  x2 2  dt
1 2  1  1 0 
x (t )    x (t )  0  u  t  , y (t )  0 1  x (t ) u   Kx, K   26 72 
3 4     

2
x 2
1
1 x 1

x2
1
2

0 0
0 0.2 0.4 0.6 0.8 1
2
x,x

time, s
1

-1 2

x2
2
-2
0
-3 0 0.2 0.4 0.6 0.8 1
0 0.2 0.4 0.6 0.8 1 time, s
time, s
1.5
Ix=1.403

1
x
I

0.5

0
0 0.2 0.4 0.6 0.8 1
time, s
 LQR
Poles at -10, -11
2
x 1.5
1 Ix=1.403
1 x
2
1
0
2
x,x

x
I
1

-1 0.5

-2
0
0 0.2 0.4 0.6 0.8 1
-3 time, s
0 0.2 0.4 0.6 0.8 1
time, s

Poles at -15, -20

1.5
5
Ix=1.271
0
1
x

1
-5
0 0.2 0.4 0.6 0.8 1
x
I

time, s
2 0.5

1
2
x

0
0 0 0.2 0.4 0.6 0.8 1
0 0.2 0.4 0.6 0.8 1 time, s
time, s
 LQR

50

0
case 1
-50 case 2
u=-Kx

-100

-150

-200
0 0.2 0.4 0.6 0.8 1
time, s
 LQR
I u   u 2 dt 600

500
Case 1
400 540 Case 2

300
u
I

200
230.5
100

0
0 0.2 0.4 0.6 0.8 1
time, s
 LQR
I   xT  t  Qx  t   u T  t  Ru  t  dt

Reduced Riccati Equation AT P  PA  PBR 1 BT P  Q  0

K  R 1 BT P
 Estimating techniques

u Bu + x x y
B   dt C
+

A
Ax
e  t   x  t   x  t   e  t   x  t   x  t  
Plant
Ax  t   Bu  t   A  t  x  t   Bu  t   e  t   Ae  t 

Bu + y
B   dt C
+ x x
Ax
A

Estimator
 Estimating techniques
u Bu + x x y
B   dt C
+
y +
A - y
Ax
Plant G

Bu + - x y
x
B   dt C
+

Ax
A

Estimator

e  t    A  GC  x  t    A  GC  x  t    A  GC  e  t 

But the system must be observable

 Estimating techniques
u Bu + x x y x (t )  Ax(t )  Bu (t )
B   dt C
+ y (t )  Cx(t )  Du (t )
y +
- y
u  t    Kx  t 
A
Ax
Plant G x (t )  Ax (t )  BKx  t  

-   A  BK  x(t )  BK  x(t )  x  t  
Bu + x x y
B   dt C
 A  BK  x(t )  BKe  t 
+

Ax
A e  t    A  GC  e
Estimator

-K

 x  t    A  BK BK   x  t   sI  ( A  BK )  BK
       0  sI  ( A  BK ) sI   A  GC   0
e t    0 A  GC   e  t   0 sI   A  GC 

This means that the pole placement design and

the estimator design are independent of each
other. Then they can be designed separately and
combined to form the observed-state feedback
control system.
 Estimation and Tracking
rss + u Bu + x x y
K1 B   dt C
+ +
y +
A - y
Ax
Plant G

Bu + + x y
x
B   dt C
+

Ax
A

Estimator

-K

1
 N x   A B  0 
 N   C 0  1 
 u    
K1  N u  KN x
u  K1 rss  Kx
e  t    A  GC  e