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Definition of Pole Placement

The document discusses pole placement, which is the process of placing the poles or eigenvalues of a closed-loop system at specified locations. It provides definitions and details on pole placement using state feedback and output feedback. Methods for pole placement include choosing the feedback gain matrix K to assign eigenvalues and equating coefficients of characteristic polynomials. Pole placement is possible if the system is controllable.

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Krishna Bharadwaj
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49 views7 pages

Definition of Pole Placement

The document discusses pole placement, which is the process of placing the poles or eigenvalues of a closed-loop system at specified locations. It provides definitions and details on pole placement using state feedback and output feedback. Methods for pole placement include choosing the feedback gain matrix K to assign eigenvalues and equating coefficients of characteristic polynomials. Pole placement is possible if the system is controllable.

Uploaded by

Krishna Bharadwaj
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Definition of Pole Placement

(Pole Assignment, Pole Allocation)


Placing the poles or eigenvalues of the
closed-loop system at specified locations.
Poles can be arbitrarily placed if and only if
the system is controllable.
Pole placement is easier if the system is
given in controllable form.

Pole Placement
M. S. Fadali
Professor EE
University of Nevada, Reno

State Feedback

Closed-Loop Dynamics

Use the state vector to compute the control


action for specified system dynamics.

Substitute for the control

x(k 1) Ax(k ) B Kx(k ) v( k )

x(k 1) Ax(k ) Bu( k )

A BK x(k ) Bv( k )

y( k ) Cx(k )

u( k ) Kx(k ) v( k )
v(k)

x(k+1)

u(k)
+

Closed-loop state matrix Acl A B K


x(k)

y(k)

x(k 1) Acl x(k ) Bv( k )

y( k ) Cx(k )

K
3

Output Feedback

Pole Placement

Output measurements y must then be used


to obtain the control u u( k ) K y y( k ) v( k )
x(k 1) Ax(k ) B K y Cx(k ) v( k )
A BK y C x(k ) Bv( k )

v(k)

x(k+1)

u(k)
+

Ay A BK y C

x(k)
T

Choose the gain matrix K or Ky to assign the


system eigenvalues to an arbitrary set {i , i
= 1, ... , n}.
Easier with state feedback but output
feedback is more realistic.

= K y Cx(k ) v( k )

y(k)
C

K
5

Procedure 9.1: Pole Placement


by Equating Coefficients

Theorem 9.1 State Feedback


If the pair (A, B) is controllable, then there
exists a feedback gain matrix K that arbitrarily
assigns the system poles to any set {i , i = 1,
... , n}. Furthermore, if the pair (A, B) is
stabilizable, then the controllable modes can
all be arbitrarily assigned.

1. Evaluate the desired characteristic polynomial


from the specified eigenvalues using the

expression

2. Evaluate the closed-loop characteristic


polynomial using the expression

3. Equate the coefficients of the two polynomials to


obtain equations to be solved for the entries of
the matrix .
8

Solution

Example 9.1
Assign the eigenvalues {0.3 j 0.2} to the pair

0 1
A
,
3
4

For the given eigenvalues the desired


characteristic polynomial is
dc ( ) 0.3 j 0.2 0.3 j 0.2 2 0.6 0.13

0
b
1

The closed-loop state matrix


0 1 0
A bk T
k1
3 4 1

0
k2
3 k1

1
4 k 2

The closed-loop characteristic polynomial is


1

detI n A bk T det

3 k1 4 k 2
2 4 k 2 3 k1
9

10

Lemma

Equating Coefficients

detI n A bk T det

3 k1 4 k 2
2 4 k 2 3 k1

Gives two equations

(i) 4 k2 = 0.6
(ii) 3 + k1 = 0.13

For any controllable pair


matrix
an invertible

k2 = 3.4
k1 = 3.13

where

, there exists
such that

is in controllable form.

i.e. kT = [3.13, 3.4]


11

12

Transformation

Transformation
C

C C

CC

13

Theorem
For any controllable single-input pair (A, b), and
any set of real or complex conjugate values
{i, i = 1, 2, , n}, there exists a unique 1 by
n vector kT such that the eigenvalues of the
closed-loop matrix (A b kT) are placed at
Remark

a1 a2
a
a3
2
1
n 1
Tc C Cc = b Ab ... A b

a
1
n1
0
1
0
0
0
1

0 0 0 t
2n

b
Tc1 Cc C 1 =
0 0 1 t n 2 ,n

0 1 t 2 n t n1,n

1 t 2 n t3n t nn

an1 1
1 0

0 0

0 0

Ab ... An1 b

14

Proof
The set can be used to construct the desired
characteristic polynomial
p d ( z ) z id z n a nd1 z n 1 a1d z a0d
n

i 1

By the Lemma, any controllable system with


characteristic polynomial
n

1- For controllable multiple-input systems, a r by


n matrix K exists but is not unique.
2- For stabilizable systems, the controllable
modes can be arbitrarily selected but the
uncontrollable modes are invariant.
15

p ( z ) z i z n an1 z n1 a1 z a0
i 1

can be written in controllable form


0 1 n 1 I n 1

Ac

a 0 a 1 a n 1

0 1 n 1
bc

1
16

Pole Placement

Feedback Gains

For the desired pole placement, change the


characteristic polynomial of the system to
pd(z) using the feedback gain vector
k Tc k c ,1

The desired characteristic polynomials is


implemented if the following equalities hold

kc , 2 kc ,n

aid1 ai 1 kc ,i ,

01n 1 I n 1

01n 1
Ac b c k Tc

k c ,1 k c , 2 k c ,n
a0 a1 an 1 1
01n 1 I n 1

a0 k c ,1 a1 k c , 2 an 1 k c , n
I
0

d 1n d1 n 1
d
a0 a1 an 1

i 1,2,, n

kc ,i aid1 ai 1
k c ad a
a a0

a d a0d

a1 an 1

a1d

and1

17

State Feedback For Any Form

Transformation Matrix T
Obtain the transformation matrix T from the
controllability matrices or from the adj[zI A]

By the Lemma, there exists a similarity


transformation to controllable canonical
form.
is unique.
is unique and therefore

T CC c1 T 1 C c C 1

18

19

1
1
z
z

adj zI n Ab P0b P1b Pn1b


T


z n1
z n1

T P0b P1b b , Pn1 I n


20

MATLAB

Design Procedure

>> A = [0, 1; 3, 4];


>> B = [0; 1];
>>poles=[-0.3+j*0.3,-0.3-j*0.3]; % Desired poles
>> K=place(A, B, poles) % Gain matrix
place: ndigits= 16
K=
3.18
4.6
ndigits is a measure of the accuracy of pole
placement.

1. Calculate the characteristic polynomial


of the plant and obtain the vector .
2. Calculate the desired characteristic polynomial

and the vector

4. Calculate the transformation matrix using either (i)


, or (ii) T 1 = Cc C 1
5. Calculate the feedback gain matrix

21

MATLAB: Basic Principles

22

Example 9.2

Generate the characteristic polynomial of a


matrix: >> poly(A)
Obtain the coefficients of the characteristic
polynomial from a set of desired eigenvalues
given as the entries of a vector poles
>> desired= poly(poles)

23

Design a state feedback for the pair to


obtain the eigenvalues {0.1, 0.4 j 0.4}
0.1 0 0.1
A 0 0.5 0.2

0.2 0 0.4

0.01
b 0

0.005

24

Solution

Solution (cont.)

Characteristic polynomial of the state matrix


3 2 + 0.27 0.01
i.e. a2 = 1, a1 = 0.27, a0 = 0.01
The transformation matrix Tc1

The desired characteristic polynomial is


3 0.92 + 0.4 0.032
i.e. ad2 = 0.9, ad1 = 0.4, ad0 = 0.032
Feedback gain vector

1
0 0
10 1.5 0.6
1
3
Tc 0 1
1 10 0 1 1.3

1 1 0.73
5 4 1.9
1.25 0.3846
0.1923
3
10 0.0577 0.625
0.1154

0.0173 0.3125 0.1654

k T a0d a0

a1d a1

a2d a2 Tc

1.25 0.3846
0.1923

0.032 0.01 0.4 0.27 0.9 110 0.0577 0.625


0.1154

0.0173 0.3125 0.1654


3

10 85 40
25

26

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