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Lecture 12

The document discusses state feedback control for linear systems. It introduces the concept of using the system state for predictive control and describes how to design a state feedback controller to achieve a desired closed-loop characteristic polynomial. The key steps are: 1) transforming the system into controllable canonical form using a coordinate transformation based on the controllability matrix, 2) designing a state feedback controller for the transformed system to achieve the desired characteristic polynomial, 3) transforming the feedback gain back to the original system coordinates. This allows specifying closed-loop system poles for controllable systems.

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18 views

Lecture 12

The document discusses state feedback control for linear systems. It introduces the concept of using the system state for predictive control and describes how to design a state feedback controller to achieve a desired closed-loop characteristic polynomial. The key steps are: 1) transforming the system into controllable canonical form using a coordinate transformation based on the controllability matrix, 2) designing a state feedback controller for the transformed system to achieve the desired characteristic polynomial, 3) transforming the feedback gain back to the original system coordinates. This allows specifying closed-loop system poles for controllable systems.

Uploaded by

Edutam
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
You are on page 1/ 6

Lecture 12 - State Feedback

Introduction

K. J. strm

The simple design method becomes very cumbersome for


systems of high order

1. Introduction

The PID controller predicts based on linear extrapolation

2. An Example

Can we do something better

3. The General Case

Where to look for inspiration?

4. Integral Action

State a number of variables that summarizes the past that


is useful for prediction

5. Summary

The future behavior can be predicted from the state

Theme: Using the state for control.

Can we find a general controller?


The state is an ideal basis for control
We will focus on the predictive part, reference values and
integral action will be dealt with later

State Feedback

The Mathematical Tool - Matrices

Assume that the process is described by

Please refresh your knowledge of matrices.


What is a matrix

dx
= Ax + Bu
dt
y = Cx

Matrix algebra: addition, multiplication, notice AB = B A (a


very useful property), transpose

The general linear controller is: u = Lx + lr r

Matlab

The closed loop system then becomes

Linear equations and inverses Ax = B , x = A1 B

dx
= Ax + Bu = Ax + B ( Lx + lr r) = ( A B L) x + Blr r
dt

Eigenvalues and eigenvectors

The closed loop system has the characteristic equation

Ae = e
( A I)e = 0
det A I = 0

det(sI A + B L) = 0

Can we choose L so that this equation has specified poles?


c K. J. strm August, 2001
&

Simple Examples

Example - The Car

Consider the following matrices and their transpose








a11 a12
b11 b12
c11 c12 c13
, B=
, C=
A=
a21

a22

b21

b22

c21

c22

c23

Which matrices can be added?

dx
=
dt

Choosing


y = Cx = ( 1

x+

 
0
1

0)x

u = l1 x1 l2 x2 + lr r

Closed loop system


 0 1 
0
dx
=
x+
r
l1 l2
lr
dt

det A = a11 a22 a12 a21




a22 a12
1
A1 =
det A a21 a11

Characteristic polynomial det (sI A)




s a11
a12
= s2 (a11 + a22 )s + a11 a22 a12 a21
det

l1 = 2 0, l2 = 02

Control law

Which matrices can be multiplied?

a21

Process model

gives the characteristic polynomial s2 + 2 0 s + 02 .


The closed loop system is
Y ( s) =

Choosing lr = 02 gives the


correct steady state value.

Characteristic equation
s 2 + l1 s + l2 = 0

lr
R( s )
s2 + 2 0 s + 02

Y ( s) =

02
R( s )
s2 + 2 0 s + 02

s a22

Example

Controllability
dx
= Ax + Bu
dt
Find control signal that moves the system from x(0) = a to
x(t) = b. Hence
Z t
At
b = x(t) = e a +
eA(ts) Bu(s)ds

Try to do same thing for


dx
=
dt

y = Cx = ( 1

x+

 
1
0

0) x

Control law u = l1 x1 l2 x2 + lr r. Closed loop system


 l 1 l 
l 
dx
r
1
2
= 0
x
+
r
0
0
dt

This implies

Characteristic equation
s ( s + l1 ) = s 2 + l1 s = 0

e As Bu(s)ds = a + be At

We cannot obtain a desired characteristic polynomial. Why? The


control signal does not influence the second state! Some conditions
are required!
c K. J. strm August, 2001
&

Examples

Controllability ...
Z

As

dx
=
dt

At

Bu(s)ds = a + be

It follows from Cayley-Hamiltons theorem (a matrix satisfies it


own characteristic equation) that
Z t
n
X
k1
A B
k (s)u(s)ds = a + be At
Left side a combination of vectors B , AB , . . ., A
can be solved if the matrix

n1

B . Equation


Wc = ( B , AB ) =
dx
=
dt

we have

 
x+


Wc = ( B , AB ) =

Wc = ( B AB . . . An1 B )

we have

k=1

, Controllable!
 

x+

1
0


Not Controllable!

can be inverted. Controllability!

A Special Case

The Characteristic Equation

The system


a1 a2 . . . an1 an
1

1
0
0
0
0

dz

0
1
0
0
0
=
z
+

dt
..
..

.
.

is controllable

1 a1 a21 a2 . . .

0
1
a1
...

0
0
1
...
Wc =

.
0

...

The system


a1 a2 . . . an1 an
1

1
0
0
0
0

dz

0
1
0
0
0
=
z
+

dt
..
..

.
.

has the characteristic polynomial


s n + a1 s n 1 + a2 s n 2 + . . . + a n

c K. J. strm August, 2001


&

A Special Case which is Easy

A Special Case


a1 a2 . . . an1 an
1

1
0
0
0
0

dz

0
1
0
0
0
=
z
+
u

dt
.
.

.
.

.
.


a1 a2 . . . an1 an
1

1
0
0
0
0

dz

0
1
0
0
0
=
z
+
u

dt
.
.

.
.

.
.

The feedback u = l1 z1 l2 z2 . . . ln zn + lr r gives


a1 l1 a2 l2 . . . an ln
lr

1
0
0
0

dz

0
1
0
0
=
z
+
r

dt
.
.

.
.

.
0

u = l1 z1 l2 z2 . . . ln z n + lr r
l1 = p1 a1 ,

l2 = p2 a2 , . . . , ln = pn an

gives the characteristic polynomial


sn + p1 sn1 + p2 sn2 + . . . + pn

The General Case

Problem solved for special case. Can we transform a given


system to this case? Start with
dx
= Ax + Bu
dt

A system
dx
= Ax + Bu
dt
which is controllable can be transformed to

a1

dz
0
=

dt

with controllability matrix


Wc = ( B AB . . . A

The feedback

The General Case

n1

B)

Change coordinates z = T x

dz
dx
+ Bu

=T
= T Ax + T Bu = T AT 1 z + T Bu = Az
dt
dt

a2

. . . an

...

...

...

z
+
u

.
0

for this system which


It is easy to find a state feedback u = Lz
gives a specified characteristic equation.
= ( p1 a1
L

This system has the controllability matrix

p2 a2

...

pn an )

c = ( B A B . . . A n1 B ) = T ( B AB . . . An1 B ) = T Wc
W
c K. J. strm August, 2001
&

An Algorithm

How to Compute the Feedback Gain

dx
= Ax + Bu to controllable canonical
dt
dz
+ Bu
using the transformation z = T x = W
c W 1 x .
form
= Az
c
dt
Feedback for transformed system u = z where

Transform the system

For simple problems we just write the characteristic


equation, compute the characteristic polynomial and match
coefficients. (Typical exam problem)
Ackermanns formula summarizes the derivation given
above

= ( p1 a1 p2 a2 . . . pn an )
L

We have u = Lx = LT

L = (0

...

1)( B

AB

...

An1 B )1 P( A)

... 0 1)
Wc = ( B AB . . . An1 B )
en = ( 0

, hence
z = Lz

L = en Wc1 P( A)

=L
W
c W 1
L = LT
c

where P(s) is the desired characteristic polynomial This


formula does not have good numerical properties
There are efficient numerical routines acker and place in
Matlab

The Inverted Pendulum




dx
0 1
= Ax + Bu =
x+
1 0
dt
The system is controllable. The control law

Using Matlab

 
0
1

There are several command is Matlab for design of state


feedback. The command help toolbox/control tells you what
command are available

u = l1 x1 l2 x2

gives the closed loop system


dx
= ( A B L) x =
dt

The characteristic polynomial is



s
det (sI A + B L) = det

l1 1

1 l1

l2

1
s + l2

ACKER Pole placement using Ackermanns formula.


K = ACKER(A,B,P) calculates the feedback gain
matrix K such that the single input system
.
x = Ax + Bu


x


= s2 + l2 s + l1 1

with a feedback law of u = -Kx has closed loop


poles at the values specified in vector P,
i.e., P = eig(A-B*K). See also PLACE.

c K. J. strm August, 2001


&

Integral Action - A Fix

Integral Action - A Fix ...


d
dt
Control law

Process model
dx
= Ax + Bu
dt
y = Cx

 
x
I


=

 
+

Form the augmented system


  
   
 
d x
A 0
x
B
0
=
+
u+
r
C 0
I
0
1
dt I

 
u+

0
1

 
u = ( L lI )

Introduce the integral of the error as an extra state


Z
dI
I = (r y)dt,
= r y = r Cx
dt

x
I

+ lr r

Closed loop system


  
  

d x
A B L B Li
x
B lr
=
+
r
C
0
1
I
dt I
If closed loop system stable there is no steady state error
Cx0 = r

Looks as original system with one extra state!

Is the Augmented System Controllable?


  
   
 
d x
A 0
x
B
0
=
+
u+
r
C 0
I
0
1
dt I
Controllability matrix


B
AB
...
An B
Wc =
n1
0

CB

...

CA

The system is controllable if the original system is controllable


and if C An1 B = 0. Controllability of cascaded systems.

Summary
A nice way to use process dynamics to predict
A nice alternative to pole placement
Actually works for systems with many inputs and outputs
Nice computational methods matrix calculations
Works for high order systems
The idea of augmentation
Integral action still ad hoc will be dealt with later
Reference values will be done later
The control problem is thus easy if all state variables are
measured
What to do if all states are not measured? (Stay tuned for
next lecture!)

c K. J. strm August, 2001


&

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