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MIMO Lecture Notes 1

1. The document discusses different types of zeros in MIMO systems including transmission zeros, input decoupling zeros, and output decoupling zeros. 2. Transmission zeros are the zeros of the transfer function matrix and depend only on the transfer function. Input and output decoupling zeros are subsets of the system poles. 3. System zeros are the sum of transmission zeros, input decoupling zeros, and output decoupling zeros, minus any common input/output decoupling zeros. System poles are also defined in terms of these quantities.

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289 views11 pages

MIMO Lecture Notes 1

1. The document discusses different types of zeros in MIMO systems including transmission zeros, input decoupling zeros, and output decoupling zeros. 2. Transmission zeros are the zeros of the transfer function matrix and depend only on the transfer function. Input and output decoupling zeros are subsets of the system poles. 3. System zeros are the sum of transmission zeros, input decoupling zeros, and output decoupling zeros, minus any common input/output decoupling zeros. System poles are also defined in terms of these quantities.

Uploaded by

naveeth11
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Systems Theory

Poles and Zeros of MIMO Systems

M.Varatharajan

Asst.Professor
Department of Electrical & Electronics Engineering
Thiagarajar College of Engineering
Madurai

December 12, 2012


Transfer function

Consider the system

Ẋ = AX + BU

Y = CX + DU
where, x ∈ R n , u ∈ R m and y ∈ R p
Transfer function is given by H(s) = C [SI − A]−1 B + D
I In SISO system m = p = 1
I Relative degree = Degree of denominator - Degree of
numerator
I H(s) is
I Strictly proper if Relative degree ≥1
I Proper if Relative degree ≥0
MIMO Systems

N(s)
I Here H(s) = C [SI − A]−1 B + D = ∆(s) , where N(s) is a
matrix and ∆(s) = [SI − A] is a polynomial
−1

I Roots of |[SI − A]−1 | = 0 are the poles of the system


I Different kinds of system zeros Given in terms of Rosenbrock
system matrix
1. Transmission zeros
2. Input decoupling zeros
3. Output decoupling zeros
Zeros of Multivariable Systems

Transmission Zeros:
I Zeros of |N(s)| = 0
I Depends only on the transfer function
I Available for square matrix. i.e. p=m
I If input u(t) is applied at the frequency of the transmission
zero, output will not contain that frequency component
I Also called as blocking zeros
Rosenbrock System Model

Zeros are given in terms of Rosenbrock’s system matrix.


 
sI − A B
P(s) =
−C D
The Rosenbrock system matrix is important in that it captures the
structure of a dynamical system and provides a unifying point of
view for analysis and design.

0
    
sI − A B −X (s)
=
−C D U(s) Y (s)
Zeros of Multivariable Systems

Input Decoupling Zeros:


The input-decoupling zeros are those values of s for which the n ×
(n + m) input- coupling matrix PI (s) = [sI −AB],loses rank, i.e.
has rank less than n.
Note that this matrix can lose rank only where (sI − A) loses rank,
so the input-decoupling zeros must be a subset of the poles.
Output Decoupling Zeros:
The output-decoupling zeros are those values of s for which the (n
sI − A
+ p ) × n output-coupling matrix Po (s) = loses rank,
−C
i.e. has rank less than n.
Note that this matrix can lose rank only where (sI − A) loses rank,
so the output-decoupling zeros must be a subset of the poles.
Zeros of Multivariable Systems

Input Decoupling Zeros:


The input-decoupling zeros are those values of s for which the n ×
(n + m) input- coupling matrix PI (s) = [sI −AB],loses rank, i.e.
has rank less than n.
Note that this matrix can lose rank only where (sI − A) loses rank,
so the input-decoupling zeros must be a subset of the poles.
Output Decoupling Zeros:
The output-decoupling zeros are those values of s for which the (n
sI − A
+ p ) × n output-coupling matrix Po (s) = loses rank,
−C
i.e. has rank less than n.
Note that this matrix can lose rank only where (sI − A) loses rank,
so the output-decoupling zeros must be a subset of the poles.
System Zeros & Poles

System zeros = transmission zeros( zeros of transfer function) +


input-decoupling zeros + output-decoupling zeros – input/output
decoupling zeros.

These coupling zeros are dependent on the state model. They


cancel out while finding the transfer function
System Zeros & Poles

System zeros = transmission zeros( zeros of transfer function) +


input-decoupling zeros + output-decoupling zeros – input/output
decoupling zeros.

These coupling zeros are dependent on the state model. They


cancel out while finding the transfer function

System poles = Poles of transfer function + input-decoupling zeros


+ output-decoupling zeros – input/output decoupling zeros.
Meaning of Input Decoupling Zeros

If rank of PI (s) < n, it means that there exist a frequency so and a


vector w such that

w T [s0 I −A B] = 0
or,

w T [s0 I −A] = 0
It means that s0 is an eigven value of sI − A and w is the eigen
vector.
Input & Ouput Decoupling Zeros

Note that (sI −A)−1 B is the right-hand or input portion of the


transfer function. We shall see that the input decoupling zeros
mean a loss of control effectiveness at that frequency, and we
cannot fully control the system with the given inputs. We should
design systems with no input-decoupling zeros, i.e. with a fully
effective set of inputs.

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