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Desing Via State Space: Consider The Open Loop System

- State space representation allows arbitrarily placing poles of a system using state feedback. The closed loop poles are determined by the feedback gain matrix K, which can be calculated using Ackerman's formula. - For a controllable system, if the desired closed loop pole locations are specified, Ackerman's formula provides the values of the state feedback gain matrix K to achieve those pole placements. - The same system can have different but equivalent state space representations. The transfer function remains the same regardless of the particular state space form used.

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43 views19 pages

Desing Via State Space: Consider The Open Loop System

- State space representation allows arbitrarily placing poles of a system using state feedback. The closed loop poles are determined by the feedback gain matrix K, which can be calculated using Ackerman's formula. - For a controllable system, if the desired closed loop pole locations are specified, Ackerman's formula provides the values of the state feedback gain matrix K to achieve those pole placements. - The same system can have different but equivalent state space representations. The transfer function remains the same regardless of the particular state space form used.

Uploaded by

kaan
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Desing via State Space

● Consider the open loop system

The output y(t) will have a shape dependent on the input


u(t) and H(s). The shape of y(t) may not be close enought
to the desired shape using only „output“ feedback so we
also change the shape of H(s).

Not good enough to place the poles where ever we want !!


From frequency domain techniques we used before, we
know that we cannot place the poles of the system
arbitrarrily just using output feedback. The desired poles
may only lie ıb the root locus, which may not be same as
the desired response.
Given a state-space formulation of a controllable system,
we can arbitrarily place the poles using „state“ feedback.
That is
Pole Placement

● State space representation for

let
} State
feedback
Note that K is 1 x n vector of control (feedback) gains is
how we place the poles to the desired values

} Closed loop system


with State feedback

Taking the Laplace transfrom


And solve for X(s)

The closed loop transfer function is

Closed loop zeros and poles can be obtained as

} zeros

} poles
Ackerman's Formula

● If the system is controllable then the values of the


controller gain matrix K can be calculated by using the
following formula

where

} Controllability
matrix

}
Desired
location of
poles
Example
● Consider the system

Open loop poles are at s=-1, -3, a state feedback controller is


applied, find the K in order for the closed loop poles at s=-5

} Desired pole
locations for n=2
Calculate K using Ackerman's Formula
Check the Answer
Closed loop transfer function

Find A-BK
Substitute it in the transfer function equation
A „real“ example

● For the circuit given below find the state equations

We will follow two different approaches


– Define the current through the inductor as a state
– Define the voltage across the capacitor as a state
are auxiliary variables
Start with

Using the first loop ( )


From the second loop ( )

Combining both we have

Taking the inverse of the premultiplier


We obtain

For the output equation

Substitute for the derivative of x1 we obtain


Let (same as before) the values of the components be

Then we obtain

Same system different State eqauation (???) Lets check the


transfer function
● Same transfer function different state space
respresentations !!!!!
Control Design

Design a state feedback controller that will ensure the


closed loop poles are at s= -5 for

Ops !!! We solved this problem before !!!!


Calculate
Control Circuit Construction

The variable resistors are used to adjust the values of k1


and k2
Then apply Ackerman's formula to find K

The controller will be of the form


What is next ?

● In state feedback desing we assumed that all states are


measurable. What if this assumption is not true?
● What are we going to do when only some of the states are
measurable? (partial state feedback)
● How about when only the output of the system is
measurable ? (output feedback)
● We might need some state estimators or observers !!

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