351 - 27435 - EE412 - 2019 - 1 - 2 - 1 - 0 3 EE412 Lec5 Pole Placement

MODERN CONTROL SYSTEMS
Lecture 11
Pole Placement
Emam Fathy
Department of Electrical and Control Engineering
email: [email protected]
http://www.aast.edu/cv.php?disp_unit=346&ser=68525
1
Pole Placement
 In this lecture we will discuss a design method
commonly called the pole-placement or pole-assignment
technique.
 We assume that all state variables are measurable and

are available for feedback.
 If the system considered is completely state

controllable, then poles of the closed-loop system may
be placed at any desired locations by means of state
feedback through an appropriate state feedback gain
matrix.
Pole Placement
• The present design technique begins with a
determination of the desired closed-loop poles based on
the transient-response and/or frequency-response
requirements, such as speed, damping ratio, or
bandwidth, as well as steady-state requirements.
• By choosing an appropriate gain matrix for state

feedback, it is possible to force the system to have
closed-loop poles at the desired locations, provided that
the original system is completely state controllable.
Topology of Pole Placement
 Consider a plant represented in state space by
𝒙ሶ = 𝑨𝒙 + 𝑩𝑢
𝑦 = 𝑪𝒙
• In a typical feedback control system, the output, y, is fed
back to the summing junction.
• It is now that the topology of the design changes.

Instead of feeding back y, we feed back all of the state
variables.
• If each state variable is fed back to the control, u,

through a gain, ki, there would be n gains, ki, that could
be adjusted to yield the required closed-loop pole
values.
 The feedback through the gains, ki, is represented in
following figure by the feedback vector K.
𝒙ሶ = 𝑨𝒙 + 𝑩(𝑟 − 𝑲𝒙)
𝒙ሶ = 𝑨𝒙 + 𝑩𝑟 − 𝑩𝑲𝒙 𝑦 = 𝑪𝒙
𝒙ሶ = (𝑨 − 𝑩𝑲)𝒙 + 𝑩𝑟
Pole Placement
• We will limit our discussions to single-input, single-
output systems (i.e. we will assume that the control
signal u(t) and output signal y(t) to be scalars).
• We will also assume that the reference input r(t) is zero.
𝑦
𝒙ሶ = (𝑨 − 𝑩𝑲)𝒙 + 𝑩𝑟
𝒙ሶ = (𝑨 − 𝑩𝑲)𝒙 𝑢 = −𝑲𝒙
Pole Placement
𝒙ሶ = (𝑨 − 𝑩𝑲)𝒙
 The stability and transient response characteristics are
determined by the eigenvalues of matrix A-BK.
 If matrix K is chosen properly Eigenvalues of the system

can be placed at desired location.
 And the problem of placing the regulator poles (closed-

loop poles) at the desired location is called a pole-
placement problem.
Pole Placement
 There are three approaches that can be used to
determine the gain matrix K to place the poles at
desired location.
– Direct Substitution Method.
– Ackermann’s formula.
– Using Transformation Matrix P.
 All those method yields the same result.

Direct Substitution Method
12
Pole Placement (Direct Substitution Method)
 Following are the steps to be followed in this particular
method.
1. Check the state controllability of the system
𝐶𝑀 = 𝐵 𝐴𝐵 𝐴2 𝐵 ⋯ 𝐴𝑛−1 𝐵
Pole Placement (Direct Substitution Method)
 Steps:
1. Check the state controllability of the system.
𝐶𝑇 = 𝐵 𝐴𝐵 𝐴2 𝐵 ⋯ 𝐴𝑛−1 𝐵
2. Define the state feedback gain matrix as
𝑲 = 𝑘1 𝑘2 𝑘3 ⋯ 𝑘𝑛
– And equating 𝑠𝐼 − 𝐴 + 𝐵𝐾 with desired characteristic

equation.
(𝑠 − 𝜇1 )( 𝑠 − 𝜇2 ) ⋯ 𝑠 − 𝜇𝑛 = 𝑠 𝑛 + 𝛼1 𝑠 𝑛−1 + 𝛼2 𝑠 𝑛−2 + ⋯ + 𝛼𝑛−1 s+𝛼𝑛

Example
 Consider the regulator system shown in following figure. The
plant is given by
𝑥1 0 1 0 𝑥1 0
𝑥2 = 0 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 𝑥3 1
 The system uses the state feedback control u=-Kx. The desired
eigenvalues are 𝜇1 = −2 + 𝑗4, 𝜇2 = −2 − 𝑗4 ,𝜇3 = −1. Determine
the state feedback gain matrix K.
Example
 Step-1
𝑥1 0 1 0 𝑥1 0
𝑥2 = 0 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 𝑥3 1
 First, we need to check the controllability matrix of the system.

Since the controllability matrix 𝐶𝑇 is given by
0 0 1
𝐶𝑇 = 𝐵 𝐴𝐵 𝐴2 𝐵 = 0 1 −6
1 −6 31
 We find that rank(𝐶𝑇)=3. Thus, the system is completely state
controllable and arbitrary pole placement is possible.
 Step-2:
 Let K be
𝑲 = 𝑘1 𝑘2 𝑘3
𝑠 0 0 0 1 0 0
𝑠𝐼 − 𝐴 + 𝐵𝐾 = 0 𝑠 0 − 0 0 1 + 0 𝑘1 𝑘2 𝑘3
0 0 𝑠 −1 −5 −6 1
= 𝑠 3 + 6 + 𝑘3 𝑠 2 + 5 + 𝑘2 𝑠 + 1 + 𝑘1
 Desired characteristic polynomial is obtained as

𝑠 + 2 − 4𝑗 𝑠 + 2 + 4𝑗 𝑠 + 10 = 𝑠 3 + 14𝑠 2 + 60𝑠 + 200
 Comparing the coefficients of powers of s
14 = 6 + 𝑘3 𝑘3 = 8
60 = 5 + 𝑘2 𝑘2 = 55
200 = 1 + 𝑘1 𝑘1 = 199
Ackermann’s Formula
Pole Placement (Ackermann’s Formula)
• Following are the steps to be followed in this particular
method.
1. Check the state controllability of the system
𝐶𝑀 = 𝐵 𝐴𝐵 𝐴2 𝐵 ⋯ 𝐴𝑛−1 𝐵
method.
2. Use Ackermann’s formula to calculate K
−1
𝐾 = 0 0 ⋯0 1 𝐵 𝐴𝐵 𝐴2 𝐵 ⋯ 𝐴𝑛−1 𝐵 ∅(𝐴)
∅ 𝐴 = 𝐴𝑛 + 𝛼1 𝐴𝑛−1 + ⋯ + 𝛼𝑛−1 𝐴 + 𝛼𝑛 𝐼
• Example-1: Consider the regulator system shown in following
figure. The plant is given by
𝑥1 0 1 0 𝑥1 0
𝑥2 = 0 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 𝑥3 1
• The system uses the state feedback control u=-Kx. The desired
eigenvalues are 𝜇1 = −2 + 𝑗4, 𝜇2 = −2 − 𝑗4 ,𝜇3 = −1. Determine
the state feedback gain matrix K.
Pole Placement (Using Transformation Matrix P)
• Example-1: Step-1
𝑥1 0 1 0 𝑥1 0
𝑥2 = 0 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 𝑥3 1
• First, we need to check the controllability matrix of the system. Since
the controllability matrix CM is given by
0 0 1
𝐶𝑀 = 𝐵 𝐴𝐵 𝐴2 𝐵 = 0 1 −6
1 −6 31
• We find that rank(CM)=3. Thus, the system is completely state
controllable and arbitrary pole placement is possible.
method.
2. Use Ackermann’s formula to calculate K

𝐾= 0 0 1 𝐵 2 −1 ∅(𝐴)
𝐴𝐵 𝐴 𝐵
∅ 𝐴 = 𝐴3 + 𝛼1 𝐴2 + 𝛼2 𝐴 + 𝛼3 𝐼
• 𝛼𝑖 are the coefficients of the desired characteristic
polynomial.
𝑠 + 2 − 4𝑗 𝑠 + 2 + 4𝑗 𝑠 + 10 = 𝑠 3 + 14𝑠 2 + 60𝑠 + 200
𝛼1 = 14, 𝛼2 = 60, 𝛼3 = 200

𝑥1 0 1 0 𝑥1 0
𝑥2 = 0 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 𝑥3 1
∅ 𝐴 = 𝐴3 + 14𝐴2 + 60𝐴 + 200𝐼

3 2
0 1 0 0 1 0 0 1 0 1 0 0
∅ 𝐴 = 0 0 1 + 14 0 0 1 + 60 0 0 1 + 200 0 1 0
−1 −5 −6 −1 −5 −6 −1 −5 −6 0 0 1
199 55 8
∅ 𝐴 = −8 159 7
−7 −34 117
0 0 1 199 55 8
𝐵 𝐴𝐵 𝐴2 𝐵 = 0 1 −6 ∅ 𝐴 = −8 159 7
1 −6 31 −7 −34 117
𝐾= 0 0 1 𝐵 2 −1 ∅(𝐴)
𝐴𝐵 𝐴
−1
0 0 1 199 55 8
𝐾= 0 0 1 0 1 −6 −8 159 7
1 −6 31 −7 −34 117
𝐾 = 199 55 8
Pole Placement
• Example-2: Consider the regulator system shown in following
figure. The plant is given by
𝑥 1 2 1 𝑥1 1
𝑑 1
𝑥2 = 0 1 3 𝑥2 + 0 𝑢(𝑡)
𝑑𝑡 𝑥
3 1 1 1 𝑥3 1
• Determine the state feedback gain for each state variable to place
the poles at -1+j, -1-j,-3. (Apply all methods)
End of Lec
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MODERN CONTROL SYSTEMS

Department of Electrical and Control Engineering

 We assume that all state variables are measurable and

 If the system considered is completely state

• By choosing an appropriate gain matrix for state

• It is now that the topology of the design changes.

• If each state variable is fed back to the control, u,

 If matrix K is chosen properly Eigenvalues of the system

 And the problem of placing the regulator poles (closed-

– Direct Substitution Method.

– Using Transformation Matrix P.

 All those method yields the same result.

1. Check the state controllability of the system

1. Check the state controllability of the system.

2. Define the state feedback gain matrix as

– And equating 𝑠𝐼 − 𝐴 + 𝐵𝐾 with desired characteristic

(𝑠 − 𝜇1 )( 𝑠 − 𝜇2 ) ⋯ 𝑠 − 𝜇𝑛 = 𝑠 𝑛 + 𝛼1 𝑠 𝑛−1 + 𝛼2 𝑠 𝑛−2 + ⋯ + 𝛼𝑛−1 s+𝛼𝑛

 First, we need to check the controllability matrix of the system.

 Desired characteristic polynomial is obtained as

1. Check the state controllability of the system

2. Use Ackermann’s formula to calculate K

2. Use Ackermann’s formula to calculate K

𝑠 + 2 − 4𝑗 𝑠 + 2 + 4𝑗 𝑠 + 10 = 𝑠 3 + 14𝑠 2 + 60𝑠 + 200

𝛼1 = 14, 𝛼2 = 60, 𝛼3 = 200

∅ 𝐴 = 𝐴3 + 14𝐴2 + 60𝐴 + 200𝐼

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