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Lecture 2

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8 views13 pages

Lecture 2

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freehur7
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Lecture 5

Pole placement
Dept. Of Electrical Engineering/ College
of Engineering/ Misan University
Control Engineering
Fourth Year

OUTLINE

• Overview
• Topology of Pole Placement
• Method of pole placement design
• A) Direct comparison Method.
• B) Ackermann’s formula.
• C) Transformation Matrix
• Example
Overview

• Pole placement is a method employed in feedback control system theory


to place the closed-loop poles of a plant in pre-determined locations in
the s-plane.
• We assume that all state variables are measurable and are available for
feedback.
• If the system considered is completely state controllable, the n 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.
• 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:

• In a typical feedback control system, the output, y is feedback to the


summing junction
• It is now that the topology of the design changes Instead of feeding back
y, we feedback all the state variables.
• If each state variables feedback 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.

• We will limit our discussions to single-input, single-out put 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.
• Now, A-BK is the close loop system matrix.
• The stability and transient response characteristics are determined by
the eigen values of the close loop system matrix.
• If matrix K is chosen properly Eigen values 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.
• There are three approaches that can be used to determine the gain
matrix K to place the poles at desired location.
• Direct comparison Method.
• Ackermann’s formula.
• Transformation Matrix.
• All those methods give the same result.

a) Direct comparison Method


• If desired locations of close loop poles are

• And the characteristic equation is given by:

𝑠𝐼−𝐴+𝐵𝐾
• By comparing:

• Now,

• By solving the above equation, we can find the elements of close loop
system (K).
Example 1: The regulator system shown in figure below given by following
equation:

• The system uses the state feedback control u= -Kx. The desired eigen
values are 𝜇1 = −2 + 𝑗4, 𝜇2 = −2 − 𝑗4 , 𝜇3 = −1. Determine the state
feedback gain matrix K.

Solution:
0 1 0 0
From the general equation: A = 0 0 1 𝑎𝑛𝑑 𝐵 = 0 .
−1 −5 −6 1
• we define the state feedback gain matrix as :
K= 𝑘1 𝑘2 𝑘3
Now , characteristic equation is
• While desired characteristic equation is

• By Comparing between the characteristic equation of system and


desired characteristic equation, we can find the coefficients of powers of
S:

b) Ackermann’s Formula

• We can find the values of gain matrix of control system by using the
Ackermann’s Formula:

• where M is controllability matrix which is given by

• And

• And A is system matrix and 𝛼𝑖 are the coefficients of the desired close-
loop characteristic polynomial.
Example 2: The regulator system shown in figure below given by following
equation:

• The system uses the state feedback control u= -Kx. The desired eigen
values are 𝜇1 = −2 + 𝑗4, 𝜇2 = −2 − 𝑗4 , 𝜇3 = −1. Determine the state
feedback gain matrix K by using Ackermann’s Formula.

• Based on the desired close-loop characteristic polynomial:

• Now,
And,

0 0 1 0 0 0 1 0 2 0
M= 0 0 0 1 0 0 0 1 0
1 −1 −5 −6 1 −1 −5 −6 1

• Now, Appling Ackermann’s Formula

c) Transformation Matrix.
• We can find the values of gain matrix of control system by using the
Transformation Matrix.

• where 𝛼𝑖 are the coefficients of the desired close-loop characteristic


polynomial.
• While T is given by:
Example 3: The regulator system shown in figure below given by following
equation:

• The system uses the state feedback control u= -Kx. The desired eigen
values are 𝜇1 = −2 + 𝑗4, 𝜇2 = −2 − 𝑗4 , 𝜇3 = −1. Determine the state
feedback gain matrix K by using Transformation Matrix.

Solution:
• The characteristic equation for the system is

• Hence 𝑎1=6 𝑎2 =5 𝑎3 =1

• The desired characteristic equation is

• Hence,
• Now, we need to check the controllability matrix of the
system. Since the controllability matrix M is given by

• we find that |M|=–1, thus, the system is completely state


controllable and arbitrary pole placement is possible.
• Transformation Matrix equation is

where T=I for this problem because the given state equation
is in the controllable canonical form. Then we have

Example 4: the equation of a control system gives by:

Evaluate the coefficients of the state feedback gain matrix using:


• A) Direct comparison Method.
• B) Ackermann’s formula.
• C) Transformation Matrix.
When the close loop poles have value S = - 2 and - 2.

Solution:
from the general equation

0 1 and B = 0
A=
0 −4 1
The characteristic equation is

Now,

While the required close loop characteristic equation is

The standard formula is

By comparing:

A) Direct comparison Method.


The standard formula of Direct comparison Method

NOW, by comparing
B) Ackermann’s formula.
The standard formula of this Method

Now, the controllability matrix M =

Sub. in general equation


C) Transformation Matrix.
The standard formula of Transformation Matrix

Now,

Now,

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