Linear State Feedback Control

Daniel A. (MSc. & Science Ambassador)

Department of Department of Electromechanical Engineering

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Introduction

We can affect the performance and behavior of a dynamic system by changing the location of
the closed-loop poles. Unstable poles can be canceled by multiplying the system transfer
function by another transfer function with a zero at the location of the unstable pole. This
other system is called a controller or compensator.

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Linear Feedback Control Law

Consider a completely controllable system:

ẋ = Ax + Bu (1)
y = Cx + Du (2)

Applying linear feedback control law:

u = −Kf x (3)

where Kf is an m × n feedback matrix. The closed-loop system becomes:

ẋ = (A − BKf )x (4)

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Block Diagram

ud + u + x y
- B ʃ C
+

Kf

Figure: Block diagram representation of system with full state feedback controller

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Pole Shifting Theorem

Pole Shifting Theorem: For any controllable system, it is possible to obtain arbitrary
eigenvalues for matrix A − BKf using a suitable feedback matrix Kf , with the constraint that
complex eigenvalues must appear in pairs.

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

State Feedback Controller Design

State feedback controller design can be done by:

• Selecting the location of the poles and determining the feedback gain Kf that places the
closed-loop poles at the desired location.
• Determining the gain Kf that minimizes u while placing the poles optimally.

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Pole Placement State Feedback Controller Design

Given desired closed-loop poles (eigenvalues of A − BKf ), determine Kf such that with
u = −Kf x, the system has poles at the desired location.
Let λ1 , λ2 , . . . , λn be the eigenvalues of A, and λ̃1 , λ̃2 , . . . , λ̃n be the desired eigenvalues of
A − BKf .
Characteristic polynomials:
n
Y
p(s) = (s − λi ) = ∥sI − A∥ (5)
i=1
Yn
p̂(s) = (s − λ̃i ) = ∥sI − A + BKf ∥ (6)
i=1

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Methods to Determine Kf

Base-Gura Method:

Kf = (W T CoT )−1 (â − a) (7)

where W , â, and a are defined as in the original text.

Phase Canonical Form Formula:

Kf = (â − a) (8)

Ackerman’s Formula:

KfT = eT Co−1 p̂(A) (9)

where eT = [0, 0, . . . , 1] and p̂(A) is obtained by replacing s with A in p̂(s).

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Stabilizability

An LTI system defined by (A, B) is stabilizable if there exists a matrix Kf such that
(A − BKf ) has strictly negative real parts.

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Servo-mechanism Controller Design

Suppose we need our system to follow a certain input (reference tracking), but due to
mathematical approximation, the matrices of the nominal system deviate from the actual
system (model uncertainty), and/or there may be parameter variation. In that case, the
steady-state performance of the system may be poor.
To enhance the performance of the system at steady-state, an integrator error term is added
to the dynamics so that the steady-state error tends to zero in finite time. The error dynamics
ξ˙ is defined as:
˙ = r(t) − y(t)
ξ(t) (10)

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Control Law and Closed-Loop Dynamics

With the control law:

u(t) = −Kf x(t) + k1 ξ(t) (11)

The closed-loop dynamic system becomes:

ẋ = Ax + B(−Kf x + k1 ξ)
ẋ = (A − BKf )x + Bk1 ξ (12)
y = Cx (13)

This leads to an augmented system:

      
ẋ A − BKf Bk1 x 0
˙ξ = −C 0 ξ
+
1
r (14)

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Block Diagram Representation

The block diagram representation of the servomechanism is shown below:

r + + u + x y
ʃ k1 - B ʃ C
- +

Kf

Figure: Block diagram representation of servomechanism controller design

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Feedback Gain Matrix

To determine the feedback gain matrix Kf , the matrix:

     
A − BKf Bk1 A 0 B  
⇒ − Kf −k1 (15)
−C 0 −C 0 0

must be completely controllable. This means:

   
A 0 B
, (16)
−C 0 0

must be completely controllable.

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Steady-State Analysis

To find the value of k1 , we analyze the steady-state response of the system. At steady state,
the output of the system should follow the reference input y = r, which means ξ˙ = 0. This
implies that the output of the integrator is a constant value equal to r. Therefore, the states
of the system should also follow the desired states of the system xd , given by xd = k1 r.
At steady state, the output of the system is given by:

r = Cxd + Du where u = xd − Kf xd (17)

Thus:

r = Cxd + D(I − Kf )xd → r = (C + D(I − Kf ))k1 r (18)

Solving for k1 , we get:

k1 = (C + D(I − Kf ))−1 (19)

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Second Order System Representation

Any second order system can be written as

ωn2
G(s) = (20)
s2 + 2ξωn s + ωn2

where ξ is p
damping factor and ωn is undamped natural frequency. Damped natural frequency
is ωd = ωn 1 − ξ 2 .

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Time Domain Specification

The time domain specification of second order system are shown in Table 1.

Table: Time domain specification of second order systems

Time domain specification Formula
1 + 0.7ξ
Delay time td =
ωn
π−θ
Rise time tr =
ωd
π
Peak time tp =
ωd 
− √ ξπ
1−ξ2
Percentage Peak overshoot Mp = e
4
Settling time with 2% tolerance ts =
ξωn

where θ = cos−1 ξ.

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Determining Desired Poles

Since any second order system can be written in this form, we can determine the desired poles
of the system from time domain specification of the system.
The controllable canonical form of equation 20 is
      
ẋ1 0 1 x1 0
= 2 + u (21)
ẋ2 −ωn −2ξωn x2 1
 
 2  x1
y = ωn 0 (22)
x2

Note:- The goal of the designer is to find Kf such that a closed loop time domain
specification of the given second order system meet the requirement.

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)

Class Examples

For the class examples

• Design a state feedback controller for the systems.

Linear State Feedback Control Daniel A. (MSc. & Science Ambassador)