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10-Lecture 41, 42 Pole Placement

The document summarizes lectures on linear control systems and state space controller design. It discusses using state feedback instead of output feedback to introduce adjustable parameters that allow placing all closed-loop poles. The process involves writing system equations in state space form, choosing desired closed loop poles, then equating coefficients to solve for state feedback gains. An example shows applying this method to design a state feedback controller for a 3rd order system to meet transient response specifications. Homework is assigned to convert a transfer function to state space form.

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Hamza Khan
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322 views18 pages

10-Lecture 41, 42 Pole Placement

The document summarizes lectures on linear control systems and state space controller design. It discusses using state feedback instead of output feedback to introduce adjustable parameters that allow placing all closed-loop poles. The process involves writing system equations in state space form, choosing desired closed loop poles, then equating coefficients to solve for state feedback gains. An example shows applying this method to design a state feedback controller for a 3rd order system to meet transient response specifications. Homework is assigned to convert a transfer function to state space form.

Uploaded by

Hamza Khan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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EE-379

LINEAR CONTROL SYSTEMS


Lecture No 41, 42

“CONTROL SYSTEMS ENGINEERING”


Text Book: Chapter 12
Design via State Space
12.1 Introduction
12.2 Controller Design
 Topology for Pole Placement
Instructor: Dr. Farid Gul  Pole Placement for Plants in
Phase-Variable Form
Class: BEE 5C
Electrical Engineering Department

1
Assignment
Convert the following transfer function to the state-space
representation in phase-variable form and clearly write marices
A, B, C, and D.

C (s) s 2  2s  7
T (s)   4
R( s ) s  7 s 3  3s 2  5s  9

2
Home Assignment
Convert the given transfer
function for the mechanical
translational system to the
state-space representation
in phase-variable form.
Draw equivalent block
diagram showing the phase
variables.

Submit on Monday (19 May) at 3 pm


3
Introduction
Frequency domain Design
• Controller is designed to place the dominant second-order pair of
poles
• Effect of higher-order poles on the second-order approximation ???

Desirable
Specify/place all closed-loop poles of the higher-order system

Limitations of Frequency Domain Methods


• Do not allow to place all of the closed-loop poles distinctively
• Adjusting one gain, or selecting compensator poles and zeros, does
not yield a sufficient number of parameters to place all the closed-
loop poles at desired locations

To place n unknown quantities,


n adjustable parameters are required
4
Introduction
State-space methods solve the problem by introducing
into the system
a. Requisite adjustable parameters
b. Technique for finding values of these parameter,
so that all poles of the closed-loop system can be
properly placed

5
Controller Design
An nth-order feedback control system has an nth-order
closed-loop characteristic equation of the form

There are n coefficients whose values determine the


system's closed-loop pole locations

We need to introduce n adjustable parameters


and relate them to the coefficients to place the
poles as per design requirement

6
Topology for Pole Placement
Output feedback State feedback instead of
output feedback
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

-K
u = -Kx  r

7
8
Open-loop characteristic equation
det( sI - A) 

Closed-loop characteristic equation

Desired characteristic equation

Equating coefficients to find the gains

9
Example 12.1
PROBLEM: Given the plant

design the phase-variable feedback gains to yield 9.5% overshoot and a


settling time of 0.74 second.
SOLUTION:
• From the transient response requirements, the desired closed-loop
dominant poles are -5.4 ± j7.2
• The closed-loop system zero is at -5
• Choose -5.1 as the location of the third closed-loop pole.
• Desired closed-loop characteristic equation:

10
y ( s ) x( s ) y ( s ) 20s  100
G( s)    3
u ( s) u ( s) x( s) s  5s 2  4s

x( s ) 1 y ( s)
 3 ;  20s  100
u ( s ) s  5s  4 s
2
x( s )

x1  x2
y  20 x2  100 x1
x2  x3
 x1 
x3  5 x3  4 x2  u
y  100 20 0  x2 
 x1  0 1 0   x1   0  x3 
 x   0 0 1   x  x  0 u
 2   2   x = Ax + Bu
 x3  0 4 5  x3  1
y  Cx
11
x = Ax + Bu
y  Cx

 x1  0 1 0   x1   0  x1 
 x   0 0 1   x  x  0 u y  100 20 0  x2 
 2   2  
 x3  0 4 5  x3  1  x3 

x3

12
u = -Kx  r

 x1   0 1 0   x1  0
x    0 0 1
 
x x  0 u
 2   2  
 x3   k1   4  k2    5  k3    x3  1 

 A - BK 

13
 x1   0 1 0   x1  0
x    0 0 1
 
x x  0 u
 2   2  
 x3   k1   4  k2    5  k3    x3  1 

 A - BK 

14
 0 1 0 
 
A - BK   0 0 1 
 k1   4  k2    5  k3  

The closed-loop system's characteristic equation is:

The desired characteristic equation is:

Equating the coefficients we find:

k1 = 413.1; k2 = 132.08; k3 = 10.9

15
16
Step response simulation of the closed-loop system
Design specs
Overshoot = 9.5%
settling time = 0.74 sec

Overshoot = 11.5%
Settling time = 0.8 second

Redesign

Steady state error ???

17
End of Lecture

18

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