Control Systems

1
 Lecture Outline
• Introduction

• Pole Placement
– Topology of Pole Placement
– Pole Placement Design Techniques
• Using Transformation Matrix P
• Direct Substitution Method

• Ackermann’s Formula
 Introduction
• One of the drawbacks of frequency domain methods
of design is that after designing the location of the
dominant second-order pair of poles, we keep our
fingers crossed, hoping that the higher-order poles
do not affect the second-order approximation.

• What we would like to be able to do is specify all

closed-loop poles of the higher-order system.
 Introduction

• Frequency domain methods of design do not allow

us to specify all poles in systems of order higher
than 2 because they do not allow for a sufficient
number of unknown parameters to place all of the
closed-loop poles uniquely.

• One gain to adjust, or compensator pole and zero

to select, does not yield a sufficient number of
parameters to place all the closed-loop poles at
desired locations.
 Introduction
• Remember, to place n unknown quantities, you need
n adjustable parameters.

• State-space methods solve this problem by

introducing into the system
– Other adjustable parameters and
– The technique for finding these parameter values

• On the other hand, state-space methods do not allow

the specification of closed-loop zero locations, which
frequency domain methods do allow through
placement of the lead compensator zero.
 Introduction
• Finally, there is a wide range of computational
support for state-space methods; many software
packages support the matrix algebra required by
the design process.

• However, as mentioned before, the advantages of

computer support are balanced by the loss of
graphic insight into a design problem that the
frequency domain methods yield.
 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

𝒙˙ = 𝑨𝒙+ 𝑩 𝑢
 

 𝑦=𝑪𝒙
 Topology of Pole Placement
• 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.
 Topology of Pole Placement
• The feedback through the gains, ki, is represented in
following figure by the feedback vector K.

 𝒙
˙ = 𝑨𝒙+ 𝑩(𝑟 − 𝑲𝒙 )
𝒙˙ = 𝑨𝒙+ 𝑩 𝑟 − 𝑩𝑲𝒙
    𝑦=𝑪𝒙
 𝒙
˙ =( 𝑨 −𝑩𝑲 ) 𝒙+ 𝑩 𝑟
 Topology of Pole Placement
• For example consider a plant signal-flow graph in phase-
variable form
 Topology of Pole Placement
• Each state variable is then fed back to the plant’s input, u,
through a gain, ki, as shown in Figure
 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 

 𝒙
˙ =( 𝑨 −𝑩𝑲 ) 𝒙+ 𝑩 𝑟
 𝒙
˙ =( 𝑨 −𝑩𝑲 ) 𝒙 𝑢=− 𝑲𝒙
 
 Pole Placement
 𝒙
˙ =( 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.

• Using Transformation Matrix P

• Direct Substitution Method

• Ackermann’s formula

• All those methods yield the same result.

 Pole Placement (Using Transformation Matrix P)
• Following are the steps to be followed in this particular
method.

1. Check the state controllability of the system

 𝐶𝑀 = [𝐵 𝐴𝐵 𝐴2 𝐵 ⋯ 𝐴 𝑛 −1 𝐵 ]
 Pole Placement (Using Transformation Matrix P)
• Following are the steps to be followed in this particular
method.

2. Transform the given system in CCF.

P  CM  W

 an 1 an  2  a1 1
a an  3  1 0
 n2
W         s+
 
 a1 1  0 0
 1 0  0 0

A  P 1 AP B  P 1 B C  CP
 Pole Placement (Using Transformation Matrix P)
••   Following are the steps to be followed in this particular
method.

3. Obtain the desired characteristic equation from desired

Eigenvalues.
• If the desired Eigenvalues are , , ,

 
 Pole Placement (Using Transformation Matrix P)
• Following are the steps to be followed in this particular
method.

4. Compute the gain matrix K.

 𝑲 = [ 𝛼 𝑛 − 𝑎𝑛 𝛼 𝑛 −1 − 𝑎 𝑛− 1 ⋯ 𝛼 2 − 𝑎2 𝛼1 − 𝑎 1 ]
 Pole Placement (Using Transformation Matrix P)
• Example-1: Consider the regulator system shown in following figure.
The plant is given by
  𝑥1 0 1 0 𝑥1 0

[][
𝑥2 = 0
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢 (𝑡 )
𝑥3 1

 • The system uses the state feedback control u=-Kx. The desired
eigenvalues are , ,. 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
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢(𝑡 )
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
2
𝐴 𝐵]= 0
1 [ 1
−6
−6
31 ]
• We find that rank(CM)=3. Thus, the system is completely state
controllable and arbitrary pole placement is possible.
 Pole Placement (Using Transformation Matrix P)
• Example-1: Step-2 (Transformation to CCF)

  𝑥1 0 1 0 𝑥1 0

[][
𝑥2 = 0
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢(𝑡 )
𝑥3 1

• The given system is already in CCF

 Pole Placement (Using Transformation Matrix P)
• Example-1: Step-3

  𝑥1 0 1 0 𝑥1 0

[][
𝑥2 = 0
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢(𝑡 )
𝑥3 1

• Determine the characteristic equation

 |𝑠𝐼 − 𝐴|= 𝑠3 +6 𝑠 2+5 𝑠+1= 0
3 2
 |𝑠𝐼 − 𝐴|= 𝑠 +𝑎 1 𝑠 +𝑎 2 𝑠+𝑎 3

• Hence
 𝑎1 =6 , 𝑎2 =5 , 𝑎3 =1
 Pole Placement (Using Transformation Matrix P)
••   Example-1: Step-4

• The desired characteristics polynomial can be computed using

desired eigenvalues

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

3 2
 ¿ 𝑠 +𝛼 1 𝑠 +𝛼 2 𝑠+𝛼 3

• Hence
 𝛼 1 =14 , 𝛼 2 =60 , 𝛼 3=200
 Pole Placement (Using Transformation Matrix P)
• Example-1: Step-4

• State feedback gain matric K is then calculated as

 𝑎1 =6 , 𝑎2 =5 , 𝑎3 =1

 𝛼 1 =14 , 𝛼 2 =60 , 𝛼 3 =200

 𝑲 = [ 𝛼 3 − 𝑎3 𝛼2 − 𝑎 2 𝛼 1 − 𝑎1 ]

 𝑲 = [ 199 5 5 8 ]
 Pole Placement (Using Transformation Matrix P)
  𝑥1 0 1 0 𝑥1 0

[][
𝑥2 = 0
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢 (𝑡 )
𝑥3 1

• State diagram of the given system

+¿  𝑥 ˙ 3 𝑥  3 𝑥 ˙ 2 𝑥  2 𝑥 ˙ 1 𝑥  1

𝑢(𝑡)
  ∫ ∫ ∫
+¿ 
+¿  -6
+¿ 
+¿ 
-5
+¿ 
+¿  -1
   𝑥1
𝑢=−
  𝑲 𝑥  𝑲 = [ 199 5 5 8 ] 𝑢= − [ 199 55 8] 𝑥2
𝑥3 []
199
+¿ 
+¿ 
55
+¿ 
+¿ 
8
+¿ 
𝑢(𝑡) +¿  𝑥 ˙ 3 𝑥  3 𝑥 ˙ 2 𝑥  2 𝑥 ˙ 1 𝑥  1
∫ ∫
 
-1
+¿ 
∫
+¿  -6
+¿ 
+¿ 
-5
+¿ 
+¿  -5
 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 ⋯ 𝐴 𝑛 −1 𝐵 ]
 Pole Placement (Direct Substitution Method)
••   Following are the steps to be followed in this particular
method.

2. Define the state feedback gain matrix as

 𝑲 =[ 𝑘 1 𝑘2 𝑘3⋯ 𝑘𝑛 ]

– And equating with desired characteristic equation.

 
 Pole Placement (Using Direct Substitution)
• Example-1: Consider the regulator system shown in following figure.
The plant is given by
  𝑥1 0 1 0 𝑥1 0

[][
𝑥2 = 0
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢 (𝑡 )
𝑥3 1

 • The system uses the state feedback control u=-Kx. The desired
eigenvalues are , ,. 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
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢(𝑡 )
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
2
𝐴 𝐵]= 0
1 [ 1
−6
−6
31 ]
• We find that rank(CM)=3. Thus, the system is completely state
controllable and arbitrary pole placement is possible.
 Pole Placement (Using Transformation Matrix P)
• Example-1: Step-2
• Let K be
  𝑲 =[ 𝑘 1 𝑘2 𝑘 3 ]
𝑠 0 0 0 1 0 0
 
|[
|𝑠𝐼 − 𝐴 + 𝐵𝐾 |= 0
0
𝑠
0 𝑠][
0 − 0
−1
0
−5 −6][]
1 + 0 [ 𝑘1
1
𝑘2
|
𝑘3 ]

3 2
 ¿ 𝑠 + ( 6+𝑘 3 ) 𝑠 + ( 5+ 𝑘 2 ) 𝑠+1+𝑘 1

• Desired characteristic polynomial is obtained as

 ( 𝑠 +2 −4 𝑗 ) (   𝑠+2+4 𝑗 )   ( 𝑠 +10 ) =𝑠 3 +14 𝑠 2 +60 𝑠+ 200
• Comparing the coefficients of powers of s
 14= ( 6+ 𝑘 3 )  𝑘 3 =8

 60= ( 5+𝑘 2 )   5
200=1+
  𝑘1 𝑘  1 =199
 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 ⋯ 𝐴 𝑛 −1 𝐵 ]
 Pole Placement (Ackermann’s Formula)
• Following are the steps to be followed in this particular
method.

2. Use Ackermann’s formula to calculate K

−1
 𝐾 = [ 0 0 ⋯0 1] [ 𝐵 𝐴𝐵 𝐴2 𝐵 ⋯ 𝐴 𝑛 −1 𝐵 ] ∅ ( 𝐴)

 ∅ ( 𝐴 ) = 𝐴 𝑛 +𝛼 1 𝐴 𝑛 − 1 +⋯ +𝛼 𝑛− 1 𝐴 + 𝛼 𝑛 𝐼
 Pole Placement (Ackermann’s Formula)
• Example-1: Consider the regulator system shown in following figure.
The plant is given by
  𝑥1 0 1 0 𝑥1 0

[][
𝑥2 = 0
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢 (𝑡 )
𝑥3 1

 • The system uses the state feedback control u=-Kx. The desired
eigenvalues are , ,. 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
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢(𝑡 )
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
2
𝐴 𝐵]= 0
1 [ 1
−6
−6
31 ]
• We find that rank(CM)=3. Thus, the system is completely state
controllable and arbitrary pole placement is possible.
 Pole Placement (Ackermann’s Formula)
• Following are the steps to be followed in this particular
method.

2. Use Ackermann’s formula to calculate K

2 −1
  𝐾 =[ 0 0 1] [ 𝐵 𝐴𝐵 𝐴 𝐵 ] ∅(𝐴 )

 ∅ ( 𝐴 ) = 𝐴 3 + 𝛼 1 𝐴 2+ 𝛼 2 𝐴 + 𝛼 3 𝐼

 • are the coefficients of the desired characteristic polynomial.

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

 𝛼 1 =14 , 𝛼 2 =60 , 𝛼 3=200

 Pole Placement (Ackermann’s Formula)
  𝑥1 0 1 0 𝑥1 0

[][
𝑥2 = 0
𝑥3 −1
0
−5
1
−6 ][ ] [ ]
𝑥 2 + 0 𝑢(𝑡 )
𝑥3 1

 ∅ ( 𝐴 ) = 𝐴 3 +14 𝐴 2+6 0 𝐴 + 200 𝐼

3 2
  0 1 0 0 1 0 0 1 0 1 0 0
∅ ( 𝐴 )= 0
−1 [ 0
−5 −6] [
1 +14 0
−1
0
−5 −6] [
1 +60 0
−1
0
−5 −6 ] [
1 +2 00 0
0
1
0
0
1 ]
  1 99 55 8
∅ ( 𝐴 )=
[ −8
−7
1 59
− 34
7
1 17 ]
 Pole Placement (Ackermann’s Formula)
0 0 1 1 99 55 8
 
[𝐵 𝐴𝐵 2
𝐴 𝐵 ]= 0
1 [ 1
−6
−6
31 ]  
[
∅ ( 𝐴 )= −8
−7
159
− 34
7
1 17 ]
2 −1
  𝐾 =[ 0 0 1] [ 𝐵 𝐴𝐵 𝐴 ] ∅ ( 𝐴)

−1
  0 0 1 199 55 8
𝐾 =[ 0 0
[
1] 0
1
1
−6
−6
31 ][ −8
−7
159
− 34
7
117 ]
  𝐾 = [ 199 55 8]
 Pole Placement
• Example-2: Consider the regulator system shown in following figure. The
plant is given by

  𝑥1 1 2 1 𝑥1 1

[][ 𝑥2
𝑥3
= 0
1
1
1
3
1 ][ ] [ ]
𝑥 2 + 0 𝑢 (𝑡 )
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 LECTURES