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    lecture 2

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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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