MODERN CONTROL SYSTEMS

Lecture 11

Pole Placement

Emam Fathy

Department of Electrical and Control Engineering

email: [email protected]

http://www.aast.edu/cv.php?disp_unit=346&ser=68525
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 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

𝒙ሶ = 𝑨𝒙 + 𝑩𝑢
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.

𝒙ሶ = 𝑨𝒙 + 𝑩(𝑟 − 𝑲𝒙)
𝒙ሶ = 𝑨𝒙 + 𝑩𝑟 − 𝑩𝑲𝒙 𝑦 = 𝑪𝒙
𝒙ሶ = (𝑨 − 𝑩𝑲)𝒙 + 𝑩𝑟
 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

𝒙ሶ = (𝑨 − 𝑩𝑲)𝒙 + 𝑩𝑟
𝒙ሶ = (𝑨 − 𝑩𝑲)𝒙 𝑢 = −𝑲𝒙
 Pole Placement
𝒙ሶ = (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.

– Direct Substitution Method.

– Ackermann’s formula.

– Using Transformation Matrix P.

 All those method yields the same result.

Direct Substitution Method

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 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 ⋯ 𝐴𝑛−1 𝐵
 Pole Placement (Direct Substitution Method)
 Steps:

1. Check the state controllability of the system.

𝐶𝑇 = 𝐵 𝐴𝐵 𝐴2 𝐵 ⋯ 𝐴𝑛−1 𝐵

2. Define the state feedback gain matrix as

𝑲 = 𝑘1 𝑘2 𝑘3 ⋯ 𝑘𝑛

– And equating 𝑠𝐼 − 𝐴 + 𝐵𝐾 with desired characteristic

equation.

(𝑠 − 𝜇1 )( 𝑠 − 𝜇2 ) ⋯ 𝑠 − 𝜇𝑛 = 𝑠 𝑛 + 𝛼1 𝑠 𝑛−1 + 𝛼2 𝑠 𝑛−2 + ⋯ + 𝛼𝑛−1 s+𝛼𝑛

 Example
 Consider the regulator system shown in following figure. The
plant is given by
𝑥1 0 1 0 𝑥1 0
𝑥2 = 0 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 𝑥3 1

 The system uses the state feedback control u=-Kx. The desired
eigenvalues are 𝜇1 = −2 + 𝑗4, 𝜇2 = −2 − 𝑗4 ,𝜇3 = −1. Determine
the state feedback gain matrix K.
 Example
 Step-1
𝑥1 0 1 0 𝑥1 0
𝑥2 = 0 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 𝑥3 1

 First, we need to check the controllability matrix of the system.

Since the controllability matrix 𝐶𝑇 is given by
0 0 1
𝐶𝑇 = 𝐵 𝐴𝐵 𝐴2 𝐵 = 0 1 −6
1 −6 31
 We find that rank(𝐶𝑇)=3. Thus, the system is completely state
controllable and arbitrary pole placement is possible.
 Step-2:
 Let K be
𝑲 = 𝑘1 𝑘2 𝑘3
𝑠 0 0 0 1 0 0
𝑠𝐼 − 𝐴 + 𝐵𝐾 = 0 𝑠 0 − 0 0 1 + 0 𝑘1 𝑘2 𝑘3
0 0 𝑠 −1 −5 −6 1

= 𝑠 3 + 6 + 𝑘3 𝑠 2 + 5 + 𝑘2 𝑠 + 1 + 𝑘1

 Desired characteristic polynomial is obtained as

𝑠 + 2 − 4𝑗 𝑠 + 2 + 4𝑗 𝑠 + 10 = 𝑠 3 + 14𝑠 2 + 60𝑠 + 200
 Comparing the coefficients of powers of s

14 = 6 + 𝑘3 𝑘3 = 8
60 = 5 + 𝑘2 𝑘2 = 55
200 = 1 + 𝑘1 𝑘1 = 199
Ackermann’s Formula
 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 ⋯ 𝐴𝑛−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 ⋯ 𝐴𝑛−1 𝐵 ∅(𝐴)

∅ 𝐴 = 𝐴𝑛 + 𝛼1 𝐴𝑛−1 + ⋯ + 𝛼𝑛−1 𝐴 + 𝛼𝑛 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 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 𝑥3 1

• The system uses the state feedback control u=-Kx. The desired
eigenvalues are 𝜇1 = −2 + 𝑗4, 𝜇2 = −2 − 𝑗4 ,𝜇3 = −1. 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 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 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 𝐴2 𝐵 = 0 1 −6
1 −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

𝐾= 0 0 1 𝐵 2 −1 ∅(𝐴)
𝐴𝐵 𝐴 𝐵

∅ 𝐴 = 𝐴3 + 𝛼1 𝐴2 + 𝛼2 𝐴 + 𝛼3 𝐼
• 𝛼𝑖 are the coefficients of the desired characteristic
polynomial.

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

𝛼1 = 14, 𝛼2 = 60, 𝛼3 = 200

 Pole Placement (Ackermann’s Formula)
𝑥1 0 1 0 𝑥1 0
𝑥2 = 0 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3 −1 −5 −6 𝑥3 1

∅ 𝐴 = 𝐴3 + 14𝐴2 + 60𝐴 + 200𝐼

3 2
0 1 0 0 1 0 0 1 0 1 0 0
∅ 𝐴 = 0 0 1 + 14 0 0 1 + 60 0 0 1 + 200 0 1 0
−1 −5 −6 −1 −5 −6 −1 −5 −6 0 0 1

199 55 8
∅ 𝐴 = −8 159 7
−7 −34 117
 Pole Placement (Ackermann’s Formula)
0 0 1 199 55 8
𝐵 𝐴𝐵 𝐴2 𝐵 = 0 1 −6 ∅ 𝐴 = −8 159 7
1 −6 31 −7 −34 117

𝐾= 0 0 1 𝐵 2 −1 ∅(𝐴)
𝐴𝐵 𝐴

−1
0 0 1 199 55 8
𝐾= 0 0 1 0 1 −6 −8 159 7
1 −6 31 −7 −34 117

𝐾 = 199 55 8
 Pole Placement
• Example-2: Consider the regulator system shown in following
figure. The plant is given by
𝑥 1 2 1 𝑥1 1
𝑑 1
𝑥2 = 0 1 3 𝑥2 + 0 𝑢(𝑡)
𝑑𝑡 𝑥
3 1 1 1 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 Lec

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