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Lecture 21 Linear Control Systems PDF

This document discusses pole placement control design. It begins by stating the assumptions and objective of pole placement control. The objective is to place all closed loop poles at desired locations to achieve faster response than classical control. It then describes the necessary condition of complete state controllability and provides two methods for pole placement design: 1) using the characteristic polynomial and 2) transforming the system into controllable canonical form. Guidelines for choosing closed loop poles are also presented.

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234 views

Lecture 21 Linear Control Systems PDF

This document discusses pole placement control design. It begins by stating the assumptions and objective of pole placement control. The objective is to place all closed loop poles at desired locations to achieve faster response than classical control. It then describes the necessary condition of complete state controllability and provides two methods for pole placement design: 1) using the characteristic polynomial and 2) transforming the system into controllable canonical form. Guidelines for choosing closed loop poles are also presented.

Uploaded by

arafatasghar
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture 21

Pole Placement Control Design


Dr. Radhakant Padhi
Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
2
Pol e Pl ac ement Cont r ol Desi gn
Assumptions:
The system is completely state controllable.
The state variables are measurable and are
available for feedback.
Control input is unconstrained.
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
3
Pol e Pl ac ement Cont r ol Desi gn
Objective:
The closed loop poles should lie at which are their
desired locations.
Difference from classical approach:
Not only the dominant poles, but all poles are forced to lie at
specific desired locations.
1
, , ,
n

Necessary and sufficient condition:
The system is completely state controllable.
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
4
Cl osed Loop Syst em Dynami c s
The control vector is designed in the following
state feedback form
This leads to the following closed loop system
( )
where ( )
CL
CL
X AX BU
U
U KX
X A BK X A X
A A BK
= +
=
= =

`
`
=
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
5
Phi l osophy of
Pol e Pl ac ement Cont r ol Desi gn
The gain matrix is designed in such a
way that
K
( ) ( )( ) ( )
1 2
1
where , , are the desired pole locations.
n
n
sI A BK s s s

=

ADVANCED CONTROL SYSTEM DESIGN


Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
6
Pol e Pl ac ement Desi gn St eps:
Met hod 1 (l ow or der syst ems, n 3)
z Check controllability
z Define
z Substitute this gain in the desired
characteristic polynomial equation
z Solve for by equating the like
powers on both sides
( ) ( )
1 n
sI A BK s s + =
[ ]
1 2 3
K k k k =
1 2 3
, , k k k
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
7
Pol e Pl ac ement Cont r ol Desi gn:
Met hod 2
[ ]
1 2
,
n
X AX Bu
u KX K k k k
= +
= =
`

Let the system be in first companion (controllable canonical) form


1 2 3 1
0 1 0 0 0 0
0 0 1 0 0 0
,
0 0 0 0 1 0
1
n n n n
A B
a a a a a




= =




. . .

ADVANCED CONTROL SYSTEM DESIGN


Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
8
( )
1 2 1 1 2 3
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
1
0 0 0 0 0 0 0 0
CL
CL
n n n n
X A BK X A X
A
a a a a k k k k

= =




=







`


. .
. . .


( ) ( ) ( )
1 1 2 1
0 1 0 0 0
0 0 1 0 0
0 0 0 1 0
(1)
0 0 1 0
0 0 1
CL
n n n
A
a k a k a k

. .


After applying the control, the closed loop system
dynamics is given by
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
9
If are the desired poles. Then the desired
characteristic polynomial is given by,
1
, ,
n

This characteristic
polynomial, will lead to
the closed loop system
matrix as
( ) ( )
1 2
1 1 2
n n n
n n
s s s s s

= + + + +
( )
1 2 1
0 1 0 0
0 0 1 0
2
1
0 0
CL
n n n
A







=






State space form


Pol e Pl ac ement Cont r ol Desi gn:
Met hod 2
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
10
Comparing Equation (1) and (2), we arrive at:
( )
( )
( )
( ) ( )
1
1
1 2 1 2 1 1
1 1
1 1

Row vector form
n n
n n
n n n n
n
n
k a
a k
a k k a
a k
k a
K a


=
+ =



+ = =







+ =

=


=
.
.
Pol e Pl ac ement Cont r ol Desi gn:
Met hod 2
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
11
Define a transformation
( )
( ) ( )
1
1
1 1


X T X
X T AX Bu
X T
X TX
AT X T B u


=
= +
= +
=
`
`
`
`
Design a T such that T
-1
AT will be in first companion form.
1
Select
where is the controllability matrix
n
T MW
M B AB A B

=


=
What i f t he syst em i s not gi ven
i n t he f i r st c ompani on f or m?
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
12
Next, design a controller for the transformed system (using the
technique for systems in first companion form).
1

( ) u K X K T X K X

= = =
Note: Because of its role in control design as well as the use of
(Controllability Matrix) in the process, the first companion
form is also known as Controllable Canonical form.
M
1 2 1
2
1
1
0
1
1 0 0
n n
n
a a a
a
W
a

. .
. . .
.

Pol e Pl ac ement Cont r ol Desi gn:
Met hod 2
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
13
Pol e Pl ac ement Desi gn St eps:
Met hod 2: Bass-Gur a Appr oac h
z Check the controllability condition
z Form the characteristic polynomial for A
find a
i
s
z Find the Transformation matrix
z Write the desired characteristic polynomial
and determine the
i
s
z The required state feedback gain matrix is
1 2
1 2 1
| |
n n n
n n
sI A s a s a s a s a

= + + + + +
( ) ( )
1 2
1 1 2
n n n
n n
s s s s s

= + + + +
( ) ( ) ( )
1
1 1 1 1
[ ]
n n n n
K a a a T


=
T
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
14
Pol e Pl ac ement Desi gn St eps:
Met hod 3 (Ac k er manns f or mul a)
( ) ( ) ( )
1
1 2
1 2 1
Define
desired characteristic equation is
| | 0
Caley-Hamilton theorem states that every matrix
satisfies its own characteristic equation
n
n n n
n n
A A BK
sI A BK s s
sI A s s s s
A

=
=
= + + + + + =


1 2
1 2 1
( ) 0
For the case 3 consider the following identities.
n n n
n n
A A A A A
n

= + + + + + =
=

ADVANCED CONTROL SYSTEM DESIGN


Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
15
Pol e Pl ac ement Desi gn St eps:
Met hod 3: (Ac k er manns f or mul a)
Multiplying the identities in order by
3
,
2
,
1
respectively and
adding we get
From Caley-Hamilton Theorem for
And also we have for A
.
(1)
A

ADVANCED CONTROL SYSTEM DESIGN


Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
16
Pol e Pl ac ement Desi gn St eps:
Met hod 3 (Ac k er manns f or mul a)
Since system is completely controllable inverse of the controllability
matrix exists we obtain

(2)
0
Substituting ( ) and ( ) in equation (1) we get A A

ADVANCED CONTROL SYSTEM DESIGN


Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
17
Pol e Pl ac ement Desi gn St eps:
Met hod 3 (Ac k er manns f or mul a)
z For an arbitrary positive integer n ( number of states)
Ackermanns formula for the state feedback gain
matrix K is given by
Pre multiplying both sides of the equation (2) with [0 0 1]
[ ]
1
2 1
1
1 1
0 0 0 1 ( )
w h ere ( )
' are t h e co effi ci en t s o f t h e
d es i red ch aract eri s t i c p o lyn o mi al
n
n n
n n
i
K B A B A B A B A
A A A A I
s


=

= + + + +

ADVANCED CONTROL SYSTEM DESIGN


Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
18
Choi c e of c l osed l oop pol es :
Gui del i nes
z Do not choose the closed loop poles far away
from the open loop poles, otherwise it will
demand high control effort
z Do not choose the closed loop poles very
negative, otherwise the system will be fast
reacting (i.e. it will have a small time constant)
In frequency domain it leads to large bandwidth, and
hence noise gets amplified
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
19
Choi c e of c l osed l oop pol es :
Gui del i nes
z Use Butterworth polynomials
1
1
2
( ( 2 1) )
2
1
( ) ( 1) 0,1, 2 - - -
a constant (like " natural frequency")
= system order (number of closed loop poles)
choose only stable poles.
n
n
n
j k
n
o
o
s
e k
w
w
n

+
+
+


= = =


=
_
-
0

Im
Re
0 0
let 1 only one pole
use 1
s= (co
Example:
s sin )
1
n
k
j
=
=
+ =
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
20
Choi c e of c l osed l oop pol es :
Gui del i nes
( ) ( )
( ) ( )
( ) ( )
m
0
0
2
1
0
Let n = 2 we know ( cos sin ) =( cos sin )
n+1 3
2n 4
[cos (2 1)3 / 4 sin (2 1)(3 / 4) ]
0 [cos 3 / 4 sin
Example 2:
stabilizing: acc
(3 / 4) ]
1 [cos 9 / 4 sin (9 / 4) ]
Destabil
.
i
t
iz
ep
j m j m
s k j k
k j
k s j
s




+ +
=
= + + +
= = +
= = +
( ) ( )
( ) ( )
4
3 0
0
ng: reject.
2 [cos 15 / 4 sin (15 / 4) ]
Destabilizing: reject.
3 [cos 21 /
stabilizi
4 sin (21
ng:
/ 4
accept
) ]
.
k s j
k j s


= = +
= = +
S
1
Im
Re
S
2
Im
Re
S
3
Im
Re
S
4
Im
Re
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
21
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
22
Ex ampl e: I nver t ed Pendul um
0 1 0 0 0
20.601 0 0 0 1 1 0 0 0
; ;
0 0 0 1 0 0 1 0 0
0.4905 0 0 0 0.5
A B C



= = =




ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
23
Rank = 4 ; Controllable
Step 1: Check controllability
0 M
Hence, the system is controllable.
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
24
Step 2: Form the characteristic equation and get a
i
s
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
25
Step 3: Find Transformation T = MWand its inverse
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
26
Step 4: Find
i
s from desired poles
1
,
2
,
3
,
4
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
27
Step 5: Find State Feed back matrix K and input u
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
28
Ti me Si mul at i on: I nver t ed Pendul um
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
29
Choi c e of c l osed l oop pol es :
Gui del i nes
z Do not choose the closed loop poles far away
from the open loop poles. Otherwise, it will
demand high control effort.
z Do not choose the closed loop poles very
negative. Otherwise, the system will be fast
reacting (i.e. it will have a small time constant)
In frequency domain it leads to a large bandwidth,
which in turn leads to amplification of noise!
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
30
Mul t i pl e i nput syst ems
z The gain matrix is not unique even for
fixed closed loop poles.
z Involved (but tractable) mathematics
11 12 1
1 2
n
m m mn
X AX BX
U KX
k k k
K
k k k
= +
=



=



`

. . .
. . .

ADVANCED CONTROL SYSTEM DESIGN


Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
31
Mul t i pl e i nput syst ems:
Some t r i c k s and i deas
z Eliminate the need for measuring some x
j
by appropriately
choosing the closed loop poles.
z Relate the gains to proper physical quantities
z Shape eigenvectors: Eigen structure assignment control
z Introduce the idea of optimality: optimal control
1 1 2 2
2
: ( )
select provided 0
Example u x x

= +
= <
11 13
22 24
0 0
0 0
x
y
x
u
g g y
u
g g x
y





=







`
`
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
32
Control Allocation:
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
33
Ref er enc es
z K. Ogata: Modern Control Engineering,
3
rd
Ed., Prentice Hall, 1999.
z B. Friedland: Control System Design,
McGraw Hill, 1986.
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
34

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