Lecture – 21
Pole Placement Control Design
Prof. Radhakant Padhi
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
Pole Placement Control Design
Assumptions:
The system is completely state controllable.
The state variables are measurable and are
available for feedback.
Control input is unconstrained.
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Pole Placement Control Design
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.
Necessary and sufficient condition:
The system is completely state controllable.
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Closed Loop System Dynamics
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Philosophy of
Pole Placement Control Design
The gain matrix is designed in such a
way that
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Pole Placement Design Steps:
Method 1 (low order systems, n ≤ 3)
Check controllability
Define
Substitute this gain in the desired
characteristic polynomial equation
Solve for by equating the like
powers on both sides
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Pole Placement Design Steps:
Method 2: Bass-Gura Approach
Let the system be in first companion (controllable canonical) form
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After applying the control, the closed loop system
dynamics is given by
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Pole Placement Design Steps:
Method 2: Bass-Gura Approach
If are the desired poles. Then the desired
characteristic polynomial is given by,
This characteristic
polynomial, will lead to
the closed loop system
matrix as
State space form
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Pole Placement Design Steps:
Method 2: Bass-Gura Approach
Comparing Equation (1) and (2), we arrive at:
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What if the system is not given
in the first companion form?
Define a transformation
Design a T such that T-1AT will be in first companion form.
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Pole Placement Design Steps:
Method 2: Bass-Gura Approach
Next, design a controller for the transformed system (using the
technique for systems in first companion form).
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’.
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Pole Placement Design Steps:
Method 2: Bass-Gura Approach
Check the controllability condition
Form the characteristic polynomial for A
find ai’s
Find the Transformation matrix
Write the desired characteristic polynomial
and determine the αi’s
The required state feedback gain matrix is
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Pole Placement Design Steps:
Method 3 (Ackermann’s formula)
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Pole Placement Design Steps:
Method 3: (Ackermann’s formula)
Multiplying the identities in order by α3, α2, α1 respectively and
adding we get
……….(1)
From Caley-Hamilton Theorem for
And also we have for A
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Pole Placement Design Steps:
Method 3 (Ackermann’s formula)
Since system is completely controllable inverse of the controllability
matrix exists we obtain
………(2)
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Pole Placement Design Steps:
Method 3 (Ackermann’s formula)
Pre multiplying both sides of the equation (2) with [0 0 1]
For an arbitrary positive integer n ( number of states)
Ackermann’s formula for the state feedback gain
matrix K is given by
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Choice of closed loop poles :
Guidelines
Do not choose the closed loop poles far away
from the open loop poles, otherwise it will
demand high control effort
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
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Choice of closed loop poles :
Guidelines
Use “Butterworth polynomials”
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Choice of closed loop poles :
Guidelines
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Example: Inverted Pendulum
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Step 1: Check controllability
Rank = 4 ; Controllable
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Step 2: Form the characteristic equation and get ai’s
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Step 3: Find Transformation T = MW and its inverse
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Step 4: Find αi’s from desired poles μ1 , μ2 , μ3 , μ4
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Step 5: Find State Feed back matrix K and input u
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Time Simulation: Inverted Pendulum
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Choice of closed loop poles :
Guidelines
Do not choose the closed loop poles far away
from the open loop poles. Otherwise, it will
demand high control effort.
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!
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Some Additional Tricks
Eliminate the need for measuring some xj by
appropriately choosing the closed loop poles.
Relate the gains to proper physical quantities
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Multiple input systems
The gain matrix is not unique even for fixed closed
loop poles.
Involved (but tractable) mathematics:
Shape eigenvectors: “Eigen structure assignment”
Introduce the idea of optimality: “optimal control”
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Control Allocation:
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References
K. Ogata: Modern Control Engineering,
3rd Ed., Prentice Hall, 1999.
B. Friedland: Control System Design,
McGraw Hill, 1986.
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