Control System Design in state-space

Dr. Abdul Qayyum Khan

Department of Electrical Engineering
Pakistan Institute of Engineering and Applied Sciences
P.O. Nilore Islamabad Pakistan
url: www.pieas.edu.pk/aqayyum
Email: aqkhan@pieas.edu.pk

Outline of the section

In this part of the lecture, we shall discuss control system

design using state-space; which is based on

Pole placement approach

Pole placement design

Observer design

Regulator design

Observer based controller design

Servo system design/Integral Control design

Quadratic optimal regulator

Control System Design-II by Dr. A.Q. Khan

Quiz
D e t e r m i n e t h e o b s e r v a b i li t y
f o r t h e f o l lo w i n g s y s t e m
2
x& = 0
0
y = [1

0
2
0 x
3
1
1 1] x
0

Control System Design-II by Dr. A.Q. Khan

Duality properties
Symmetry properties exists
Observability (Reconstructability)
Controllability (Reachability)
The Linear time-invariant system
x = Ax + Bu

y = Cx
is the dual of the system (and vice versa)
z = A1z + B1v
y * = C1x*
where A1 = AT ,B1 = CT ,C1 = BT

The principle of duality is useful in that it allows the state

reconstruction problem can be casted as dual control problem and
vice versa.
Control System Design-II by Dr. A.Q. Khan

Controllability and Observability indices

Controllability index
Consider the controlability matrix
M = B AB A n1B
If there exists a least integer q such that
Rank( B AB
AB A q1B ) = n
1 q n
Then this least integer refferred to as is called controlability index

Control System Design-II by Dr. A.Q. Khan

Controllability and Observability indices

Observability index
Consider the observability matrix
*

*
* *
*
* n1
OM = C C A C ( A )

If there exists a least integer v, such that

*

*
* *
*
* n1
Rank( C C A C ( A ) ) = n
1 v n

Then this least integer refferred to as is called observability index

Very powerful concept

Quite often used in minimum order observer design

Control System Design-II by Dr. A.Q. Khan

Pole Placement

Pole placement

All poles are placed at the desired location

Also known as Pole assignment

All states should be measureable and available for feedback

CSC implies pole placement

Root locus

Similar to pole placement approach as for as placing of poles is

concerned

Only dominant closed loop poles are at the desired location

Control System Design-II by Dr. A.Q. Khan

Let
s1 = 1 ,s 2 = 2 , L s n = n
be the desired poles. So by choosing a proper gain matrix for state feedback, it is
possible to force the system to have closed loop poles at the desired location, Provided
the system is completely state controllable.
Given
x& = Ax + Bu
y = Cx + Du
where
x n : State vector;

y m : Measurement/output vector;

u p : Vector of conrol signal;

(
( B
( D

B n p B n1 : For single input system

C mn

1 n

D m p

11

A nn ;

: For single output system

: For single input single output system

Let's choose control signal as u ( t ) = Kx ( t ) . This shows that u is determined by the instanteneous values
state. This scheme is referred to as state feedback control and the matrix K pn is called feedback gain.
For single input system, its dimensions are 1 n.
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Control System Design-II by Dr. A.Q. Khan

Control System Design-II by Dr. A.Q. Khan

Referring to figure, subsitute u = Kx in state equation, we have

x& = Ax BKx = ( A BK ) x
or
x ( t ) = e A BK x ( 0 ) ;

for x ( 0 ) 0, then

x ( 0 ) : initial conditions

eig ( A BK ) < 0 stability

eig ( A BK ) > 0 instability

The figure has no reference input. The objective here is to maintain

zero reference input. This system is known as regulator input

For a constant reference input, the problem can be casted as regulator
problem

If the reference input is time varying, the problem is referred to as
tracking problem

The Pole placement problem is placing the regulator poles at the desired
10level Control System Design-II by Dr. A.Q. Khan

Conditions for computing gain matrix K

Prove that the state controllability is the necessary and

sufficient conditions for computing state feedback gain

matrix K

Proof :

Necessity: Let Rank B AB L A n 1 B = q < n

q : Linearly independent column vectors
Let f1 , f 2 ,L f q , be linearly indep. col. vectors. Choose n - q additional vectors
vq +1 , vq + 2 ,L v n such that
P = f1 M f 2 M LM f q M vq +1 M vq + 2 M L M v n has rank n. Then
1AP = A11
A=P
0

A12
B11
1

=
=
;
B
P
B
, Also define K=KP=
[ K1 M K 2 ] , Then we have

A 22
0

+ BK

sI A + BK = P 1 ( sI A + BK ) P = sI P 1AP + P 1BKP = sI A
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Control System Design-II by Dr. A.Q. Khan

 + BK
=0
sI A + BK = P 1 ( sI A + BK ) P = sI P 1AP + P 1BKP = sI A
A11 B11K1
= sI
0

A12 B11K 2 sIq A11 + B11K1

=
0
A 22

= sIq A11 + B11K1 sI n q A 22 = 0

A11 + B11K1
sI n q A 22

=0

Iq : q q identity matrix
where
I n q : n q n q identity matrix

Note that eig(A22 ) does not depend on state feedback gain K. It means
it cannot be placed by any K. In other words all the states of the
system can not be controlled by K.
Conclusion: Complete state controllability is necessary conditions for computing
K in order to place the eigenvalues at the desired location.

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Control System Design-II by Dr. A.Q. Khan


Sufficiency: It is convenient to transform the system into controllable

canonical form.
Define
T = MW ,

where

M= B M AB M LM An 1 B ,

an 1
a
n2
W = M

a1
1

an 2 L a1
an 3 L 1
M
1

M
0

M
0

where a ' s are the coeff. of sI A = s n + a1 s n 1 + a2 s n 2 + L + an = 0

Define a new x as x = Tx , Then
x& = T 1 ATx + T 1 Bu
where

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0
0

A = T AT = M

0
Control System Design-II by Dr. A.Q. Khan an

1
0
M
0
an 1

0
0
0
1 L 0

M
M
M ;B = M

0 0 1
0
1
L a2 a1
0

1
0
M,

0
0


The above transformation is known as controllable canonical

form (CCF).

The state feedback controller can be designed if a system can
be transferable to into CCF.
Let 1 , 2 ,L n be the desired poles; that is

( s 1 )( s 2 )L ( s n ) = s n + 1s n1 L + n1s + n = 0
with K=KT=

Consider the control u = Kx

[1 2 L n ]
The state space equation is

x& = T 1 ATx T 1 BKx

The ch. equation for the closed loop system is
s n + ( a1 + 1 ) s n 1 + L + ( an 1 + n 1 ) s + ( an + n ) = 0
Notice this ch. equation should be the same with the desired one. Therefore
a1 + 1 = 1 ; a2 + 2 = 2 ; L ; an + n = n

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The state feedback gain matrix K is then given as

1 = [
K = KT
Control System Design-II by Dr. A.Q. Khan

L n ] T 1


Thus if the system is completely state controllable, all the

eigenvalues can be arbitrarily placed by choosing a proper

gain matrix K

Stablizabe Systems:
Uncontrollable mode>>>>>> stable
In that particular case, state feedback controller can only be
designed controllable mode.

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Control System Design-II by Dr. A.Q. Khan