16CI622 Digital Control Systems

Pole Placement Contd.

O. V. Ramana Murthy

B206, AB2
Electrical and Electronics Engineering
Amrita Vishwa Vidyapeetham, Coimbatore
 Pole Placement

𝒖(𝑘) = −𝑲𝒙(𝑘)
𝒙 𝑘 + 1 = (𝑮 − 𝑯𝑲)𝒙 𝑘
2
 Dead Beat Response
If the eigenvalues of matrix G-HK lie inside unit circle, system is
asymptotically stable.
If all eigen values are 0, then the system exhibits dead beat response.

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 Example 6-7
Consider a DTS 𝒙 𝑘 + 1 = 𝑮𝒙 𝑘 + 𝑯𝑢 𝑘
𝒚 𝑘 = 𝑪𝒙 𝑘 + 𝑫𝑢 𝑘
0 1 0
With G = ,𝐻 =
−0.16 −1 1
Determine a suitable feedback gain matrix K such that the
system will exhibit dead beat response i.e. closed poles at
𝑧=0
𝑎
For any arbitrary initial state 𝒙 0 = , cross check
𝑏
response for k = 1,2,3..

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 Solution
First check controllability.
0 1
𝑟𝑎𝑛𝑘 𝐻 ⋮ 𝐺𝐻 = = 2.
1 −1
Coefficients of original system characteristic equation
𝑧𝐼 − 𝐺 = 𝑧 𝑛 + 𝑎1 𝑧 𝑛−1 + 𝑎2 𝑧 𝑛−2 + ⋯ + 𝑎𝑛
𝑧 −1
= 𝑧 2 + 𝑧 + 0.16 = 0
0.16 𝑧 + 1
𝑎1 = 1, 𝑎2 = 0.16
Coefficients of desired system characteristic equation
𝑧𝐼 − (𝐺 − 𝐻𝐾) = 𝑧 𝑛 + 𝛼1 𝑧 𝑛−1 + 𝛼2 𝑧 𝑛−2 + ⋯ + 𝛼𝑛
𝑧 − 𝑧1 𝑧 − 𝑧2 = 𝑧 2 = 0
𝛼1 = 0, 𝛼2 = 0
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 Method 1
Intermediate matrix 𝑀 = 𝐻 ⋮ 𝐺𝐻 ⋮ 𝐺 2 𝐻 ⋮ ⋯ ⋮ 𝐺 𝑛−1 𝐻
𝑎𝑛−1 𝑎𝑛−2 … 𝑎1 1
𝑎𝑛−2 𝑎𝑛−3 … 1 0
𝑊= ⋮ ⋮ ⋮ ⋮
𝑎1 1 … 0 0
1 0 … 0 0
𝑎1 1 1 0
Therefore, 𝑇 = 𝑀𝑊 = 𝐻 ⋮ 𝐺𝐻 =
1 0 0 1
𝐾 = 𝛼𝑛 − 𝑎𝑛 ⋮ 𝛼𝑛−1 − 𝑎𝑛−1 ⋮ 𝛼𝑛−2 − 𝑎𝑛−2 ⋮ ⋯ 𝛼1 − 𝑎1 𝑇 −1
−1
= 𝛼2 − 𝑎2 ⋮ 𝛼1 − 𝑎1 𝑇 −1 = 0 − 0.16 ⋮ 0 − 1
1 0
0 1
= [−0.16 −1]
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 Method 2 Ackermann’s formula
𝐾= 0 0 … 0 1 𝐻 ⋮ 𝐺𝐻 ⋮ ⋯ ⋮ 𝐺 𝑛−1 𝐻 −1 𝜑 𝐺
Where 𝜑 𝐺 = 𝐺 𝑛 + 𝛼1 𝐺 𝑛−1 + 𝛼2 𝐺 𝑛−2 + ⋯ + 𝛼𝑛 𝐼
In current case 𝐾 = 0 1 𝐻 ⋮ 𝐺𝐻 −1 𝜑 𝐺
𝜑 𝐺 = 𝐺2
0 1 −1 −0.16 −1
𝐾= 0 1
1 −1 0.16 0.84
= [−0.16 −1]

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 Method 3
If desired eigen values 𝜇𝑖 are distinct, extract corresponding eigen
vectors, 𝜉𝑖 . Eigen vectors are computed using
𝜉𝑖 = 𝐺 − 𝜇𝑖 𝐼 −1 𝐻
For deadbeat response,
𝜉𝑖 = 𝐺 −𝑖 𝐻, 𝑖 = 1,2,3 …
Desired state feedback gain matrix is
𝐾= 1 0 −1
… 0 0 𝜉1 ⋮ 𝜉2 ⋮ ⋯ ⋮ 𝜉𝑛
−6.25 39.0625
𝜉1 = 𝐺 −1 𝐻 = , 𝜉2 = 𝐺 −2 𝐻 =
0 −6.25
−1
−1 −6.25 39.0625
𝐾 = 1 0 𝜉1 ⋮ 𝜉2 = 1 0
0 −6.25
= −0.16 −1
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 Method 4
Assume 𝐾 = 𝑘1 𝑘2
Characteristic equation is 𝑧𝐼 − (𝐺 − 𝐻𝐾)
𝑧 0 0 1 0 𝑘 𝑘
= − +
0 𝑧 −0.16 −1 1 1 2
𝑧 −1
=
0.16 + 𝑘1 𝑧 + 1 + 𝑘2
= 𝑧 2 + 1 + 𝑘2 𝑧 + 0.16 + 𝑘1 = 0
Compare with desired poles characteristic equation
𝑧2 = 0
Solving we get 𝐾 = 𝑘1 𝑘2 = −0.16 −1

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 Cross check
𝒙 𝑘 + 1 = (𝑮 − 𝑯𝑲)𝒙 𝑘
K=0
𝑎
𝒙 0 + 1 = 𝒙 1 = 𝑮 − 𝑯𝑲 𝒙 0 =
𝑏

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 Cross check
𝒙 𝑘 + 1 = (𝑮 − 𝑯𝑲)𝒙 𝑘
K=0
0 1 𝑎 𝑏
𝒙 0 + 1 = 𝒙 1 = 𝑮 − 𝑯𝑲 𝒙 0 = =
0 0 𝑏 0
K=1
0 1 𝑏 0
𝒙 1 + 1 = 𝒙 2 = 𝑮 − 𝑯𝑲 𝒙 1 = =
0 0 0 0

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 Control System with Reference I/P

𝒖 𝑘 = −𝑲𝒙 𝑘 + 𝐾0 𝒓(𝑘)
𝒙 𝑘 + 1 = 𝑮 − 𝑯𝑲 𝒙 𝑘 + 𝑯𝐾0 𝒓(𝑘)
Characteristic equation is 𝑧𝐼 − (𝐺 − 𝐻𝐾) Hence, all 4 methods
𝐾0 should be adjusted ST Unit-step response at steady state is unity
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 Example 6-8
Consider a DTS 𝒙 𝑘 + 1 = 𝑮𝒙 𝑘 + 𝑯𝑢 𝑘
𝒚 𝑘 = 𝑪𝒙 𝑘 + 𝑫𝑢 𝑘
0 1 0
With G = ,𝐻 =
−0.16 −1 1
𝒖 𝑘 = −𝑲𝒙 𝑘 + 𝐾0 𝒓(𝑘)
Determine a control law such that the CL system will have
closed poles at 𝑧 = 0.5 ± 𝑗0.5

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 Solution
Feedback gain matrix K is obtained by any of previous 4 approaches.
𝐾 = 𝑘1 𝑘2 = 0.34 −2
New state-space equations are
𝒙 𝑘 + 1 = 𝑮 − 𝑯𝑲 𝒙 𝑘 + 𝑯𝐾0 𝒓(𝑘)
𝒙 𝑘+1 =𝑮 ෡ 𝒙 𝑘 + 𝑯𝒓(𝑘)
෡
෡ = 𝑮 − 𝑯𝑲 =
Where 𝑮 ,

෡ = 𝑯𝐾0 =
𝑯

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 Solution
Feedback gain matrix K is obtained by any of previous 4 approaches.
𝐾 = 𝑘1 𝑘2 = 0.34 −2
New state-space equations are
𝒙 𝑘 + 1 = 𝑮 − 𝑯𝑲 𝒙 𝑘 + 𝑯𝐾0 𝒓(𝑘)
𝒙 𝑘+1 =𝑮 ෡ 𝒙 𝑘 + 𝑯𝒓(𝑘)
෡
෡ 0 1
Where 𝑮 = 𝑮 − 𝑯𝑲 = ,
−0.5 1
෡ 0
𝑯 = 𝑯𝐾0 =
𝐾0

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 Solution
Pulse transfer function
𝑌(𝑧) 𝐾0
෡ 𝑯
= 𝐶(𝑧𝐼 − 𝑮) −1 ෡=
𝑅(𝑧) 𝑧 2 − 𝑧 + 0.5
Steady state response for Unit step input must be unity. i.e.
Final value of y(t) = 1
lim 𝑦 𝑘 = lim 1 − 𝑧 −1 𝑌(𝑧) = 1
𝑘→∞ 𝑧→1
𝐾0 1
= lim 1 − 𝑧 −1 2 −1 =1
𝑧→1 𝑧 − 𝑧 + 0.5 1 − 𝑧

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 Solution
Pulse transfer function
𝑌(𝑧) 𝐾0
෡ 𝑯
= 𝐶(𝑧𝐼 − 𝑮) −1 ෡=
𝑅(𝑧) 𝑧 2 − 𝑧 + 0.5
Steady state response for Unit step input must be unity. i.e.
Final value of y(t) = 1
lim 𝑦 𝑘 = lim 1 − 𝑧 −1 𝑌(𝑧) = 1
𝑘→∞ 𝑧→1
𝐾0 1
= lim 1 − 𝑧 −1 2 −1 =1
𝑧→1 𝑧 − 𝑧 + 0.5 1 − 𝑧

𝐾0 = 0.5

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 References
 Section 6.5, Chapter 6, Discrete-time Control Systems, K.
Ogata, 2nd edition.

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