Characteristic Polynomial

d
r u y
C(s) P(s)
n

G(s) B0 (s)
C(s) P0 (s)
H (s) A0 (s)

CP B0G
T
1 CP A0 H B0G characteristic polynomial
1 A0 H defines dynamic
S characteristics of closed loop
1 CP A0 H B0G
Acl A0 H B0G
 Pole Placement Design
Aim: To select the controller parameters
in such a way that the roots of the
characteristic polynomial Acl are placed in
the specified locations.

Note: The roots of the characteristic

polynomial are the poles of the sensitivity
function S and of the complementary
sensitivity function T.
 Why placing poles?
For a stable 2nd order system, a
straightforward relation exist between:
 time-domain characteristics of its step-
respones (rise-time tr and overshoot M), and
 parameters of the denominator of its transfer-
function ( n and ), i.e. the location of its
poles.
Step Response
2.5

2
1
G(s)
1.5

s2 2 ns
2
Amplitude

1
n

0.5

0
0 2 4 6 8 10 12
Time (sec)
 2nd order response
For system G(s) with no finite zeros and two complex poles:
Step Response
2.5

1
1.5

G(s)
Amplitude

1
s2 2 ns
2
n
0.5

0
0 2 4 6 8 10 12
Time (sec)

1.8 1.8
rise time: tr n
n tr
/ 1 2 ln M p
overshoot: M p e ;0 1
2 2
ln M p
4.6
settling time: ts
n