The pole-placement method is somewhat similar to the root-locus method.

The basic difference is that in the root-locus design we place only the dominant closed-loop poles at the desired locations, while in the pole-placement design we place all closed-loop poles at desired locations.

Design by Pole Placement

Necessary and Sufficient Condition for Arbitrary Pole Placement Arbitrary pole placement for a given system is possible if and only if the system is completely state controllable. Consider a control system

where x = state vector y = output signal u = control signal A = state matrix B = input matrix C = output matrix D = direct transmission matrix Let the control signal be

The matrix K is called the state feedback gain matrix. This closed system has no input. Such a system where the reference input is always a zero or a nonzero constant is called a regulator system. Determination of Matrix K Using Transformation Matrix T. From the characteristics polynomial for matrix A, that is | |

determine the values of a1,a2,,an. Determine the transformation matrix T that transforms the system state equation into the controllable canonical form. The transformation matrix T is given by

where M is the controllability matrix [ and ]

Using the desired eigenvalues (desired closed-loop poles), write the desired characteristic polynomial: ( )( ) ( )

and determine the values of 1,2,,n. The required state feedback gain matrix K can be determined from [ Determination of Matrix K Using Direct Substitution Method If the system is of low order (n 3), direct substitution of matrix K into the desired characteristic polynomial may be simpler. For example, if n = 3, then write the state feedback gain matrix K as [ ] | and equate it ) ]

Substitute this K matrix into the desired characteristic polynomial | to (s - 1) (s - 2) (s - 3), or | | ( )( )(

Since both sides of this characteristic equation are polynomials in s, by equating the coefficients of the like powers of s on both sides, it is possible to determine the values of k 1,k2, and k3. Determination of Matrix K Using Ackermanns Formula The well-known Ackermanns formula is as follows: [ ][ ] ( )

where (A) = An + 1An-1 + + n-1A + nI