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Control of Smart Structures 5. Review of Modern Control

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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
5. Review of Modern Control Theory
Draft Updated 09/28/03; 10:38pm
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
System Representation
A linear system can be represented in Transfer function form as
Above system can also be represented in state space form as
A: System matrix B: Input Influence Matrix
C: Output/Measurement matrix D: Direct transmission matrix
Task is to determine, the state space matrices A,B,C, D
State space is representation and implementation helps us in MIMI
control problems.
2
( ) 12.5
( ) 0.24 101
Y s
U s s s
=
+ +
x Ax Bu
y Cx Du
= +
= +
`
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
System Representation
| |

2
1 2 1
1 2
2 2 1
1 1
2 2
1
2
( ) 12.5
( ) 0.24 101
0.24 101 12.5
Let, x ,
0.24 101 12.5
0 1 0
101 0.24 12.5
: 1 0
A B
C
Y s
U s s s
y y y u
y x y x Then
x x
x x x u
x x
u
x x
x
Output y
x
=
+ +
+ + =
= = =
=
= +
( ( ( (
= +
( ( ( (


(
=
(

`` `
` `
`
`
`
`
_ _
In Matlab: tf2ss
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
System Representation
Transformation of linear system in state space to transfer function form
-1
-1
Take Laplace Transform
( ) - (0) ( ) ( )
( ) ( ) ( )
We assume (0) 0 for deriving transfer function matrix
( ) ( - ) ( )
Substitute ( ) in ( )
( ) [ ( - )
( )
(
] ( )
x Ax Bu
y Cx Du
sX s x AX s BU s
Y s CX s DU s
x
X s sI A BU s
X s Y s
Y s C sI A B D
Y s
U
U
s
s
= +
= +
= +
= +
=
=
= +
`
-1
( ) [ ( - ) ]
)
G s C sI A B D = = +
In Matlab: ss2tf
( ) : Transfer function of the system or the
Transfer function matrix if MIMO systems
G s
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Solving The Time-Invariant State Equation
Solution of homogeneous state equations
1
2 2
0
(1)
( ) (0)
1 1
... ...
2! ! !
( ) (0)
n n n
At
k k
At k k
k
X A X
X t e X
A t
e I At A t A t
k k
X t X

=
=
=
= + + + + + = =
=

`
Laplace transform approach can also be used to solve Equation 1.
1
2
2 3
2 2 3 3
1
( ) (0) ( )
( ) ( ) (0)
1
...
1
...
2! 3!
( ) (0)
At
At
sX s X AX s
X s sI A X
I A A
sI A s s s
A t A t
L I At e
sI A
X t e X

=
=
= + + +

(
= + + + + =
(

=
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
| | | |

+ =
=
+ =
=
= =
=
+ =

t
At
t
t A At
t
A At
At At At
r r n n n n
d BU t X t t X
e t
d BU e X e t X
d BU e X t X e
t BU e t X e
dt
d
t AX t X e
t BU t AX t X
t U B X A X
0
0
) (
0
1 1
) ( ) ( ) 0 ( ) ( ) (
) (
) ( ) 0 ( ) (
) ( ) 0 ( ) (
) ( ) ( ) ( ) (
) ( ) ( ) (
) (

`
`
`
Solution of non-homogeneous state equations
Solving The Time-Invariant State Equation
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
step unit ) 1( ) (
1
0
3 2
1 0
2
1
2
1
t t u
u
x
x
x
x
=
(

+
(

=
(

`
`
Example
Solving The Time-Invariant State Equation
The state transition matrix is given by ( ) t
1 1
1
2 2
1 1
2 2
( ) [( ) ]
1
( )
2 3
3 1
1
( )
2 ( 1)( 2)
2
( ) [( ) ]
2 2 2
At
t t t t
At
t t t t
t e L sI A
s
sI A
s
s
sI A
s s s
e e e e
t e L sI A
e e e e

= =

(
=
(
+

+
(
=
(
+ +

(

= = =
(
+ +

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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
| |
( ) 2( ) ( ) 2( )
( ) 2( ) ( ) 2( )
0
2 2
1 1
2 2
2 2
2 0
( ) (0) 1
1
2 2 2
1
( ) (0) 2
2
( ) (0)
2 2 2
t t t t
t
At
t t t t
t t t t
t t t t
e e e e
X t e X d
e e e e
e x t x e e e e
x t x
e e e e







(


= +
( `
+ +
( )

(
(

= +
(
( ` `
+ +
(
) ) (

2
2
2
1
2 2
1
2
(0) 0
1 1
( )
2 2
( )
t t
t t
t t
t t
e
e e
If Initial Conditions X
e e x t
x t
e e

(
+
(
(

(

=
(
+
(
(
=
(
(


(

Advantage: we dont need to decouple the equation
Solving The Time-Invariant State Equation
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Consider an n x n matrix A, its Characteristics equation
The Cayley Hamilton theorem states that the matrix A satisfies its own characteristic
equation. Proof can found in any standard book.
1
1 1
... 0
n n
n n
I A a a a

= + + + + =
Cayley Hamilton Theorem
1
1 1
... 0
n n
n n
A a A a A a I

+ + + + =
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Controllability
A system is said to be state controllable at t = t
0
if it is possible by
means of an unconstrained control signal to transfer the system from
an initial state to any other state in a finite time interval
Completely state controllable: every state is controllable
Condition: The above system is completely state controllable if and
only if the vectors B, AB, A
n-1
B are linearly independent or the
n x n matrix Mis of rank n
In Matlab, command is CTRB
U B X A X
n n n n 1 1
+ =
`
1
| | ... |
n
n n
M B AB A B

(
=

0 1
. t t t
0
( ) x t
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Example1 :
Is NOT Controllable, because
Q. Which of the following systems is NOT state controllable and Why?
Controllability
1 1
2 2
1 1 0
0 1 1
x x
u
x x
( ( ( (
= +
( ( ( (

`
`
1 1
[ ] ( ) 1 ( )
0 0
M B AB rank M rank A
(
= = =
(

1 1
2 2
1 1
2 2
1 0 2
.
0 2 5
1 0 2
.
0 2 0
x x
A u
x x
x x
B u
x x

( ( ( (
= +
( ( ( (

( ( ( (
= +
( ( ( (

`
`
`
`
Remark: Uncontrollable system has a subsystem that is physically
disconnected from the input.
NOT state controllable
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Condition for complete state Controllability in s-plane
In terms of transfer function, necessary and sufficient condition for
controllability is that no cancellation occurs in the transfer function for
SISO systems or transfer function matrix for MIMO systems.
If cancellation occurs, the system cannot be controlled in the direction
of the cancelled mode.
Example: is Not Controllable.
Task: Represent the above system in State Space. (Remember, this system
has derivative terms in numerator or in other words the forcing function)
Controllability
( )
2.5
( )
( )
s
X s
U s
+
=
( 2.5) s + ( 1) s
| |
1 1
2 2
0 1 1 1 1
2.5 1.5 1 1 1
x x
u M B AB Not Controllable
x x
( ( ( ( (
= + = =
( ( ( ( (

`
`
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
In practical systems, we want to control the output of the system rather
than the states of the system. Complete state controllability is neither
necessary nor sufficient for controlling the output of the system. It is
desirable to have separate complete output controllability.
Condition: The matrix given below should have rank m.
Output Controllability
1 1 1
1 1 1
n n n n n r r
m m n n m r r
x A x B u
y C x D u


= +
= +
`
`
| |
r n m
n
D B CA B CA CAB CB
) 1 (
1 2
| | ... | | |
+

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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Stabilizabilty
For a partially controllable system, if the uncontrollable modes are
stable and the unstable modes are controllable, the system is said to be
stabilizable.
Example:
The stable mode corresponding to eigen value of -1 is not controllable,
but the unstable mode corresponding to eigen value of 1 is
controllable. Thus this system is stabilizable.
1 1
2 2
1 0 1
( )
0 1 0
x x
u not controllable
x x
( ( ( (
= +
( ( ( (

`
`
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observability
A system is said to be state observable if every state x(t) can be
determined from the observation of y(t) over a finite interval of time
Completely state Observable: every state is Observable
Condition: The above system is completely state controllable if and
only if the vectors C
T
, A
T
C
T
, (A
T
)
n-1
C
T
are linearly independent
or the n x nm Observability matrix is of rank n
In Matlab command is OBSV
0 1
. t t t
1 1 1
1 1 1
n n n n n r r
m m n n m r r
x A x B u
y C x D u


= +
= +
`
`
1
Observability matrix N=[ ( ) ]
T T T T n T
C A C A C

. . .
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
| |
| |
1 1 1
2 2 2
1 1 1
2 2 2
1 0
. 1 3
0 2
1 0
. 0 1
0 2
x x x
A y
x x x
x x x
B y
x x x

( ( ( (
= =
( ( ( (

( ( ( (
= =
( ( ( (

`
`
`
`
Example1 :
Is Observable, because
Q. Which of the following systems is NOT Observable and Why?
| |
1 1
2 2
1
2
1 1 0
2 1 1
1 0
x x
u
x x
x
y
x
( ( ( (
= +
( ( ( (


(
=
(

`
`
1 1
[ ] ( ) 2 ( )
0 1
T T T
N C A C rank N rank A
(
= = = =
(

Remark: Unobservable system has a zero element in C that
corresponds to distinct eigen value of A.
NOT Observable
Observability
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Condition for complete Observability in s-plane
In terms of transfer function, necessary and sufficient condition for
Observability is that no cancellation occurs in the transfer function for
SISO systems or transfer function matrix for MIMO systems.
If cancellation occurs, the system cannot be observed in the direction
of the cancelled mode.
For a partially observable system, if the unobservable modes are stable
and the observable modes are unstable, the system is said to be
detectable.
Observability
Detectability
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Canonical Forms
For a system given by the differential equation
The Transfer function is given as
1
0 1 1
1
1 1
( )
( )
n n
n n
n n
n n
b
a a
s b s b s b Y
U s s s s a
s

+ + + +
=
+ + + +

( ) ( 1) ( ) ( 1)
1 1 0 1 1
n n n n
n n n n
y a y a y a y b u b u b u b u


+ + + + = + + + +
` `

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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Controllable canonical form
Canonical Forms
| |
1
2
0 1 1 0 1 1 0 0
1
.
.
.
n n n n
n
n
x
x
y b a b b a b b a b b u
x
x

(
(
(
(
(
= +
(
(
(
(
(

. . .
1 2
1
1
1
2 2
1 1
0 1 0 0 0
0 0 1 0 0
. . . . . . .
. . . . . . .
. . . . . . .
0 0 0 1 0
1
n n
n n n n n
a a
x x
x x
u
x x
x x a a


( ( ( (
( ( ( (
( ( ( (
( ( ( (
( ( ( (
= +
( ( ( (
( ( ( (
( ( ( (
( ( ( (
( ( ( (

`

`
`

`
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observable canonical form
| |
1 1 0
2 2 1 1 0
1 1
1 1
1
1
1 0
0 0 0
1 0 0
. . . . . . .
. . . . . . .
. . . . . . .
. . . . .
0 0 1
0 0 0 1
n n
n n
n
n
n
n
n
n
x x b a b
x x b a b
u
x x
x x b a b
x
x
a
a
a
y

( ( ( (
( ( ( (

( ( ( (
( ( ( (
( ( ( (
= +
( ( ( (
( ( ( (
( ( ( (
( ( ( (

( ( ( (


=
`
`
`
`

2
0
1
.
.
.
n
n
b u
x
x

(
(
(
(
(
+
(
(
(
(
(

Canonical Forms
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Canonical Forms
| |
| |
2
1 1
2 2
1
2
1 1
2 2
1
2
( ) 3
:
( ) 3 2
Controllable Canonical Form
0 1 0
2 3 1
3 1
Observable Canonical Form
0 2 3
1 3 1
0 1
Y s s
Example
U s s s
x x
u
x x
x
y
x
x x
u
x x
x
y
x
+
=
+ +
( ( ( (
= +
( ( ( (


(
=
(

( ( ( (
= +
( ( ( (

(
=
(

`
`
`
`
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Pole Placement offers the flexibility to the designer to place the poles
of the system so as to achieve desired performance of the system.
We assume all the states are measurable and available for feedback.
The system should be controllable.
If controllability condition is satisfied, we can find n independent
feedback gains in a system so that the arbitrarily assigned/desired poles
performance is achieved.
For a SISO system, we designed a compensator so as to reassign the
dominant closed loop poles for desired performance specifications.
Pole placement controls can assign n poles and helps us in MIMO
control.
Pole Placement Control
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
A linear system can be represented in block diagram form as
Pole Placement Control
x Ax Bu
y Cx Du
= +
= +
`
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Review for poles in s-plane
Pole Placement Control
Loci of Constant Damping Ratio
Loci of Constant Undamped Natural Frequency
Q. Which of the two systems, the one shown in red and the other in blue,
has good damping characteristics and faster response?
A. The one in blue.
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
For a system given by
Pole placement feedback control law:
This is also called full state feedback pole placement control. (Why?)
Thus, Closed loop system and its solution is given as:
The eigen values of (A-BK) determine the stability and transient
response of the system. They are also called regulator poles.
Pole Placement Control
Cx y
Bu Ax x
=
+ =
`
u Kx =
x y
x
+
-
K
Bu Ax x + =
`

C
( )
( ) ( ) ( )
( ) (0)
A BK
x t A BK x t
x t e x

=
=
`
The underlying
assumption is all
the states x are
available for
feedback
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Now it can be represented in block diagram form as,
Or concisely,
Pole Placement Control
y
x
+
-
K
Bu Ax x + =
`

C
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Step 1. Check Controllability condition. If the system is controllable,
then proceed further.
Step 2. Form the characteristic polynomial of A i.e.
Step 3. Find the Transformation matrix T, that transforms the system
to controllable canonical form.
Pole Placement Control
1
1 1
n n
n n
sI A s a s a s a

= + + + +
T MW =
1
| | ... |
n
n n
Controllabilty Matrix M B AB A B

(
=

1 2 1
2 3
1
1
1 0
. . . .
. . . .
. . . .
1 0 0
1 0 0 0
n n
n n
a a a
a a
W
a


(
(
(
(
(
=
(
(
(
(
(

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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
The new state vector defined by transforms the
system to controllable canonical form
Pole Placement Control
1 1
1 1
1 2 1
controllable canonical form

0 1 0 0 0
0 0 1 0 0
. . . . .
. . . . .
. . . . .
0 0 0 1 0
1
n n n
x T ATx T Bu
where T AT and T B
a a a a



= +
( (
( (
( (
( (
( (
= =
( (
( (
( (
( (
( (


`

x Tx =
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Step 4: Using the desired eigen values (desired closed
loop poles) , write the desired characteristic polynomial.
Write,
The Characteristic Equation is
Pole Placement Control
n
... ,
2 1
0 ... ) )...( )( (
1
1
1 2 1
= + + + + =

n n
n n
n
s s s s s s
1 1
1 1

...

,

n n
K KT
Then u KTx Kx
x T ATx T BKTx

( = =

= =
=
`
1 1
| | 0 sI T AT T BKT

+ =
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
1 1
1 1 1 1
| | 0
0 1 0 0 0 0
0
0 0 1 0 0
1 0 0
0
n n n n
sI T AT T BKT
sI
a a a
s



+ =

( (
( (

( (
( ( = +
( (

( (
( (




=
1 1 2 2 1 1
1
1 1 1 1
0
0 0 1
( ) ... ( ) ( ) 0
n n n n
n n
n n n n
s
a a a s a
s a s a s a

(
(

(
(

(

(
(
+ + + + +

= + + + + + + + =
Pole Placement Control
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
are the coefficients of desired characteristic polynomial.
Step 5. The required state feedback gain matrix K can be determined
as below.
Pole Placement Control
| |
1
1 1 2 2 1 1
| | | |
n n n n
K a a a a T


=
We are able to place the poles anywhere
n i a
n i a
i i i
i i i
..., , 2 , 1 then
..., , 2 , 1 If
= =
= = +


'
i
s
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Ackermann's Method
The feedback gains can also be found by the following Ackermann
formula
are the coefficients of desired characteristic polynomial.
In MATLAB, the commands are ACKER and PLACE
Pole Placement Control
| |
1
1
0 0 0 1 ( )
n
M
K B AB A B A

(
=

_
1
1 1
where , by Cayley Hamilton Theorem
( )
n n
n n
A A A A I

= + + + +
'
i
s
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Example:
2
0 1 0 0
0 0 1 0
1 5 6 1
0 0 1
[ | | ] 0 1 6 rank 3 n completely controllable
1 6 31
x Ax Bu A B
M B AB A B
( (
( (
= + = =
( (
( (

(
(
= = = =
(
(

`
Pole Placement Control
3 2
3 2
1 2 3 1 2 3
3 2
1 2 3
1 1
Method 1: | | 0 6 5 1
0 6, 5, 1
Desired Poles (given) 2 4, 10
Desired Characteristic Polynomial
( 2 4)( 2 4)( 10) 14 60 200
14, 60, 200
| | |
n n n n
sI A s s s
s a s a s a a a a
s j s
s j s j s s s s
K a a



= = + + +
+ + + = = = =
= =
+ + + + = + + +
= = =
=
| |
1
2 2 1 1
|
[200 1, 60 5, 14 6] [199 55 8]
a a T T I
K


=
= =
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Control of Smart Structures 5. Review of Modern Control
34
Department of Mechanical Engineering
Dr. G. Song, Associate Professor
An experimental implementation of pole placement control is shown here
Base to Cantilever the 3.35 meter Composite I-Beam
Piezo Patches as Sensors and Actuators
PC with Real-time Control System
Power Amplifier for Peizo Actuators
The experimental setup
Pole Placement Control
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Experimental Setup Schematic
Strong Dir.
Weak Dir.
Power
Ampl-
-ifier
A/D
converter
dSPACE
Interface
PC with
MATLAB
D/A
converter
PZT
sensor
PZT
Actuator
Pole Placement Control
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Control of Smart Structures 5. Review of Modern Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Allows the designer to position the closed-loop poles of a system to
prescribed values.
Cx y
Bu Ax x
=
+ =
`
State Space form of system
u Kx =
Feedback Controller
State feedback gain matrix : G
( ) x A BK x
y Cx
=
=
`
Closed Loop System
x : state variable vector; in
this case is the voltage
output from the piezo sensor
and its derivative.
y : output vector. This is
same as the state variable
vector.
u : Input vector, in this case
is the pre-amplified voltage
to the piezo actuator.
Pole Placement Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor

x
`

y

+
-

Low Pass
Filter

G
x

Bu Ax x + =
`



C

Pole Placement Scheme
(

=
(

=
(

=
1 0
0 1
,
238
0
,
03 . 0 32 . 2161
0 . 1 0
C B A
| |
1.4230 0.1039 K =
For I-beam reduced second order state space system
State Feedback Gain, by Ackerman Formula
Pole locations in s-plane Damping Ratio
Existing
j 5 . 46 139 . 0 0030 . 0
Desired
j 4 . 48 5 . 12 0.25
Pole Locations
Pole Placement Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Simulation with Pole Placement Controller
Uncontrol l ed
Control l ed
control _si gnal
Y
To Workspace3
T
To Workspace2
Y1
To Workspace1
Swi tch3
Swi tch2
Sum5
Sum1
x' = Ax+Bu
y = Cx+Du
State-Space2
x' = Ax+Bu
y = Cx+Du
State-Space1
Si ne Wave1
Scope2
Scope1
K(1)
Gai n5
K(2)
Gai n4
-1
Gai n2
-1
Gai n1
m
m
0
Constant1
30
Cl ock2
Band-Li mi ted
Whi te Noi se1
Pole Placement Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Simulation with Pole Placement Controller
Closed and Open Loop Pole Locations Desired and Open loop Discrete Pole Locations
Pole-Zero Map
Real Axis
I
m
a
g

A
x
i
s
-10 -5 0 5
-50
-40
-30
-20
-10
0
10
20
30
40
50
Desired Poles Existing Poles
Pole-Zero Map
Real Axis
I
m
a
g

A
x
i
s
0.8 0.85 0.9 0.95 1
0
0.1
0.2
0.3
0.4
0.5
0.6
157
78.5
Existing Pole
Desired Pole
Pole Placement Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Simulation with Pole Placement Controller
Simulated Comparative Time Response Plot
With and Without Pole Placement Control
Bode Plot of the I-beam With and Without
Pole Placement Control
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
M
a
g
n
i
t
u
d
e

(
d
B
)
-80
-60
-40
-20
0
20
40
Without Control
With PP Control
10
1
10
2
10
3
-180
-135
-90
-45
0
5 10 15 20 25 30
-8
-6
-4
-2
0
2
4
6
8
Simulation Results
Time (sec)
A
m
p
l
i
t
u
d
e

(
V
o
l
t
s
)
Without control
With Pole Placement control
Pole Placement Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Pole Placement Experimental Results
Experimental Comparative Time Response
Plot With and Without Pole Placement Control
PSD Comparison Plot for Pole Placement
Controlled Strong Direction for 10-15
second Period (Decibel drop of 29 dB)
0 20 40 60 80 100 120
-80
-60
-40
-20
0
20
40
Frequency (Hz)
E
n
e
r
g
y

l
e
v
e
l

i
n

D
e
c
i
b
e
l
s
with Pole Placement control
without control
5 10 15 20 25 30
-8
-6
-4
-2
0
2
4
6
8
Time Response: Strong
Time (sec)
A
m
p
l
i
t
u
d
e

(
V
o
l
t
s
)
without control
with Pole Placement control
Pole Placement Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
5 10 15 20 25 30
-10
-8
-6
-4
-2
0
2
4
6
8
10
Time Response: Strong
Time (seconds)
A
m
p
l
i
t
u
d
e

(
V
o
l
t
s
)
with Pole Placement control
Pole Placement Experimental Results
Experimental Time Response Plot With Pole Placement Control when the beam is
excited manually for multi-modes at around 15 seconds. Initial 5-15 seconds depicts the
plot with the usual experimental excitation source.
Pole Placement Control
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer Design
In pole placement control we assumed, all the states are available for
feedback. In practical systems not all the states are available for
feedback.
To get an estimate of unmeasured states we need an observer.
Consider the system :
The observer is a subsystem to reconstruct the state vector of the plant.
Cx y
Bu Ax x
=
+ =
`
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
For observer mathematical model is same except we introduce a
term that accounts for the estimation error (difference between
observed output and measured output)
Thus, mathematical model of observer is
Observer Design

We use or to represent the estimation of

the state.
( )
( )
e
e e
x x
x Ax Bu K y Cx
A K C x Bu K y
= + +
= + +

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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer Design
x Ax Bu
y Cx
= +
=
`
( )
e
x Ax Bu K y Cx = + +
`

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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Full order state Observer: This means all the states will be estimated
and the order is same as that of the plant.
Observer Design
( )
( )( )
( )
e
e
e
x x Ax Ax K Cx Cx
A K C x x
e x x
e A K C e
=
=
=
=
`
`

`
Determines convergence of error
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Thus, if is stable, error will converge to zero
thereby implying that the estimated state converges to the actual
state.
To design an observer, the Observability condition should be
satisfied.
Then we can design an observer that has arbitrarily
assigned/desired poles.
Thus, this problem is a DUAL problem i.e. solve the pole
placement problem for the dual system.
We need to determine K
e
such that the error dynamics are
asymptotically stable with sufficient speed of response.
Observer Design
( )
e
A K C
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Dual Problem
The previous equation of error convergence, means we need to
determine K
e
for convergence of .
This is tantamount to solving pole placement problem for a set of
desired eigen values of the observer.
Observer Design
( )
e
A K C
Thus for a given system
We have to solve the Pole Placement problem (Dual Problem)
of the following system
where control signal is given by
-
T
T
T
x Ax Bu
y Cx
z A z C
n B z
v Kz

= +

= +
=
=
`
`
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
How do we arrive at the dual problem
Observer Design
Given system
Pole Placement problem for above system is to find
such that is stable
Now for observer problem we have to make stable
So, if we take
( -
the transpose of pole plac
( -
e
)
)
e
K
K
A
x x u
K C
y x

= +

`
( - ) ,
We can solv
ment pr
e the observer p
ob
roble .
lem
m
T T T T
K K =
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer Design
Now for observer problem, we have t
On comparing ( - ), we get follow
o solve the Pole Placement
probl
ing matrices for obse
em (Dual Problem) of t
rver probl
he following system (Chang
em
, ,
e th
e
T
e
T T
A K C
K A C K = = =
e variable names)
where control signal is given by
-
and
T
T
T
T
e
z A z C
n B z
Kz
K K

= +
=
=
=
`
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Summary
Observer Design
Observer problem
The observer problem can be converted to Pole Placement
problem as (Dual Problem)
: Control Law
T
T
T
T
e
x Ax Bu
y Cx
z A z C
n B z
Kz
K K

= +

= +

`
`
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Transformation approach to find observer gain K
e
Step 1. Check Observability condition. If the system is observable,
then proceed further.
Step 2. Form the characteristic polynomial of A (same as A
T)
i.e.
Step 3. Find the Transformation matrix Q, that transforms the system
to Observable canonical form.
The new state vector defined by transforms the
system to observable canonical form.
Observer Design
1
( ) : ( )
T T T T n T
N C A C A C Condition rank N n

(
= =

. . .
1
1 1
n n
n n
sI A s a s a s a

= + + + +
1
( )
T
Q WN

=
Matlab: POLY gives ch. eqn
x Q =
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer Design
1 2 1
2 3
1
... 1
... 1 0
where, ... ... ... ... ...
1 ... ... ...
1 0 ... ... 0
n n
n n
a a a
a a
W
a


(
(
(
( =
(
(
(

1 1
0
1
1 1 0
1 1
1 1 0
1
Observable Canonical form
,
0 ... ... 0
1 ... ... ...
0 ... ... ... ...
...
... ... ... 0 ...
0 ... 0 1
[0 0 ...
n
n n
n
n n
x Q Q AQ Q Bu
y CQ
a
b a b
a
b a b
Q AQ Q B
b a b
a
CQ

= = +
=

(

(
(

(
(

(
( = =
(
(
(
(

(

(

=
`
_
0 1]
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer Design
1
( ) ( )
( )( )
,
( ) ( )( )
,
( )
e e e
e
e
e
x Ax Bu K y Cx A K C x Bu K Cx
x x A K C x x
Take x Q x Q
Q A K C
Take
Q A K C Q

= + + = + +
=
= =
=
=
=
`

`
`

`
`

`
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer Design
| |
1
1 1
1
1 1
1 1
1
1 1
( )
,
... ...
0 ... 0
... ...
0 0 ... 0 1
... ... ... ...
0 ... 0
e
n n
n n
e e
n n
n n
e
Q A K C Q
Take Q K K Q
Q K CQ

=
( (
( (
( (
= =
( (
( (
( (

( (
( (
( (
= =
( (
( (
( (

`
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer Design
1
1 1
2 2
1 1
1 2
1 1 2 2
Chara. Eqn. ( ) 0
0 ... 0
1 ... ...
0 0 1 ... 0
... ... ... ...
0 ... 0 1
( ) ( ) ...( ) 0
e
n n
n n
n n
n n n
n n
sI Q A K C Q
s a
s a
a
s
s a
s a s a s a

=
+
(
(
+
(
(
= +
(
(
(
+ +

+ + + + + + =
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Step 4: Using the desired eigen values (desired closed
loop poles) , write the desired characteristic polynomial.
On comparing the desired characteristic polynomial, we get
From the above we can now solve for K
e
Observer Design
n
... ,
2 1
0 ... ) )...( )( (
1
1
1 2 1
= + + + + =

n n
n n
n
s s s s s s
1 1 1 1 1 1
2 2 2 2 2 2
... ...
n n n n n n
a a
a a
a a



+ = =


+ = =

+ = =

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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer Design
1
1
1
1 1 1 1
1
1 1 1 1
( )
...
( ) . .
. .
n
n
T
e
n n n n
n n n n
T
e
K Q Q WN
a a
a a
K WN
a a

(
(
(
= =
(
(
(


( (
( (

( (
( (
= =
( (
( (
( (


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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Alternate approach to find observer gain K
e
(We will arrive at the
same result)
If the desired eigen values of observer are known
(desired closed loop poles of observer) , we can write the desired
characteristic polynomial.
Observer Design
1 2
( ) ( )( )...( )
T T
n
sI A C K s s s =
e
Note that eigen values of ( - ) and ( - ) are same.
Thus, K and K are related by
T T T
T
e
A K C A C K
K K =
( ) ( )
T T T
sI A C K sI A K C
n
... ,
2 1
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Following the approach as discussed in pole placement control, we
will derive the Observer Gain matrix.
For the system
The dual problem is given as
The state feedback law is given by
Recall, from the pole placement problem, K is given as
Observer Design
Cx y
Bu Ax x
=
+ =
`
T
T
T
z A z C
n B z
= +
=
`
Kz =
( )
T T
z A C K z = `
| |
1
1 1 2 2 1 1
| | | | where
n n n n
K a a a a T T MW


= =
Desired Eigen values of
observer gain matrix are
n
... ,
2 1
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Thus,
For the original system, the Observability matrix is
Observer Design
1
( )
T T T T n T
T MW C A C A C W

(
= =

. . .
1
( )
T T T T n T
N C A C A C

(
=

. . .
1 2 1
2 3
1
1
1 0
. . . .
where . . . .
. . . .
1 0 0
1 0 0 0
n n
n n
a a a
a a
T NW W
a


(
(
(
(
(
= =
(
(
(
(
(

1 1
Since,
( ) ( )
T T T T T
T T
W W T W N WN
T WN

= = =
=
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer Design
| |
1
1 1 2 2 1 1
1 1 1 1
1 1
1 1 1 1
1 1
| | | |
( ) ( ) . .
. .
For any matrix, ( ) ( )
n n n n
T
e
n n n n
n n n n
T T T
e
T T
K a a a a T
K K
a a
a a
K K T WN
a a
P P

=
=

( (
( (

( (
( ( = = =
( (
( (
( (


=

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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
| |
1,2
1
2
2
Example:
0 20.6 0
0 1
1 0 1
desired pole for the observer
1.8 2.4
0 1
| rank 2 completely observable
1 0
0 20.6
| | 0 20.6
1 20.6
desired characteristic equation
(
T T T
A B C
j
N C A C
a s
sI A s
s a

( (
= = =
( (

=
(
(
= = =
(


=

= = +

=

1
2
2
2 2
1 1
1 1
3.6
1.8 2.4)( 1.8 2.4) 3.6 9
9
9 20.6 29.6
( ) ( ( ) )
3.6 0 3.6
T T
e
s j s j s s
a
K WN Q WN I
a

+ + + = + +

=

+
( ( (
= = = = =
( ( (


Observer Design
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64
Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer in closed loop system
Observed states feedback
(all the states)
Output/Measured states
( not all the states)
Pole Placement Controller
Gain ( designed assuming
all the states)
Error between
observed states
and measured
state
Observer Gain
(All the states are
available in
observer)
u Kx =

Controlled input
( using the observed states)
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
The system :
The Observer:
Control Law:
Error Dynamics:
Write the closed loop equations in terms of error e(t) and state x(t)
Observer in closed loop system
Cx y
Bu Ax x
=
+ =
`
( )
( )
e
e e
x Ax Bu K y Cx
x A K C x Bu K y
= + +
= + +
`

`

u Kx =

( ) ( )( )
( )
e e
e
x x Ax Ax K Cx Cx A K C x x
e x x e A K C e
= =
= =
`
`
`
( ) ( )
( )
x Ax Bu Ax BKx A BK x BK x x
x A BK x BKe
= + = = +
= +
`
`
Controller
System
Observer
y
x
u Kx =
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Thus the closed loop dynamics is
The eigen values of
Thus, we can design independently the controller gain and the observer
gain.
Practically, we choose the observer poles to be 2-5 times faster than
the desired closed loop poles of the system.
Observer in closed loop system
( )
0 ( )
cl
e
A
A BK BK x x
A K C e e

( ( (
=
( ( (

`
`
_
( ) ( )
cl e
A eig A BK eig A K C =
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67
Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Example:
For the above system, design an observer based pole placement
controller with closed loop poles at
and observer poles at . Simulate the
closed loop system for Initial conditions [0 0 2]
T
Observer in closed loop system
| |
0 1 0 1
0 0 1 8
0 -24 -10 106
1 0 0
x x u
y x
( (
( (
= +
( (
( (

=
`
1 2, 1 2, 5 s j s j s = + = =
5, 5, 5 s s s = = =
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Step 1. Check Controllability and Observability
Step 2. Assuming all the states are available for feedback, find
feedback gain for the pole placement controller for the desired poles.
Observer in closed loop system
1 8 106
8 106 868 ( ) 3
106 868 6136
1 0 0
0 1 0 ( ) 3
0 0 1
M rank M
N rank N

(
(
= =
(
(

(
(
= =
(
(

| |
0.5000 -0.0904 -0.0398 K =
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Step 3. Using the dual system, find the observer gain for the desired
observer poles.
For the given Initial conditions, form a closed loop system and
simulate it using SIMULINK/Matlab. The simulation block diagram is
shown next.
Observer in closed loop system
5
1
-5
e
K
(
(
=
(
(

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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer in closed loop system
Blue: Observer
Black: Plant
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer in closed loop system
Remember the output of plant is
1
y x =
Observer Output as compared to plant output
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Department of Mechanical Engineering
Dr. G. Song, Associate Professor
Observer in closed loop system