Module: 9

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Control Law and Controller Design

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using LSVF

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T. K. Ghoshal
Honorary Emeritus Professor, Electrical Engineering,
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Centre for Knowledge Based Systems

Jadavpur University
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2014
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 Units
Unit 9.1: LSVF for pole positioning-I

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Unit 9.2: More on LSVF

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 Contents
Pedagogic Perspective

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Unit Level Discussions

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 Contents: Unit 9.1
Unit-9.1: LSVF for pole positioning

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Concept of Pole Positioning

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Concept of LSVF

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LSVF as cascade or Multi-loop control

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Pole positioning for Single Input Systems,

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Controllability requirement

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Pole positioning for Multi- Input Systems
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 p
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Pole Placement with LSVF

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 Pole Placement
X = AX + Bu

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u = KX , K = [k1 k 2 k3 ]

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ks
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We may recall that if the above system is

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controllable then one can place the closed loop

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poles at arbitrary locations.

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If the location of the desired poles are known,
0K
the only unknown is the feedback matrix K.
T1

The numerical methods for finding the elements

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of K-matrix are rather straight forward.

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Matlab/Scilab routines are available.

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 Pole Placement-2
Conventional frequency domain methods do

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not allow us to specify all poles in systems of

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order higher than 2 because they do not allow

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for a sufficient number of unknown parameters

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to place all of the closed-loop poles uniquely.

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One gain to adjust, or compensator pole and zero to

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select, does not yield a sufficient number of
0K
parameters to place all the closed-loop poles at
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desired locations.
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In the light of this, a complete freedom to

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choose pole locations looks extremely

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attractive.
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 Pole Placement-3
Because LSFB is being used, the system order does

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not change. However, the users may not be interested

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in pole locations and keeping the system order frozen.

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They would need robustness, accuracy, low sensitivity, etc,

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which pole locations do not guarantee.

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In the case of single input system the K-matrix is

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unique and the designer does not have any freedom

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once the desired pole locations are frozen.
0K
One may of course tinker with the locations of non-dominant
T1

poles to get some effects like reducing certain gains.

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For multi-input systems the feed back matrix is not

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unique even for a given set of poles. This freedom may

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be utilized for some optimization, for example to get the

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system which is least sensitive to gain perturbations.

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 Pole Placement-4
The pole-placement method is somewhat

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similar to the root-locus based design

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method in that we place closed-loop

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poles at desired locations

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In the root-locus design we generally

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place only the dominant closed loop poles
0K
at the desired locations and
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Keep fingers crossed with a hope that

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higher order poles will not shift to undesired

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locations
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 Pole Placement-5
In the pole-placement design we place all

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closed-loop poles at desired locations.

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Because to relocate n closed loop poles n

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parameters are necessary which is

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possible by a full state feedback

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However, LSVF methods allow only a
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limited degree of freedom to assign
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closed-loop zero locations, which

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frequency domain methods do allow

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through compensator zero

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 Is full state feedback feasible?
In real world problem all the state variable are

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often not available for measurement

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Only some state variables or their linear

or
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combinations are available as measurements

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In that situation designer has to estimate the

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state from the measurements (often noisy)
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Estimators are the solution in that situation.
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Deterministic estimators e.g. Luenberger Observer
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Stochastic estimators for noisy measurements, e.g.

Kalman Filter
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 Is full state feedback feasible?-2
The estimated states are used as

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feedback for development of controller

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The estimator and controller work in

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collaboration and some kind of work

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sharing.

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It may be shown that, with a perfect
0K
T1
observer, the pole shifting gain matrix
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remains the same, whether we use LSVF

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or feedback only the estimated states.

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 Control Problems solved using SVF for pole placement

Regulator Problem: where the system has to

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maintain a set point of fixed value (may be

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zero)

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The well known technique of compensator design

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using pole placement with full state feedback falls

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under this category

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Tracking Problem, or, Servo Problem: where a
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time varying desired state trajectory has to be
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followed by the system

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 Problems solved using SV F for pole placement-2

In case of pole placement when there is

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no additional reference input apart from

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the full state feedback the problem is

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known as regulator problem where the

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objective is to drive the initial condition to

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zero from a non zero value in a specified
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manner.
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Note that the reference input is zero here

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which may also be a non zero constant

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 Controllability Requirement
It has already been discussed that the system for

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which SV feedback controller is to be designed

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must be controllable

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From the definition of Controllability is has been well

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understood that the closed loop poles cannot be

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relocated using state feedback when system is

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uncontrollable

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For computation of feedback gain the system
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model is to be expressed in controllable
T1

canonical form
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If the SV model is not expressed in controllable

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canonical form, it is to be done by similarity

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transformation
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Pole positioning for Single Input Systems

X = AX + Bu

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ks
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The control vector u is designed

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in the following state feedback form

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u = KX

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T
0K
This leads to the following closed loop system
T1

X = ( A BK )X = A X
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CL
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where ACL = ( A BK )
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 X
+ X

u
B +
C
y

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A

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or
(a)

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X
+ + X

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B C

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r + y

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T
0K A
T1

K
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(b)
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a. State Space Representation of a Plant;

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b. plant with state-feedback

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 Objective of Pole Placement

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The gain matrix K is designed

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in such a way that

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sI ( A BK ) = (s 1 ) (s 2 ) (s n )

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where 1 , , n are the desired pole locations
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and n denotes the order of the system
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 Step for Pole Placement-1
X = AX + Bu

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u = KX , K = [k1 k 2 k3 ]

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0

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1 0 0 0

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0 0 1 0 0

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A=
0K

T1

0 0 0 0 0 1
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a
n an 1 an 2 a2 a1
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Controllable Canonical Form

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 Step for Pole Placement-2
X = ( A BK )X = ACL X

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0 1 0 0 0 0 0 0 0 0

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0 0 1 0 0 0 0 0 0 0

or
ACL =

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0

0 0 0 0 1 0 0 0 0 0 0

n
a
a1 k1 k n

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n an 1 an 2 a2 k2 k3 k n 1

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T
0 1 0K0 0 0

T1
0 0 1 0 0
ACL =
CT

0 0 0 0 1
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(a + k ) (a + k ) (a + k )
(a2 + k n 1 ) (a1 + k n )
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n 1 n 1 2 n2 3
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 Step for Pole Placement-3
If 1 , , n are the desired poles then the desired

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characteristic polynomial is given by

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(s 1 ) (s 2 ) (s n ) = s n + 1s n1 + 2 s n2 + + n

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This characteristic polynomial will lead to

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the closed loop system matrix as

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T
0 1 0K 0 0 0

0 0 1 0 0
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ACL =
CT

0 1
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0 0 0

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n n 1 n2 2 1
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 Step for Pole Placement-4
Comparing the characteristics equation we get

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an + k1 n k1 n an

ks

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an 1 + k 2 n 1 k 2 n 1 an 1

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= =

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a +k k a

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1 n 1 n 1 1

T
0K
If the open loop system is not in companion
T1

form transform it using similarity transformation

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 Computation of Transformation Matrix
The state variable model, if not expressed in controllable canonical

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form, then we need to transform the state vector as X=T Z

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T = Transformation matrix, T = MW

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where M is the controllability matrix = B [ AB An-1 B ]

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an 1 an 2 a1 1

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an 2 an 3 1 0

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Given, the characteristic equation :
W =

T
0K sI A = s n + a1s n 1 + + an 1s + an
a1 1 0 0
T1
1
0 0 0
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Thus the transformed state space model in controllable canonical form :

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( ) ( )
Z = T -1 AT Z + T -1 B u
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y = (CT )Z
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 Ackermanns Formula
The steps discussed are useful for 2nd / 3rd

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order system.

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Computation of feedback gain is difficult for

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higher order system

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Ackermanns formula is useful in such situation

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and usually followed in Matlab for pole
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placement 0K
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Steps for this method is provided below. For

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details please consult the book [Ogata2002]

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 Ackermanns Formula -2
Characteristic equation for closed loop system

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~ ~
sI A = s + 1s + 2 s + + n ; A = A BK
n n 1 n2

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or
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By Cayley Hamilton theorem
()
~ ~n ~ n 1 ~ n2

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A = A + 1 A + 2 A + + n = 0

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~
Substituting the value of A and using
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0K
( A) = An + 1 An 1 + 2 An 2 + + n 0 we have for n = 3
T1

~ ~
2 K + 1 KA + KA 2
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( A) = [B AB ]
~
1 K + KA
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2
A B
M

K
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 Ackermanns Formula -3
~ ~
2 K + 1 KA + KA 2

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[
( A) = B AB A2 B ]
1 K + KA
~

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or
K

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~ ~
2 K + 1 KA + KA 2

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[ ]

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B AB A2 B ( A) =
1 ~
1 K + KA

T
K
0K
[
[0 0 1] B AB A B ( A) = K ]
1
T1
2
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By the method of induction the formula given below can be established

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for n th order system.

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K = [0 0 1] B [ AB An 1 B ( A) ]
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 Pragmatics on the Choice of closed loop poles
Do not choose the closed loop poles far

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away from the open loop poles, otherwise

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it will demand high control gain (effort)

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You thought gains come free with the

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controller? What price high gain?

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Do not choose the closed loop poles very
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negative,
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In frequency domain it leads to large

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bandwidth, and hence noise gets amplified

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More costly actuators would be required.

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 Selection of Pole Locations for Design
Mind that control effort depends on how far the

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closed loop poles are shifted by the feedback

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Substantial control effort are needed for the

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pole nearer to the zero of the system

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The pole placement strategy should aim to

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Fix only unwanted aspects of the open loop system

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Avoid large increase in bandwidth
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Avoid to move the poles nearer to the zeros

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For higher order system the approach is to

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choose desired pair of dominant 2nd order poles

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with other poles are considered well damped

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Selection of Pole Locations for Design-2
Zeros should be far enough to affect the

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approximated second order behavior of the

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system

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For a system with 2 lightly damped pole pairs

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with high frequency and low frequency:

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One can design choosing both frequency and the

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damping ratio as desired for low frequency mode
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Select the other poles to provide damping for high
T1

frequency mode keeping the frequency constant to

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economize the control effort.

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 LSVF as cascade or Multi-loop control

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n
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T
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T1
CT
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Pole positioning for Multi- Input Systems
We consider nth order plant excited by p no. of

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xinputs
= Ax + Bu

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The control vector u is a pth order vector. u is designed

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in the following state feedback form

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u = Kx

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This leads to the following closed loop system
T
0K
x = ( A BK )x = ACL x
T1

where ACL = ( A BK )
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K is a p n feedback gain matrix with

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real and constant elements

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 Pole positioning for Multi- Input Systems-2
Feedback gain can be obtained in three

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different approaches [Chen1999]:

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Cyclic Design by converting multi input problem into

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a single input problem

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Lyapunov Equation method

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Canonical Form method

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Direct algorithm for pole placement by state-
0K
derivative feedback for multi-input linear systems by
T1

[Abdelaziz2005]
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Abdelaziz T. H. S., Valek M, Direct algorithm for pole

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placement by state-derivative feedback for multi-

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inputlinear systems - nonsingular case, Kybernetika,

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vol. 41, no. 5, 2005, pp. 637-660

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 Cyclic Design
The multi input problem is transformed into

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single input problem and gain is obtained using:

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Theorem1: If the n-dimensional p-input pair

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(A,B) is controllable and if A is cyclic, then for

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almost any pth order vector v, the single input

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pair (A, Bv) is controllable.

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A is cyclic iff the Jordon form of A has one and only

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one Jordan block associated with each distinct
eigen value.
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Theorem2: If (A,B) is controllable, then for

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almost any real constant matrix Kpn matrix (A-

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BK) has only distinct eigen values and is,

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consequently, cyclic.
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 Cyclic Design-2
Illustration:

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A is the system matrix of a 5th system controlled by 2

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inputs. Input matrix is B. (A, Bv) is single input pair.

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2 1 0 0 0 0 1 v2

n
0 2 1 0 0 0 0 0

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1
v
A = 0 0 2 0 0 B = 1 2 Bv = B = v1 + 2v2

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v2
0 0 0 1 1 4 3 4v1 + 3v2

T
1 0 v
0 0 0 0 1
0K
1
T1

( A, B ) is controllable as the 3rd and the 5th row of B are non zero
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( A, Bv ) is controllable when v1 0 and v1 2v2

The probability of arbitrarily selected (v1 , v2 ) to lie on either straight line is zero.
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Hence, ( A, Bv ) is controllable
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 Cyclic Design-3
Using the two theorems, we find K (gain).

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When A is not cyclic , introduce u = w K 1 x

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such that A = A BK 1 is cyclic

or
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x = Ax + Bu x = ( A BK 1 )x + Bw

n
x = A x + Bw

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( A, B ) is controllable, so is (A , B ). Thus there exists a p th order vector v

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T
for which (A , Bv ) is controllable
0K
T1

We introduce another feedback w = K 2 x with K 2 = vk , k n

x = (A BK 2 )x = (A Bvk )x
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(A , Bv ) being controllable, eigen values of (A Bvk ) can be assigned.

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Hence, u = K 1 x K 2 x = (K 1 + K 2 )x
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 Cyclic Design-4
State feedback by cyclic design

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ks
K2

or
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K1

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x

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r =0 w u + x
B C
T
+ + 0K
+
T1

A
CT
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 Canonical Form Method
In this design we must transform (A,B) into controllable

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canonical form.

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We present the method for a 6th order system with 2

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inputs. We first search linearly independent column of

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the controllability matrix in order from left to right.

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It is assumed that controllability indices are 1=4 , 2=2

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After transforming into controllable canonical form :

T
111

112 113 0K
114 121 122


T1
1 0 0 0 0 0
0 1 0 0 0 0
0 0 0 0 0
T
CT

1
A= 0 0 1 0 0 0 ; B =
b12 0 0 0 1 0

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211 212 213 214 221 222
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0 0 0 0 1 0

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 Canonical Form Method-2
From given six eigen values of the closed loop system, we get characteristic eq n

p
(s )( )

ho
4
+ 111s 3 + 112 s 2 + 113 s + 114 s 2 + 221s + 222

ks
Let us select gain K as

or
K=

W
1 b12 (111 111 ) (112 112 ) (113 113 ) (114 114 )
1
121 122

0 1 ( 211 211 ) ( 212 212 ) ( 213 213 ) ( 214 214 ) ( 221 221 ) ( 222 222 )

ai
M
T
111 112 113 114 00K 0

1 0 0 0 0 0
T1

0 1 0 0 0 0

CT

A BK = 0 0 1 0 0 0

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211 212 213 214 221 222

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0 0 0 0 1 0
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 p
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ks
Thank you

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for

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M
Your kind Attention T
0K
T1
CT
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