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Computation of K : Design methods

Dr. Abdul Qayyum Khan


Room No. SE-302
Department of Electrical Engineering,
Pakistan Institute of Engineering and Applied Sciences,
P.O. Nilore Islamabd Pakistan
Email: aqkhan@pieas.edu.pk
http://www.pieas.edu.pk/aqayyum/

()

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Lecture Outline

Discussed so far: how controllability is necessary and sufficient


condition for design of state feedback controller
Today; we shall discuss
Computation methods for state feedback gain matrix K
Design of K using the transformation method
Design of K using the Direct substitution method
Design of K using Ackermann formula

()

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Design of K using the method of Transformation matrix T


I
Consider the system
x = Ax + Bu

(1)

where x n , A nn matrix and B n1 . Consider the control of


the form u = Kx. Then
x = (A BK ) x

(2)

Let 1 , 2 , n be the desired eigenvalues.


K must be computed such away that the closed loop eigenvalues should
be 1 , 2 , , n

()

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Design of K using the method of Transformation matrix T


II
The following algorithm is used to compute K .

Algorithm 1

Step I. Check the controllability, if the system is controllable, then go to


step II. Otherwise exit.
Step II. From the characteristics polynomial of A, i.e.;
|sI A| = s n + a1 s n1 + a2 s n2 + + an1 s + an

(3)

determine the values of the a s


()

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Design of K using the method of Transformation matrix T


III
Step III. Determine the transformation matrix T that transform the
system (1) into CCF. If the system is in CCF, then T = I .
Otherwise it is given by
T = MW

(4)

where
M=

.
.
.
B .. AB .. .. An1 B

an1 an2 a1
an2 an3 1
..
..
..
..
.
.
.
.
a1
1
0 0
1
0
0 0

W =

()

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1
0
..
.

0
0

(5)

(6)

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Design of K using the method of Transformation matrix T


IV
This transformation is not only necessary to find CCF, it is also used to
compute K
Step IV. Form a characteristics polynomial using the desired eigenvalues
1 , 2 , , n as
(s 1 ) (s 2 ) (s n )
= s n + 1 s n1 + 2 s n2 + + n1 s + n
Step V. Compute K as
i
h
K = n an ... n1 an1 ... ... 1 a1 T 1

()

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(7)

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Design of K using the method of Transformation matrix T


V
Example 1:

Consider


0
0
1
0

0
0
1
x + 0 u
x =
1
1 5 6

(8)

Find, if possible, a state feedback control of the form u = Kx which


places the closed loop poles at s12 = 2 j4, s3 = 10. Use the method
of transformation.

Solution:
Following the steps given in algorithm 1, we have
()

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Design of K using the method of Transformation matrix T


VI
Step I. Controllability:

0
0
1


M = B AB A2 B = 0 1 6
1 6 31

(9)

Here the Rank(M) = 3, since |M| = 1.


Step II. Form the characteristic polynomial of A


s 1
0

1 = s 3 + 6s 2 + 5s + 1
|sI A| = 0 s
1 5 s +6

(10)

Here a1 = 6, a2 = 5, a3 = 1

Step III. Since the system is already in CCF, the transformation matrix
T =I
()

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Design of K using the method of Transformation matrix T


VII

Step IV. Form the characteristic polynomial using the desired poles; i.e.;
(s + 2 + j4) (s + 2 j4) (s + 10)
3

(11)

= s + 14s + 60s + 200

(12)

Here 1 = 14, 2 = 60, 3 = 200


Step V. Form K as
K=

()

3 a3 2 a2 1 a1

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199 55 8

(13)

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Design of K using the direct substitution method I


This method is relatively straight forward and easy
Very suitable for the systems with n 3
For n > 3, the computations are tidy
Consider the case n = 3. The K matrix is then


K = k1 k2 k3
Also note that
|sI A + BK | = s 3 + 1 s 2 + 2 s + 3

(14)

is a polynomial whose coefficient contains k1 , k2 and k3 .


Form a characteristic polynomial of the desired poles 1 , 2 , 3 ; i.e;
(s 1 ) (s 2 ) (s 3 ) = s 3 + 1 s 2 + 2 s + 3
()

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Design of K using the direct substitution method II


Comparing the coefficient in the similar power of s in (14) and (15),
Calculate the value of K

Example 2
Consider the same example as discussed under the section of the method
of transformation.

Solution:
Here in this example, we have
K=
()

k1 k2 k3

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(16)
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Design of K using the direct substitution method III


Then


s
1
0

0
s
1
|sI A + BK | =
1 + k1 5 + k2 s + 6 + k3




= s 3 + (6 + k3 s 2 + (5 + k2 )


(17)

The desired polynomial is


(s + 2 + j4) (s + 2 j4) (s + 10)

(18)

= s 3 + 14s 2 + 60s + 200

(19)

Comparing the coefficients, the K matrix is




K = k1 k2 k3


= 200 1 60 5 14 6


= 199 55 8
()

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Design of K using the formula of Ackermann I


Consider again (14)
x = (A BK ) x

= Ax

(20)
(21)

and the desired eigenvalues are 1 , 2 , n . The required characteristics


equation is

|sI A + BK | = |sI A|
= (s 1 ) (s 2 ) (s n )
= s n + 1 s n1 + + n1 s + n

(22)

Recall Calay-Hamilton Theorem which is


=A
n + 1 A
n1 + 2 A
n2 + + n1 A
+ n I
(A)
()

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(23)
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Design of K using the formula of Ackermann II

(23) is used to derive Ackermanns formula


Consider the case for n = 3. Notice from (23) that
I =I
= A BK
A
2 = (A BK )2 = A2 ABK BK A

A
3 = (A BK )3 = A3 A2 BK ABK A
BK A
2
A

()

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Design of K using the formula of Ackermann III

multiply these equation by 1 ,2 ,3 and adding them as follows


= 3 I + 2 A
+ 1 A
2 + A
3
(A)

= 3 I + 2 (A BK ) + 1 (A2 ABK BK A)
BK A
2
+ A3 A2 BK ABK A
= 3 I + 2 A + 1 A2 + A3 2 BK
|
{z
}
(A)

A2 BK ABK A
BK A
2
1 ABK 1 BK A
= (A) 2 BK 1 ABK 1 BK A
A2 BK ABK A
BK A
2
(A)

()

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Design of K using the formula of Ackermann IV


= 0 from CH-Theorem. Here note that (A) 6= 0, since it is not
As (A)
the characteristic polynomial of A. The above equation can be re-written
as
+ KA
2 ) + AB(1 K + K A)
+ A2 BK
(A) = B(2 K + 1 K A

+ KA
2
h
i 2 K + 1 K A

= B ... AB ... A2 B
1 K + K A
K

+ KA
2
2 K + 1 K A

(A) = M
1 K + K A
K

()

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Design of K using the formula of Ackermann V


= 0 from CH-Theorem. Here note that (A) 6= 0, since it is not
As (A)
the characteristic polynomial of A. The above equation can be re-written
as
+ KA
2 ) + AB(1 K + K A)
+ A2 BK
(A) = B(2 K + 1 K A

+ KA
2
h
i 2 K + 1 K A

= B ... AB ... A2 B
1 K + K A
K

+ KA
2
2 K + 1 K A

(A) =
M
1 K + K A
|{z}
K
Controllability Matrix

()

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Design of K using the formula of Ackermann VI


Since the system is completely state controllable, M 1 exist. Therefore

+ KA
2
2 K + 1 K A

M 1 (A) =
1 K + K A
K
or

+ KA
2
2 K + 1 K A
= M 1 (A)

1 K + K A
K

Pre-multiplying both sides by





0 0 1 , we get


M 1 (A)
h
i


..
..
2
= 0 0 1
B . AB . A B (A)

K=

()

0 0 1

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Design of K using the formula of Ackermann VII


Generalizing this equation for n-dimensional system, we have


K = 0 0 1 M 1 (A)
i

h .
.
= 0 0 1
B .. AB .. An1 B (A)
This equation is referred to as Ackermanns formula for the determination
of state feedback gain matrix.

Example 3:
Consider the same example as discussed before.

Solution
()

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Design of K using the formula of Ackermann VIII


Here the controllability matrix M is
M=

B AB A2 B

0 0
1
= 0 1 6
1 6 31

From example 1 and 2, we have 1 = 14, 2 = 60, 3 = 200. Therefore,


(A) = 3 I + 2 A + 1 A2 + A3

199 55
8
7
= 200I + 60A + 14A2 + A3 = 8 159
7 43 117

The matrix K can be computed as




K = 0 0 1 M 1 (A)


= 199 55 8
()

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Comments and Remarks


For SISO systems, K is unique for the desired poles from the client
For MIMO systems, K is not unique.
The desired closed loop poles is a compromise between rapidity of the
response of the error and sensitivity to disturbance and noises, If
these are at the dispense of designer.
For 2nd order system, the response characteristics can be precisely
correlated with the location of the desired closed loop poles.
For higher order system, this is not easy job.
MATLAB function: acker and place These function compute K by
placing the closed loop poles at the desired location; i.e.;
Given matrices A and B and a vector of desired closed loop poles p,
K can be computed as
K = acker (A, B, p)
K = place(A, B, p)
()

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Comments and Remarks


For SISO systems, K is unique for the desired poles from the client
For MIMO systems, K is not unique.
The desired closed loop poles is a compromise between rapidity of the
response of the error and sensitivity to disturbance and noises, If
these are at the dispense of designer.
For 2nd order system, the response characteristics can be precisely
correlated with the location of the desired closed loop poles.
For higher order system, this is not easy job.
MATLAB function: acker and place These function compute K by
placing the closed loop poles at the desired location; i.e.;
Given matrices A and B and a vector of desired closed loop poles p,
K can be computed as
K = acker(A,B,p)

Function Acker is used for single input systems


()

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