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Lecture Outline
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(1)
(2)
()
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Algorithm 1
(3)
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(4)
where
M=
.
.
.
B .. AB .. .. An1 B
an1 an2 a1
an2 an3 1
..
..
..
..
.
.
.
.
a1
1
0 0
1
0
0 0
W =
()
1
0
..
.
0
0
(5)
(6)
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()
(7)
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Consider
0
0
1
0
0
0
1
x + 0 u
x =
1
1 5 6
(8)
Solution:
Following the steps given in algorithm 1, we have
()
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0
0
1
M = B AB A2 B = 0 1 6
1 6 31
(9)
(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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Step IV. Form the characteristic polynomial using the desired poles; i.e.;
(s + 2 + j4) (s + 2 j4) (s + 10)
3
(11)
(12)
()
3 a3 2 a2 1 a1
199 55 8
(13)
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(14)
(15)
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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
(16)
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= s 3 + (6 + k3 s 2 + (5 + k2 )
(17)
(18)
(19)
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= Ax
(20)
(21)
|sI A + BK | = |sI A|
= (s 1 ) (s 2 ) (s n )
= s n + 1 s n1 + + n1 s + n
(22)
(23)
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A
3 = (A BK )3 = A3 A2 BK ABK A
BK A
2
A
()
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= 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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+ 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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+ 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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+ 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
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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Example 3:
Consider the same example as discussed before.
Solution
()
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B AB A2 B
0 0
1
= 0 1 6
1 6 31
199 55
8
7
= 200I + 60A + 14A2 + A3 = 8 159
7 43 117
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