EE-379

LINEAR CONTROL SYSTEMS

Lecture No 41, 42

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 12
Design via State Space
12.1 Introduction
12.2 Controller Design
 Topology for Pole Placement
Instructor: Dr. Farid Gul  Pole Placement for Plants in
Phase-Variable Form
Class: BEE 5C
Electrical Engineering Department

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 Assignment
Convert the following transfer function to the state-space
representation in phase-variable form and clearly write marices
A, B, C, and D.

C (s) s 2  2s  7
T (s)   4
R( s ) s  7 s 3  3s 2  5s  9

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 Home Assignment
Convert the given transfer
function for the mechanical
translational system to the
state-space representation
in phase-variable form.
Draw equivalent block
diagram showing the phase
variables.

Submit on Monday (19 May) at 3 pm

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 Introduction
Frequency domain Design
• Controller is designed to place the dominant second-order pair of
poles
• Effect of higher-order poles on the second-order approximation ???

Desirable
Specify/place all closed-loop poles of the higher-order system

Limitations of Frequency Domain Methods

• Do not allow to place all of the closed-loop poles distinctively
• Adjusting one gain, or selecting compensator poles and zeros, does
not yield a sufficient number of parameters to place all the closed-
loop poles at desired locations

To place n unknown quantities,

n adjustable parameters are required
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 Introduction
State-space methods solve the problem by introducing
into the system
a. Requisite adjustable parameters
b. Technique for finding values of these parameter,
so that all poles of the closed-loop system can be
properly placed

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 Controller Design
An nth-order feedback control system has an nth-order
closed-loop characteristic equation of the form

There are n coefficients whose values determine the

system's closed-loop pole locations

We need to introduce n adjustable parameters

and relate them to the coefficients to place the
poles as per design requirement

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 Topology for Pole Placement
Output feedback State feedback instead of
output feedback
If each state variable is fed back to the
control, u, through a gain, ki ,there would
be n gains, ki , that could be adjusted to
yield the required closed-loop pole values

-K
u = -Kx  r

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8
Open-loop characteristic equation
det( sI - A) 

Closed-loop characteristic equation

Desired characteristic equation

Equating coefficients to find the gains

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Example 12.1
PROBLEM: Given the plant

design the phase-variable feedback gains to yield 9.5% overshoot and a

settling time of 0.74 second.
SOLUTION:
• From the transient response requirements, the desired closed-loop
dominant poles are -5.4 ± j7.2
• The closed-loop system zero is at -5
• Choose -5.1 as the location of the third closed-loop pole.
• Desired closed-loop characteristic equation:

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 y ( s ) x( s ) y ( s ) 20s  100
G( s)    3
u ( s) u ( s) x( s) s  5s 2  4s

x( s ) 1 y ( s)
 3 ;  20s  100
u ( s ) s  5s  4 s
2
x( s )

x1  x2
y  20 x2  100 x1
x2  x3
 x1 
x3  5 x3  4 x2  u
y  100 20 0  x2 
 x1  0 1 0   x1   0  x3 
 x   0 0 1   x  x  0 u
 2   2   x = Ax + Bu
 x3  0 4 5  x3  1
y  Cx
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 x = Ax + Bu
y  Cx

 x1  0 1 0   x1   0  x1 
 x   0 0 1   x  x  0 u y  100 20 0  x2 
 2   2  
 x3  0 4 5  x3  1  x3 

x3

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 u = -Kx  r

 x1   0 1 0   x1  0
x    0 0 1
 
x x  0 u
 2   2  
 x3   k1   4  k2    5  k3    x3  1 

 A - BK 

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 x1   0 1 0   x1  0
x    0 0 1
 
x x  0 u
 2   2  
 x3   k1   4  k2    5  k3    x3  1 

 A - BK 

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  0 1 0 
 
A - BK   0 0 1 
 k1   4  k2    5  k3  

The closed-loop system's characteristic equation is:

The desired characteristic equation is:

Equating the coefficients we find:

k1 = 413.1; k2 = 132.08; k3 = 10.9

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Step response simulation of the closed-loop system
Design specs
Overshoot = 9.5%
settling time = 0.74 sec

Overshoot = 11.5%
Settling time = 0.8 second

Redesign

Steady state error ???

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End of Lecture

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