State'space'design'

Controllability'matrix:'

Observability'matrix:'

State'space'design'
Given:'

Controllable'cannonical'form'

always'controlable'
It'is'observable'if'N(s)'and'D(s)'have'no'common'factors'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''is'the'characteris/c'polynomial'

State'space'design'
Given:'

Obervable'cannonical'form'

always'observable'
It'is'controllable'if'N(s)'and'D(s)'have'no'common'factors'
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''is'the'characteris/c'polynomial'

State'space'design'

State'space'design'

P'is'the'equivalence''
transforma/on'
The''transforma/on:'
'
'
is'the'similarity'transforma/on'

State'feedback''pole'placement'

Dening'the'following'control'law:'

State'feedback''pole'placement'

Dening'the'following'control'law:'
We'obtain:'

wich'has'the'following'characteris/c'equa/on:'
det'
If'the'system'is'controllable'we'can'relocate'all'the'system'poles'

State'feedback''pole'placement'
Closed'Aloop'characteris/c'equa/on:'
det'
n
n 1
n2
Desired'characteris/c'equa/on:' ( s ) = s + 1s + 2 s + L + n 1s + n

Problem:'
Find''''''''''''''''''''''''''''''''''''''''''''''''such'that'
n
n 1
n2
det'''''''''''''''''''''''''''''''=' s + 1s + 2 s + L + n 1s + n

It'is'easier'from'the'controllable'cannonical'form'

State'feedback''pole'placement'
From'the'controllable'cannonical'form:'

Using'the'state'feedback:'
We'obtain:'

State'feedback''pole'placement'
The'system:'

has'the'characteris/c'polynomial:'
n
n 1
n2
det'''''''''''''''''''''''''''''''=' s + ( a1 + k1 ) s + ( a2 + k2 ) s + L + ( an1 + kn1 ) s + ( an + kn )

State'feedback''pole'placement'
n
n 1
n2
Using'the'desired'characteris/c'equa/on:' ( s ) = s + 1s + 2 s + L + n 1s + n

Equaling'

s n + 1s n1 + 2 s n2 + L + n1s + n = s n + ( a1 + k1 ) s n1 + ( a2 + k2 ) s n2 + L + ( an1 + kn1 ) s + ( an + kn )

Thus,'we'obtain'

[1 a1

2 a2 L

n1 an1 n an ]

State'feedback''pole'placement'
Procedure:'

equivalence'transforma/on'

Original'space:'
Controllable'cannonical'form'
System'characteris/c'equa/on:'

( s) = s n + a1s n 1 + a2 s n 2 + L + an 1s + an
Desired'characteris/c'equa/on:'

Calculate''

( s) = s n + 1s n 1 + 2 s n 2 + L + n 1s + n

equivalence'transforma/on'

[1 a1

2 a2 L

n1 an1 n an ]

State'feedback''pole'placement'
equivalence'transforma/on'to'the'controllable'form'
Original'system'controllability'matrix:'
Controllable'form'controllability'matrix:'

wich'are'related'by'
It'results:'

State'feedback''pole'placement'
equivalence'transforma/on'to'the'controllable'form'
Original'system'controllability'matrix:'
Controllable'form'controllability'matrix:'

wich'are'related'by'
It'results:'

Controllability'

State'feedback''pole'placement'

Quadra/c'op/mal'regulator'

Quadra/c'op/mal'regulator'

Quadra/c'op/mal'regulator'

Quadra/c'op/mal'regulator'

Quadra/c'op/mal'regulator'

State'es/mator'

Es/ma/on'error:'
OpenAloop'state'es/mator:'
We'obtain'

State'es/mator'

= [l1 l2 L

ln1 ln ]

If'the'system'is'observable'the'es/mator'can'be'designed'to'es/mate''
the'system'state'as'quickly'as'desired'

State'es/mator'
The'plant'system'

The'es/mator'

Es/ma/on'error:'

We'obtain'

State'es/mator'
Es/ma/on'error'characteris/c'polynomial:'
det'
Desired'characteris/c'equa/on:'

Problem:'

= [l1 l2 L ln1 ln ]
Find''''''''''''''''''''''''''''''''''''''''''''''''such'that'
n
n 1
n2
det'''''''''''''''''''''''''''''''=' s + a1s + a2 s + L + an 1s + an
det'

It'is'easier'from'the'observable'cannonical'form'

State'es/mator'
Procedure:'

equivalence'transforma/on'

Original'space:'
Observable'cannonical'form'
System'characteris/c'equa/on:'

( s) = s n + a1s n 1 + a2 s n 2 + L + an 1s + an
Desired'characteris/c'equa/on:'

Calculate''

equivalence'transforma/on'

State'es/mator'
equivalence'transforma/on'

Connec/on'of'state'feedback'and'state'es/mator'

The'control'law:'

The'es/mator'

= "$ l1 l2 ln1 ln %'

#
&

Connec/on'of'state'feedback'and'state'es/mator'

The'control'law:'

Connec/on'of'state'feedback'and'state'es/mator'

The'subs/tu/on'of'the'control'law'''''''''''''''''''''''''''''''''''in'the'system'plant'and''
es/mator''equa/ons'yields'

Connec/on'of'state'feedback'and'state'es/mator'

Connec/on'of'state'feedback'and'state'es/mator'

Connec/on'of'state'feedback'and'state'es/mator'

Connec/on'of'state'feedback'and'state'es/mator'

Connec/on'of'state'feedback'and'state'es/mator'

Connec/on'of'state'feedback'and'state'es/mator'

Lyapunov'stability'theorem'

Lyapunov'stability'theorem'