Pole Placement Technique

1 ST AUGUST 2017

LECTURE 9

DR. SIKHA HOTA

ASSISTANT PROFESSOR

DEPARTMENT OF AEROSPACE ENGINEERING

INDIAN INSTITUTE OF TECHNOLOGY, KHARAGPUR

sikhahota@aero.iitkgp.ernet.in
 Determination of Matrix Using Ackermann’s Formula

 Consider the system

where we use the state feedback control u=–Kx. We assume that the system is completely
state controllable.

 We also assume that the desired closed-loop poles are at

 Use of the state feedback control modifies the system equation to

 Let us define

 The desired characteristic equation is

Determination of Matrix Using Ackermann’s Formula ( 3)

 Since the Cayley–Hamilton theorem states that satisfies its own characteristic
equation, we have

 Consider the following identities:

 So,
Determination of Matrix Using Ackermann’s Formula ( 3)

 We have

 So,

 We obtain,
Determination of Matrix Using Ackermann’s Formula ( 3)

 Pre-multiplying both sides by the inverse of the controllability matrix, we obtain

 Pre-multiplying both sides of this last equation by [0 0 1], we obtain

 For an arbitrary positive integer , we have

 Example: Pole Placement

 Consider the regulator system shown here

The system uses the state feedback

control u=–Kx. Let us choose the
desired closed-loop poles at

Determine the state feedback gain matrix K.

 Example: Pole Placement (contd…)

 First, we need to check the controllability matrix of the system. Since the controllability matrix M is
given by

we find that |M|=–1, and therefore, rank M=3. Thus, the system is completely state controllable and
arbitrary pole placement is possible.

where
 Example: Pole Placement (contd…)

 Finally,
 Different Canonical Forms

 Consider the system given by

 Obtain state-space representations in the controllable canonical form, observable canonical form,
and diagonal canonical form.

CCF

OCF DCF