ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7. MULTIVARIABLE STATE FEEDBACK Theory Contents:

7.1 Introduction 7.2 Design using Control Canonical Form 7.3 Design using Modal Canonical Form Objectives: I Learn how to design the closed loop poles of a system by using state feedback. I Learn pole placement techniques using the Control Canonical Form. I Learn pole placement techniques using the Modal Canonical Form.

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.1 Introduction
Block diagram representation of a State Space Equation

+ +

. x

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.1 Introduction r +
State Feedback:

k1

+ +

. x

k2

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.1 Introduction r +
Problem formulation:

k1

+ +

. x

k2

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

The solution of the pole placement problem:

is very easy if we express the system in Control Canonical Form (for single input systems) First of all, we express the original system in CCF:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

Once we have the system in CCF, we know that:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

The feedback matrix Kc has been obtained in Control Canonical coordinates:

However, we want to obtain the feedback matrix K in state variables with physical meaning:

10

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form PROCEDURE:

11

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

12

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

13

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

14

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

15

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

16

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.2 Design via Control Canonical Form

17

7.3 Design via Modal Canonical Form (Single Input)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

18

7.3 Design via Modal Canonical Form (Single Input)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

q1 s-L1 G1 u q2 s-L2 G2

y1

kd1 kd1

y2

kd2 kd2

...
qn s-Ln Gn yn kdn kdn

19

7.3 Design via Modal Canonical Form (Single Input)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

20

7.3 Design via Modal Canonical Form (Single Input)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

1 s-2 G1 u 2 s-3 G2

y1

kd1 kd1

y2

kd2 kd2

1 s+4 G3

y3

21

7.3 Design via Modal Canonical Form (Single Input)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

22

7.3 Design via Modal Canonical Form (Single Input)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

23

7.3 Design via Modal Canonical Form (Multiple Inputs)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

u1
3 b11 1

1 s+a1 G1 1 s+a2 G2 1 s+a3 G3

y1

u2
2 b12 1

b21

y2

u3

b23 1 b33

y3

24

7.3 Design via Modal Canonical Form (Multiple Inputs)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

3 u1 s+a1 G1 1 s+a2 G2

y1 kd1 kd1 y2

kd2 kd2

25

7.3 Design via Modal Canonical Form (Multiple Inputs)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

u1

3 s+a1 G1

y1 kd1 kd1 y2

u3

1 s+a2 G2

kd2 kd2

This approach will always yield real closed loop poles

26

7.3 Design via Modal Canonical Form (Multiple Inputs)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

We have a multi-input system, therefore we will desing the control matrix using the modal canonical form. First of all, we express the system in modal canonical form:

I.e.: Open loop poles are at s=0, s=-1 and s=4!!!

27

7.3 Design via Modal Canonical Form (Multiple Inputs)

The modal matrix and its inverse will be:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

And the system in modal canonical form:

28

7.3 Design via Modal Canonical Form (Multiple Inputs)

Modal block diagram:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

-2 u2 s G1 -1 s+1 G2

y1 kd21 kd21 y2

kd22 kd22

u1

1 s-4 G3

y3

kd13 kd13

29

7.3 Design via Modal Canonical Form (Multiple Inputs)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Closed loop characteristic equation:

-2 u2 s G1 -1 s+1 G2

y1 kd21 kd21 y2

kd22 kd22

u1

Desired closed

kd13 s-4 loop characteristic equation: kd13 G3

y3

30

7.3 Design via Modal Canonical Form (Multiple Inputs)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Closed loop characteristic equation:

u1 1 s-4 G3 y3

kd13 kd13

Desired closed loop characteristic equation:

Feedback law:

31

7.3 Design via Modal Canonical Form (Multiple Inputs)

Feedback law:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

Feedback law in the original state variables:

32

7.3 Design via Modal Canonical Form (Repeated Eigenvalues)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

k1 k1 k2 u1
2 b21

k2 y1

1 s-1 G1

y2

1 s-1 G2

u2
1 b22

1 b32

1 s+3 G3

y3

33

7.3 Design via Modal Canonical Form (Repeated Eigenvalues)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

k1 k1 k2 u1
2 b21

k2 y1

1 s-1 G1

y2

1 s-1 G2

u2
1 b22

1 b32

1 s+3 G3

y3

34

7.3 Design via Modal Canonical Form (Complex Eigenvalues)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

35

7.3 Design via Modal Canonical Form (Complex Eigenvalues)

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

If only u1 is considered for feedback purposes:

u1

s+3
1 (s 1)2 + 2 2 2s 4

y1

y2
36

7.3 Design via Modal Canonical Form (Complex Eigenvalues)

Closed loop block diagram:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

u1
+

s+3
1 (s 1)2 + 2 2 2s 4

y1

k1 k2

+ +

y2

Closed loop characteristic equation:

(positive feedback)

We want:
37

7.3 Design via Modal Canonical Form (Complex Eigenvalues)

Closed loop block diagram:

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

u1
+

s+3
1 (s 1)2 + 2 2 2s 4

y1

k1 k2

y2

Feedback law:

(note positive feedback)

38

ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

7.4 Examples
You should solve the following examples by next week: Ex. 3.1 Ex. 3.2 Ex. 3.3 Ex. 3.4 Ex. 3.5 Ex. 3.6

39