18.

The Controller Canonical Form

Topics
Be able to

obtain a state variable representation using the controllability matrix (this is the controller canonical form).

.
.

derive the controller canonical form.

show that the closed -loop poles can be arbitrarily placed using full-state feedback if the system is completely controllable. design a full-state feedback controller using the controller canonical form.
Fall 200.

Ref.: Sections 6.3-6.5.

Canonical Forms
If an n-th order linear system is completely
controllable, then [B AB A2B... An-IB] has n linearly independent columns.

These columns (or their linear combination) can be used as basis vectors to obtain canonical state-space representations.
This can also be done with the observability test matrix.

The Controller Canonical Form .

use a linear combination of the columns of the controllability test matrix as the basis for the state space. 1 0 ... 0 0
al a2

1
al

... ...

0 0 0 0

p = [An-l B : An-2B ... AD : B]'

an-2 an-l an-3 an-2

...

1 0
1

... al

and the ai's are from the characteristic equation, Ll ( A) = An + a 1 A n-l + a2 !\In-2 + ... + a n-l A + a n

controller canonical form (cant):

What is the state variable model (Ac, Bc, Cc) using this basis? Find Ac when xCI)= Pxc(t), ic(t) =
p-l APxc(t) + p-l Hu(t)

Find Ac from AP = PAc.

Consider the case where n = 3, A[A2B + alAn + a2B : AB + aID: B] =

[A2B+ alAn + a2B : AB + aIB : B] Ac Find a C3the third column of A C, ,

controller canonical form (cont):

Find the second column of A c '

Find the first column of A . (Dse the CayleyHamilton theorem here.) c

Final result for n = 3, 0 1 0 A c =10

0 1
-a 3 -a 2 -a 1

controller canonical form (cont):

Find Be from p-l B =B c ,

B = [A2B + a1AB + a2B : AB + a1B : B] B c

Find C c ,

Now generalize

controller canonical form (cont):

Given, b s n-I + b s n-2+ ... + b

s+b
n -I n

G(s)

S n + a 1 s n-I + a 2 s n-2 +

... + an-I s + an

the controller canonical form (CCF) is

0 0
1

0
1

. . . . . .

0
'0

0
0

AC

. .
0
0

. .
.

'.

. . .
0
0 -a n-2

. . .

. . .
0

0
0

. . . . . .
. . .

0
-a
2

1
-a
1

-a n -a n-l

Be = [0 0
Ce = [bn bn-I

0 l]T
b2 bI]

Note: This form can be obtained directly from the transfer function.
The controller canonical realization

:ill

XII e

:i1l-1 e

XII-Ie

nG.""1

a..1iad9n

of me conuoIIer canonial form.

Verify

the CCF

Compute the closed-loop transfer function Ce(sI

- Ae)-l Be

First,
s -1

. .
.

. .

. .

0 0 0

0 0 0

0 0
I
.

s 0

-1 s

.
.

(sI-A)

= I.
.

.
.

. .
.
. .
.

.
.

. 0 an-Z

.
-1

an an-l

. . .

az s +al

Since Be = [0 0 ... 0 1]T, (sI-Ae)-1 Be will be the

last column (LC) of (sI-Ae)-l

verification (cont)..

(LC)(sI _A)-l

= (LC) Adj(sI -A) det(s I - A c)

of (sI - Ac) for n = 3 s

sI
-

(LC) Adj(sI

- Ac) = cofactors of the last row

-1

0 -1
~

A c =10

(LC)Adj (sI - Ac)

3 2 S+OI

In general, (LC) Adj (sI - Ac) = (1 S S2 ... sn-l)T . det (sI - A c) = sn + a 1sn-l+ a2 sn-2+... -n-l-n s + ~ ~

verification (cont):

multiplying by Cc yields,
1

s
S2

(bn bn-I

... b2 bl)

.
.
.

det(sI -Ac)

S n-I

b +b
n n-I

s + . . . + b s n-2 + b s n-I
2 I

s n + a I s n-I +a 2s n-2+ . . . + an-l s + a n

G(s)

Alternate Derivation of the CCF

b 1s+b2

Consider G(s) = s2+a1s+a2 Multiply G(s) by s-2F(s)/S-2F(s),then yes) U(s)

Equate the numerators and denominators:

yes) = U(s) = Solve (*) for F(s)

F(.)

(*)
b1

Xz(S)

X\(s)

1/s

Y(s)

-~

Effect of Full-State Feedback

Introduceu(t) -K x c (I) to the previous block
==
C

diagrann

Xn e

Xn e

in-Ie

Xn-le

...
c -kn-t -a2
~ -k2-an-l

Xl e

Xl e

c -kn-at

c
.

-hI-an

FIG. 6.5-1

The effect of full-state feedback in the controller canonical form.

full-state feedback (cont)..

How can you shift the original Ab "" " AI' A2' ... An? ~(s) = (s-i1)(s-i2)

A2

...

A n to

...(s-in)

or
S n +

a 1s n-l

a2s n-2

...

an

Using the preceding block diagram find

k1 , k2c, ..., knc, C

Procedure
1. Given (A, B, C), transform it by P to
(Ac,Bc' C c) . The eigenvalues remain the same.

2. In controller canonical form, move the eigenvalues by using

u(t)
= -

K c x c (t)

3. Transform back to find the control gains for (A, B, C):

u(t) = -KCxc(t)
=

-Kcp-lX(t)

Example
For the open-loop system with

A=-12 0

B=

1
1

C =[1 0]

place the closed-loop poles at -3 and -4.

Ans. k)

= -3, k2= 12

Solution (A, B) is completely controllable.

1. Find ~(A) to obtain the a/s ,

Find al and a2 from ~(A),

2. Shift the poles of A c to -3 and -4.

3. What are the control gains for (A, B, C)?