Poles can be placed as per own requirement Example

Controllability is too strong a condition A weaker notion than controllability is sufficient that is named as stabilizability It refers to the ability to move only the unstable modes of the system System is stabilizable if the unstable modes are controllable or if the uncontrollable modes are stable

Example Neither of these systems are controllable X= [2 0 ; 0 -1] x + [1 0] u (where X and Z are xdot and zdot)
Stable mode at -1 is not controllable where as unstable mode at 2 is controllable , so system is stabilizable

Z= [2 0 ; 0 1] z + [1 0] u
unstable mode at 1 is not controllable, so it is not stabilizable as well Ackermanns Formula with example

Can relocate all system closed loop poles where as in classical control design, a designer can only hope to achieve a pair of complex conjugate poles that are dominant Moving a poles around is costly A faster system may require more accurate sensors along with larger and stronger actuators Guide line for moving the poles is
RH Poles be reflected as RH poles One should avoid to shift the poles far into left half

plane, as system bandwidth increases and system become more sensitive to noise

State feedback does not affect the system zeros As steady state tracking properties depends upon poles and zeros so tracking properties cannot be helped by a sate feed back alone

State feedback is not usually practical

Leads to PD compensators, which have infinite

bandwidth Not possible and practical to sense all the states and feedback them all For this output feedback is used

Drill Problems

D 9.1(a,b) ----- (page No 635)

Stefani

Part of Assignment Six

An issue of steady state error is not address till this point Input is given as

Preceding technique places a gain outside the feedback loop When elements of the control system are not with in the feed back loop, the overall system will be quite sensitive to the elements outside the loop An alternate method for achieving zero steady state error to the step input is known as integral control

Drill Problems

D 9.3 (a,b) ----- (page No 639) Part of Assignment Six

Stefani

Typically some of the states are measured by sensors and the rest will be observed by another device Observer is the device which simulates the original system

Observer error will go to zero asymptotically if and only if the matrix (A-LC) is a stable matrix L is an observer gain Controllability allows plant pole placement where as observability allows observer pole placement If Mc is transpose it will equal to Mo (observability matrix)

In first system mode at -1 is unobservable, but detectable In second system mode at 1 is unobservable and undetectable Example

Example

Observer poles at

Drill Problems D 9.5 (a,b) ----- (page No 642) Part of Assignment Six

Stefani

Can observe states be able to stabilize the system

Control gain calculated from previous example

State transformation is given as

Eigen values of the controller and the observer will be at the diagonal This property of observation through this block triangle structure is known as separation property