Beruflich Dokumente
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Lecture # 12
State Feedback Control
p. 1/3
The system
x = Ax + Bu
y = Cx + Du
p. 2/3
p. 3/3
p. 4/3
Closed-loop system
x = (A + BF )x + Bv
y = (C + DF )x + Dv
p. 5/3
p. 6/3
Partition F P as
FP =
F1 F2
where F1 is m q and F2 is m (n q)
p. 7/3
P 1 (A + BF )P = P 1 AP + P 1 BF P
#
# "
"
i
1 h
11 A
12
B
A
1 F2
+
=
F
22
0 A
0
"
#
11 + B
1 F1 A
1 F2
12 + B
A
=
22
0
A
p. 8/3
p. 9/3
Single-input Systems
Since (A, B) is controllable, there is a nonsingular matrix P
such that
Ac = P 1 AP, Bc = P 1 B
0
1
0
0
.
.
.
.
.
..
..
..
..
..
, Bc =
Ac =
0
0
0 1 n1
1
det(sI A) = sn + n1 sn1 + + 1 s + 0
p. 10/3
Let F = Fc P 1 , where
i
h
Fc = f0 f1 fn1
Ac + B c F c =
0
1
..
..
.
.
0
0
(0 f0 ) (1 f1 )
...
0
..
.
1
(n1 fn1 )
det[sI (Ac + Bc Fc )] =
sn + (n1 fn1 )sn1 + + (1 f1 )s + (0 f0 )
p. 11/3
= sn + dn1 sn1 + + d0
Choose
fi = i d i ,
for 0 i n 1
p. 12/3
Example:
0 1 0
A = 0 0 1 ,
1 0 1
0
B= 0
1
det(sI A) = s3 s2 1
p. 13/3
+
d
I
=
A
n1
0
c
c
c +
n1
X
di Aic
i=0
By Cayley-Hamilton Theorem
n1
An
+
A
+ + 0 I = 0
n1 c
c
n1
=
A
0 I =
An
n1 c
c
n1
X
i Aic
i=0
p. 14/3
d (Ac ) =
n1
X
(di i )Ai1
c
i=1
n1
Cc = [Bc , Ac Bc , . . . , Ac Bc ] =
0 0
0 0
1
.. ..
. .
0 1
1
..
.
p. 15/3
Ac =
0
..
.
1
..
.
0
0
0 1
eT1 Ac = eT2 =
0
..
...
.
1
n1
0 1 0 0
n1
X
i=0
(di i )Aci1 =
n1
X
(di i )eTi+1
i=0
p. 16/3
eT1 d (Ac ) =
n1
X
(di i )eTi+1 = Fc
i=0
Recall
Cc = P 1 C Cc1 = C 1 P
Ac = P 1 AP
Aic = P 1 Ai P, for i 0
d (Ac ) = P 1 d (A)P
F = Fc P 1
p. 17/3
F = Fc P 1
= eTn Cc1 d (Ac )P 1
= eTn C 1 P P 1 d (A)P P 1
= eTn C 1 d (A)
Ackermans Formula:
F = eTn C 1 d (A)
p. 18/3
Example:
1
0 1
A = 2 1
1 ,
0
1 1
1
B= 0
1
1
0
1
C= 0
3 4 , rank C = 3
1 1
4
p. 19/3
6 2 5
3
2
d (A) = A + 3A + 3A + I = 10 2 3
4
1 2
h
i
eT3 = 0 0 1
h
i
F = eT3 C 1 d (A) = 0.8 1.4 1.2
p. 20/3
Multi-input systems
Suppose B has full rank. Since (A, B) is controllable, there
is a nonsingular matrix P such that
c + B
c Am , P 1 B = Bc = B
c Bm
P 1 AP = Ac = A
Bm is nonsingular. Let F = Fc P 1
A + BF = P (Ac + Bc Fc )P 1
c + B
c Am + B
c Bm F c
Ac + B c F c = A
Take
1
F c = Bm
(Adm Am )
p. 21/3
c + B
c Adm
Ac + B c F c = A
...
c = Block diag
A
, i = 1, . . . , m
0 0
i i
..
c = Block diag
B
, i = 1, . . . , m
1
i
p. 22/3
Let
d (s) = sn + dn1 sn1 + + d0
d0 d1 dn1
p. 23/3
Ac + B c F c =
0
..
.
1
..
.
0
0
d0 d1
0
..
...
.
1
dn1
p. 24/3
Example:
1 0
1
A = 2 2 2 ,
1 0
3
1 0
B= 0 2
1 1
d (s) = s3 + 3s2 + 4s + 2
p. 25/3
Matlab Calculations:
W = ctrb(A,B); rank(W), rank(B)
ans = 3
ans = 2
rank(W(:,1:3))
ans = 3
1 = 2, 2 = 1
Cbar = [W(:,1) W(:,3) W(:,2)]; M = inv(Cbar);
Q = [M(2,:); M(2,:)*A; M(3,:)]; P = inv(Q); PI = Q;
Ac = PI*A*P; Bc = PI*B;
Am = [Ac(2,:);Ac(3,:)]; Bm = [Bc(2,:);Bc(3,:)];
Adm = [0 0 1;-2 -4 -3];
Fc = inv(Bm)*(Adm - Am); F = Fc*PI;
p. 26/3
"
0 1
0
Ac = 1 3 0.5 ,
6 0
1
Am
0
0
Bc = 1 0.5
0
1
"
1 3 0.5
1 0.5
=
, Bm =
6 0
1
0
1
"
#
0
1.5
5
F =
0.6667 3.3333 4.6667
p. 27/3
BR =
A + BF = A + BR
= A+
"
F1
B1 0
#
"
F1
= A + B1 F1
p. 28/3
p. 29/3
is asymptotically stable
Theorem: (A, B) is stabilizable if and only if the
uncontrollable eigenvalues of A, if any, have negative real
parts
p. 30/3