B5 - Control using State

Feedback
• Dynamic Performance Parameters
• State Controllability
• State Feedback
• Navion Case Study
 Dynamic Performance, n and 

 lines

−
1 − 2
overshoot = e


t max =
n 1 −  2

n lines
Lateral Motion - NAVION (stick fixed) 176ft/s
Assuming the state variables are  and d/dt, the input is r
and the output is  then the state space model is:

 0 1   0 
x =   x+  u y = 1 0x
−4.55 −0.76 −4.6

Use State Feedback to modify the lateral performance of the

aircraft such that the undamped natural frequency, n = 2.5 rad/s
and the damping constant,  = 0.5.
 Current Performance
 x1   0 1   x1   0 
 x  =  −4.55 −0.76   x  +  −4.6   u 
 2   2  
 x1 
 y = 1 0  x 
 2

 1 0   0 1   s −1 
(sI − A) = s  −  =  4.55
 
 0 1   −4.55 −0.76    ( s + 0.76 )

( s + 0.76 ) 1
adj(sI − A) =  
 − 4.55 s 
 ( s + 0.76 ) 1
C adj(sI − A) = 1 0   = ( s + 0.76 ) 1
 −4.55 s

 0 
C adj(sI − A) B = ( s + 0.76 ) 1   =  −4.6
 −4.6
 s −1 
det(sI − A) =   = s ( s + 0.76 ) − ( −4.55 ) =
 4.55 ( s + 0.76 )
= s 2 + 0.76s + 4.55

Cadj ( sI − A ) B −4.6
G(s) = =
det(sI − A) s 2 + 0.76s + 4.55
 ( s + 0.76 ) 1
C adj(sI − A) = 1 0   = ( s + 0.76 ) 1
 −4.55 s

 0 
C adj(sI − A) B = ( s + 0.76 ) 1   =  −4.6
 −4.6
 s −1 
det(sI − A) =   = s ( s + 0.76 ) − ( −4.55 ) =
 4.55 ( s + 0.76 )
= s 2 + 0.76s + 4.55

Cadj ( sI − A ) B −4.6 n = ?
G(s) = = 2
det(sI − A) s + 0.76s + 4.55
=?
 x1   0 1   x1   0  Select “Pole/Zero” from
 x   −4.55 −0.76   x  +  −4.6   u 
=
plot configurations
 2   2  
 x1 
    x 
y = 1 0
 2

Right click and

select “Grid”
 x1   0 1   x1   0 
 x   −4.55 −0.76   x  +  −4.6   u 
=
 2   2  
 x1  Currently stable.
    x 
y = 1 0
Undamped Natural
 2
frequency not bad but
very low damping
 x1   0 1   x1   0 
 x   −4.55 −0.76   x  +  −4.6   u 
=
 2   2  
 x1 
    x 
y = 1 0
 2

Right click and

select “Grid”
 x1   0 1   x1   0 
 x   −4.55 −0.76   x  +  −4.6   u 
=
 2   2  
Currently stable.
 x1 
    x 
y = 1 0 Undamped Natural
 2 frequency not bad but
very low damping

Desired performance
implies poles should
be here

x
 State Feedback
y
u +
System

x =A x +B(u − K x )
-

x
K

x =(A − BK )x +Bu
NB state feedback will only
work if the state variables are
controllable
 State Controllability
• A system is state controllable if and only if there exists a set
of inputs, u, that will drive the states, x, to any specific values
in a finite period of time.
(i.e. each state variable must be influenced by the inputs to
the system.)
u + x1 1 x1
s Clearly both state variables are
- controllable, i.e. the system is said
4 to be Fully State Controllable
x2 1 x2
s
-
3
+ x1 1 x1
s Since there is no path from the input
-
to x2 the second state variable is not
4
controllable.
x2 1 x2
s
-
3
 State Controllability
• A system is state controllable if and only if there exists a set
of inputs, u, that will drive the states, x, to any specific values
in a finite period of time.
(i.e. each state variable must be influenced by the inputs to
the system.)
• A system is state controllable if the rank of the
CONTROLLABILITY MATRIX, Mc is equal to the number
of states, or the det Mc is non zero


M c = B  AB  A 2 B   A n−1 B 
u + x1 1 x1
s Clearly both state variables are
- controllable, i.e. the system is said
4 to be Fully State Controllable
x2 1 x2
 x 1  −4 0   x1  1
 x  =  0 −3  x  + 1 u
s
-
 2   2   
3

 1  − 4 0  1  1 − 4
M c = B AB =         = 
 1   0 − 3 1  1 − 3

det(Mc) = 1
u + x1 1 x1
s Clearly both state variables are
- controllable, i.e. the system is said
4 to be Fully State Controllable
x2 1 x2
 x 1  −4 0   x1  1
 x  =  0 −3  x  + 1 u
s
-
 2   2   
3

 1  − 4 0  1  1 − 4
M c = B AB =         = 
 1   0 − 3 1  1 − 3
Clearly both rows are independent so the rank = 2,
hence the system is fully state controllable, or
det(Mc) = 1 therefore fully state controllable.
 + + x3 1 x3 x2 1 x 2 x1 1 x1
u y
s s s
- -
4

 x 1  0 1 0   x1  0
 x  = 0 0 1   x  + 0 u
 2   2   
 x 3  0 −3 −4   x 3  1


M c = B  AB  A 2 B   A n−1 B 
 + + x3 1 x3 x2 1 x 2 x1 1 x1
u y
s s s
- -
4

 x 1  0 1 0   x1  0
 x  = 0 0 1   x  + 0 u
 2   2   
 x 3  0 −3 −4   x 3  1

B
0 • • 
M c = 0 • • 
 
1 • •
 + + x3 1 x3 x2 1 x 2 x1 1 x1
u y
s s s
- -
4

 x 1  0 1 0   x1  0
 x  = 0 0 1   x  + 0 u
 2   2   
 x 3  0 −3 −4   x 3  1

AB
0 0 • 
M c = 0 1 • 
 
1 −4 •
 + + x3 1 x3 x2 1 x 2 x1 1 x1
u y
s s s
- -
4

 x 1  0 1 0   x1  0
 x  = 0 0 1   x  + 0 u
 2   2   
 x 3  0 −3 −4   x 3  1

A2B
0 0 1
M c = 0 1 −4 
 
1 −4 13 
 + + x3 1 x3 x2 1 x 2 x1 1 x1
u y
s s s
- -
4

 x 1  0 1 0   x1  0
 x  = 0 0 1   x  + 0 u
 2   2   
 x 3  0 −3 −4   x 3  1

0 0 1 By inspection you may be able to see

M c = 0 1 −4  the rank = 3, alternatively det(Mc) = -1
 
1 −4 13  which implies that the system is fully
state controllable.
 State Feedback

y
u +
System
-

K
x
(
x = Ax + B u − Kx )
x = (A − BK)x + Bu
State Feedback (Pole Placement)
1. Check the system is fully state controllable
2. Choose a desired characteristic equation that will
place the poles in a suitably stable position
3. Find characteristic equation with state feedback
det (sI - A + BK) = 0
4. Compare characteristic equation with state
feedback to the desired characteristic equation to
find K
Lateral Motion - NAVION (stick fixed) 176ft/s
Assuming the state variables are  and d/dt, the input is r
and the output is  then the state space model is:

 0 1   0 
x =   x+  u y = 1 0x
−4.55 −0.76 −4.6

Use State Feedback to modify the lateral performance of the

aircraft such that the undamped natural frequency, n = 2.5 rad/s
and the damping constant,  = 0.5.
1. Check state space model is state controllable

 0 −4.6
Mc =    det M c = −212
.
−4.6 35 . 
 Fully State Controllable

2. Desired Characteristic Equation is;

s2 + 2 n s +  2n = s2 + ( 2  0.5  25
. ) s + ( 25
. )2
= s2 + 25
. s + 6.25 = 0
3. Characteristic Equation with state feedback is;
 s −1   0  
det(sI − A + BK) = det    +  K1 K2  = 0
 4.55 s + 0.76 −4.6 
 s −1 
= det   =0
4.55 − 4.6K1 s + 0.76 − 4.6K 2 
= s2 + (0.76 − 4.6K 2 )s + 4.55 − 4.6K1 = 0

4. Comparing coefficients

s 2 + (0.76 − 4.6K 2 )s + 4.55 − 4.6K1 = s 2 + 2.5s + 6.25

0.76 − 4.6K 2 = 2.5  K2 = ?
4.55 − 4.6K1 = 6.25  K1 = ?
Implementation of state feedback

 r 
Aircraft

x2 x1
Implementation of state feedback

 r 
+
Aircraft
-

K2 x2
- x1 x =A x +B(u − K x )
0.38
-
K1
0.37
 Controllable Canonical Form
b n−1s n −1 + b n − 2 s n− 2 + . . . . . . + b 1s1 + b 0s 0
G(s) =
s n + a n−1s n−1 + a n− 2 s n− 2 + . . . . . . + a1s1 + a 0s 0

 0 1 0 0  0  0
 0 0 1 0  0  0
   
 0 0 0 1  0  0
x c =   c
x +   u
     
   
 0 0   0 1  0
   
− a 0 −a 1   −a n − 2 −a n −1  1

y = b0 b1   b n − 2 b n − 1 x c
 Controllable Canonical Form
s+4  x 1   00 11   x1  0
G (s) =  x  = −−a20 −    +   u
s2 + 3s + 2  2  −3a1  x  1
2
 x1 
y = 4 1 
x2 
 Controllable Canonical Form
s+4  x 1   0 1   x1  0
G (s) =
s2 + 3s + 2  x  = −2 −3  x  + 1 u
 2   2   
 x1 
y = b40 b11 
x2 
 Controllable Canonical Form
s+4  x 1   0 1   x1  0
G (s) =
s2 + 3s + 2  x  = −2 −3  x  + 1 u
 2   2   
 x1 
y = 4 1 
x2 

s+4  x 1   0 1 0  x1  0
G (s) =  x  =  0 ?0 1  x  + 0? u
s3 + 2  2   2   
 x 3  −2 0 0  x 3  1
y = 4 1? 0x
 Controllable Canonical Form
+ + +
y
+ + +
bn-1 bn-2 b1 b0

+ 1 xn 1 xn-1 1 x2 1 x1
s s s s
u -

an-1 an-2 a1 a0
+ + +

+ + +
 Summary of Lecture
• Use n and  to specify performance
• State controllability is essential if state feedback is to be employed as
a means of control.
• To be fully state controllable all the state variables must be
influenced by the input variables.
• Test for state controllability by checking the rank of Mc equals the
number of states or det(Mc) is non zero.
• If model not controllable, use the controllable canonical form.
• State Feedback is governed by the equation
x =A x +B(u − K x )
• Use simultaneous equation method to find the K matrix