Adama Science and Technology

University

PCE6101 Linear Systems

Theory
(Regulator Design)

ASTU
School of EEC

1. State Feedback Control

State feedback control

d
r Feedforward + u + + y
Plant
Gain matrix -
Feedback x
Gain matrix

1
 Cont…
Realization of state feedback control
Controller Real plant

r u y
u  1.6r  4 x1  5 x2

x1
x2

Cont…
Purpose of using state feedback controllers
r u d y
F + + + Plant
-
K x

Setpoint tracking Tracking controller

- The setpoint changes from time to time
- It controls the output to follow the setpoint
Disturbance rejection Regulator
- The setpoint is fixed for a long time
- It controls to keep the output at the setpoint despite load
or/and disturbance changes

2
Cont…
Boiler level control

Setpoint

Cont…
Fish tank temperature control

3
Cont…
Car cruise speed control

Cont…
Greenhouse climate control

4
Cont…
Missile control

Cont…
Ship autopilot
• Tracking control when
berthing in a port
• Disturbance rejection
control when sailing in the
ocean

5
 2. P-Type Regulator
Regulator allows the system to quickly eliminate the
effects of load or disturbance and to ensure that the
output quickly matches the set point.
Assumptions:
The system is controllable (U= n).
All state variables can be fed back.
Control input is not limited.
The setpoint (or reference input) is considered 0
for convenience.

Cont…
(Theorem) Consider a SISO LTI system
x  Ax  Bu , x0
If it is controllable, there exists K that allows the
poles of the closed-loop system to be in the desired
position through a regulator u= -Kx.

r=0 + u y
Plant
-
K
x

6
Cont…
Plant(open-loop) Regulator
x  Ax  Bu
u  Kx
y  Cx  Du
Feedback(closed-loop)
x  Ax  Bu  (A  BK )x +0r
y  Cx  Du  (C  DK )x +0r

Cont…
Method 1: Pole assignment method
Given poles 1 , 2 , , n of a closed-loop system,
find the feedback gain matrix K of
u= -Kx.

7
 Cont…
1. Brute force method
Step 1: Obtain the characteristic polynomial from the
given poles 1 , 2 , , n
 ( )  (  1 )(  2 ) (  n )   n  a1 n-1    an

Step 2: Find the characteristic polynomial of (A-BK)
( )   I  A  BK   n  a1 n-1    an 
Step 3: Compare  with  and obtain K.
ai  ai (i  1, 2, , n)

Cont…
For example, consider a controllable system. Find the
regulator u= -Kx by the brute force method so that
the feedback system has two poles -2j2.
-2 0  1 0.5
x    x  1 u , x 0  0 
 0 -1   
y  1 2 x

Controllability check
1 -2 
U  B AB     , U  2
1 -1 

8
 Cont…
From the given poles -2j2
( )  (  2  j 2)(  2  j 2)   2  4  8 
Letting K= [k1 k2]
 ( )   I  A  BK
 0   2 0  1
 det(        k1 k2 )
 0    0 1 1
  2  k1 k2 
 det(  )
 k1   1  k2 
 (  2  k1 )(  1  k2 )  k1k2
  2  (k1  k2  3)  k1  2k2  2 

Cont…
Comparing two yields
k1  k2  3  4 k1  k2  1
k1  2k2  2  8 k1  2k2  6
K= [k1 k2]= [-4 5]
Im
Im 2
Re Re
-2 -1 0 -2 0
-2
(open-loop poles) (closed-loop poles)

9
Cont…

Cont…
(Theorem) When the system is a controllable
canonical form,
x  Ax  Bu
if the given closed-loop poles are 1 , 2 , , n , then
the gain matrix K of regulator u= -Kx is given by.
K  (an  an ) (an 1  an 1 )  (a1  a1 ) 
where
( )  A   I   n  a1 n 1  ...  an
( )  (  1 )(  2 )...(  n )
  n  a1 n 1  ...  an

10
 Cont…
(Proof) If 1 , 2 , , n are the closed-loop poles, the
characteristic polynomial is
( )  (  1 )(  2 )...(  n )
  n  a1 n 1  ...  an
and the closed-loop system matrix becomes
 0 1 0  0 
 0 0 1  0 

ACL       
 
 0 0 0  1 
 a an 1 an  2  a1 
 n

Cont…
On the other hand, since the open-loop system is the
controllable canonical form, the state equation is
described by
x  Ax  Bu
 0 1 0  0  0 
 0 0 1  0   0 
  
       x    u
   
 0 0 0  1  0 
 a an 1 an  2  a1  1 
 n

11
 Cont…
Feedbacking with u= -Kx gives
x  Ax  Bu  ( A  BK ) x
 0 1 0  0  0 
 
 0 0 1  0  0 

(           k1 k2  kn )x
   
 0 0 0  1  0 
 a a  a1  1 
 n n 1  an  2

 0 1 0  0 
 
 0 0 1  0 
      x
 
 0 0 0  1 
 a  k a  k an  2  k3  a1  kn 
 n 1 n 1 2

Cont…
Comparing two system matrices gives
an  an  k1 k1  an  an
an 1  an 1  k2 k2  an 1  an 1
 
a1  a1  kn kn  a1  a1

Thus,
u   Kx
where K  (an  an ) (an 1  an 1 )  (a1  a1 )  

12
 Cont…
Example 1: Consider an unstable but a controllable
canonical system.
0 1  0   0.3
x    x    u , x0   
 2 1 1  0 
y   2 3 x

Design u= -Kx such that the closed-loop system has

two poles -2j2.
Solution: Open-loop characteristic polynomial is
 1
 ( )   I  A   2    2
2   1
a1= 1, a2= -2

Cont…
Closed-loop characteristic polynomial with -2j2 is

( )  (  2  j 2)(  2  j 2)   2  4  8
a1  4, a2  8

Therefore
K   (a2  a2 ) ( a1  a1 ) 
  (8  2) (4  1)   10 3
u= -[10 3]x

13
 Cont…
u= -[10 3]x

Im Im

2
Re Re
-2 0 1 -2 0
-2

(Unstable (Closed-loop
open-loop system) system)

Cont…

(Open-loop response) (Closed-loop response)

20 1

15 0.5

10
y(t)

y(t)

5
-0.5

0
-1
0 1 2 3 4 5 0 2 4 6 8 10
t t

14
 Cont…
2. Similarity transformation method
Step 1: Obtain the characteristic polynomial from the
given poles.
 ( )  (  1 )(  2 ) (  n )
  n  a1 n -1    an
Step 2: Obtain the characteristic polynomial of the
open-loop system.
 ( )   I  A   n  a1 n -1    an
Step 3: obtain u  Kx
K = (an  an ) (an -1  an -1 )  (a1  a1 ) 

Cont…
Step 4: Obtain matrix Q= [q1 q2 … qn].
qn  B
qn 1  AB  a1 B
qn  2  A2 B  a1 AB  a2 B

q1  An 1 B  a1 An  2 B   an 1 B

Step 5: Obtain K  KQ 1

15
 Cont…
For example, design a regulator that the closed-loop
system has two poles -2j2.
-2 0  1 0.5
x    x  1 u , x 0  0 
 0 -1   
y  1 2 x
From the given poles, a2

( )  (  2  j 2)(  2  j 2)   2  4  8

a1

Cont…
Characteristic polynomial of the open-loop system
  0   2 0 
( )   I  A  det(   )
 0    0 1
  2  3  2 a1= 3, a2= 2
Obtaining K yields

K   (a2  a2 ) (a1  a1 )    (8  2) (4  3) 
  6 1
Q is

16
 Cont…
1
q2  B   
1
 2 0  1 1 1 
q1  AB  a1 B       3     
 0 1 1 1  2 
1 1  1 1 
Q   q1 q2     , Q 1   
 2 1  2 1
Thus
 1 1 
 K  KQ 1   6 1     4 5
 2 1

Cont…
3. Ackermann formula
Step 1: Obtain () from the given poles.
 ( )  (  1 )(  2 ) (  n )   n  a1 n-1    an
Step 2: In (), obtain (A) by substituting A for .
 ( A)  An  a1 An -1    an 1 A  an I
Step 3: Obtain the controllability matrix U.
U  [ B AB  An 1 B ]
Step 4: Find K with the following formula
K   0  0 1 U 1 ( A)

17
 Cont…
For example, design a regulator that the closed-loop
system has two poles -2j2 using the Ackermann
formula and draw the block diagram.
-2 0  1 0.5
x    x    u , x0   
 0 -1 1 0 
y  1 2 x
From the poles ( )  (  2  j2)(  2  j2)   2  4  8
 ( A)  A2  a1 A  a2 I
2
 2 0   2 0  1 0   4 0 
   4  8   0 5
 0 1  0 1  0 1   

Cont…
U-1 yields
1 2   1 2 
U  [ B AB ]    , U 1   
1 1  1 1 
Thus
 1 2   4 0 
 K   0 1 U 1 ( A)   0 1   
 1 1   0 5 
  4 5

18
 Cont…
Feedback system
u + x1 x1 + y
1  1
+ +
-
-2
+ x 2 x2
1  2
+
-3 -2 0  1
x    x   u
-5  0 -3 1
+ +
y  1 2 x
4
u    4 5 x
Regulator

Cont…
Program:
A= [-2 0;0 -3]; B= [1;1];C= [1 2]; D= 0;
P= [-2+2j, -2-2j];
K= acker(A,B,P)
AA= A-B*K; BB= zeros(size(B));
t= 0:0.01:10; u= zeros(size(t)); x0= [0.5;0];
y= lsim(AA,BB,C,D,u,t,x0);
plot(t,y,'b','linewidth',2) -2 0  1
axis([0 10 -0.1 0.6]) 
x   0 -3 x  1 u
xlabel('t'),ylabel('y(t)')   
y  1 2 x
u    4 5 x

19
Cont…

Response with x(t0)= [0.5 0]T

Cont…
Example 2: Consider a cart+inverted pendulum
system. Design u= -Kx such that the closed-loop
poles are -2j3, -8, -10, where x0=[0.2 0 0 0]T.
0 1 0 0 0 
0 0 -0.491 
0 0.5
x   x   u
0 0 0 1 0 
   
0 0 20.601 0  1 
y  1 0 0 0 x

20
 Cont…
From the poles
( )  (  2  j3)(  2  j3)(  8)(  10)
  4  22 3  165 2  554  1040
(A) and U are
 ( A)  A4  22 A3  165 A2  554 A  1040 I
U  [B AB A2 B A3 B ]
 0 0.5 0 0.491 
0.5 0 0.491 0 
 
 0 1 0 20.601
 
 1 0 20.601 0 

Cont…
 0 2.1001 0 0.0501 
 2.1001 0 0.0501 0 
U 1  
 0 0.1019 0 0.0510 
 
 0.1019 0 0.0510 0 

Therefore,

 K   0 0 0 1 U 1 ( A)
  106.0 56.5 238.6 50.2

21
Cont…
MATLAB program
A= [0 1 0 0;0 0 -0.491 0;0 0 0 1;0 0 20.601 0];
B= [0;0.5;0;-1]; C= [1 0 0 0]; D= 0;
P= [-2+3j, -2-3j, -8, -10];
K= acker(A,B,P);
AA= A-B*K;
BB= zeros(size(B));
t= 0:0.01:6;
u= zeros(size(t));
x0= [0.2;0;0;0];
[y,x]= lsim(AA,BB,C,D,u,t,x0);

Cont…
subplot 221
plot(t,x(:,1),'k','linewidth',2)
axis([0 6 -0.1 0.3]),xlabel('t'),ylabel('x_1')
subplot 222
plot(t,x(:,2),'r','linewidth',2)
axis([0 6 -0.6 0.4]),xlabel('t'),ylabel('x_2')
subplot 223
plot(t,x(:,3),'b','linewidth',2)
axis([0 6 -0.1 0.1]),xlabel('t'),ylabel('x_3')
subplot 224
plot(t,x(:,4),'g','linewidth',2)
axis([0 6 -1 0.5]),xlabel('t'),ylabel('x_4')

22
Cont…
0.3 0.4

0.2 0.2
x1 x2 0
0.1
-0.2
0 -0.4

-0.1 -0.6
0 2 4 6 0 2 4 6
t t
0.1 0.5

0.05
0
x3 0 x4
-0.5
-0.05

-0.1 -1
0 2 4 6 0 2 4 6
t t

Cont…
Notes on pole selection
• The closed-loop poles should
be not too far from the open-
loop poles.
• The real part of the closed-loop
poles should be not too large
(large K can amplify the noise).
• Typically, select from the
yellow area in the right figure.

23
 Cont…
Butterworth polynomial method
Use the following polynomials, but only stable poles.
(n  1)(2k  1) (n  1)(2k  1)
s  0 [cos( )  j sin( )]
2n 2n
(k  0,1, 2,...)

where
0: constant(natural angular frequency)
n : system order

Cont…
1st-order system (n= 1)
s  0 [cos((2k  1) )  j sin((2k  1) )]
When k= 0
s  0 (cos   j sin  )  0 stable pole, use it.

Im

s
Re
-0 0

24
 Cont…
2nd-order system (n= 2)
3(2k  1) 3(2k  1)
s  0 [cos( )  j sin( )]
4 4
When k= 0,
3 3
s1  0 (cos  j sin )  stable(used)
4 4
When k= 1,
9 9 unstable(not used)
s2  0 (cos  j sin ) 
4 4
s1 Im Im s2

Re Re
0 0

Cont…
When k= 2,
15 15
s3  0 (cos  j sin ) unstable(not used)
4 4
When k= 3,
21 21
s4  0 (cos  j sin )  stable(used)
4 4

Im Im

Re Re
0 0
s3 s4

25
Cont…
For example, design a regulator u= -Kx by applying
the Butterworth polynomial to the following system:
0 1 0  1 
x    x    u , x0   
 2 1 1  0
y  1 0 x

The characteristic polynomial of the open-loop

system is
 1
 ( )   I  A    2    2, 0  2
2  1

Cont…
Choose stable poles becomes
3 3
When k= 0 s1  0 (cos  j sin )  1  j
4 4
21 21
When k= 3 s2  0 (cos  j sin )  1  j
4 4

From the above poles

( )  (  1  j)(  1  j)   2  2  2

(A) becomes

26
 Cont…
 ( A)  A2  a1 A  a2 I
2
0 1 0 1 1 0 
   2  2 1  2 0 1 
 2 1    
0 1
 
 2 1
U and U-1 becomes
0 1  1 1 
U  [ B AB ]    , U 1   
1 1 1 0 

Cont…
Therefore,
Closed-loop
 K   0 1 U 1 ( A) Im

1 1   0 1 
  0 1   
1.32
1 0   2 1 1

 2 0  Re
  0 1     0 1
-1 -0.5 0
-1
 0 1 -1.32

Open-loop

27
Cont…
1

0.5
y(t)
0

-0.5
0 5 10 t 15 20
1

0.5
u(t)
0

-0.5
0 5 10 15 20
t

3. PI-Type Regulator
Type-n plant
x  Ax  Bu
G ( s )  C ( sI  A) 1 B  D
y  Cx  Du
K (1  T1' s )(1  T2' s ) (1  Tn' s )

s n (1  T1s )(1  T2 s ) (1  Tn s )

Type-0 plant (n= 0)

x  Ax  Bu
y  Cx  Du
K (1  T1' s )(1  T2' s ) (1  Tn' s)
G (s) 
(1  T1s )(1  T2 s )  (1  Tn s )

28
Cont…

Type-1 plant example

K
G ( s) 
s (1  Ts )

Cont…
If a P-type regulator u= -Kx is applied to a type-0
plant (n= 0) where disturbance exists, a steady-state
error occurs.

y 0

29
 Cont…
Consider a LTI system with disturbance d

 1 1  0  0.2  1
x    x  1  u   0  d , x (0)  1
 0 1     
y  1 0 x

Find the response when controlling with the regulator

u= -[1 2]x. The TF G(s)= Y(s)/D(s) without
disturbance is
0.2 s  0.6
G ( s)  2 (type 0)
s  4s  4

Cont…
Response with disturbance
Does not
1
x1(t) converge to
0.5 zero
x2(t)
0
-0.5
0 1 2 3 4 5

0 u(t)
-2

-4
0 1 2 3 4 5

30
 Cont…
(Problem) Consider a SISO plant with constant
disturbance.
x  Ax  Bu +Wd , x (0)
y  Cx  Du
P-type regulator u = -Kx introduces a steady-state
error. So, let's design a PI-type regulator where d
means disturbance.

Cont…
Introduce a new state variable to design a PI-type
regulator
z   ydt
Differentiating both sides gives
z  y

Original system x  Ax  Bu+Wd 

 y  Cx  Du
New state variable z= 
 x
Augmented vector x   
z

31
 Cont…
x  Ax  Bu +Wd
z  y  Cx  Du
Combining  and  yields

 x   A 0   x   B  W 
 z   C 0   z    D  u +  0  d
        
 x
y  C 0    Du
z

Cont…
That is,

x  Ax
   B u +W d
y  Cx   Du

 x  A 0    B   W 
where x    , A    , B   D  ,W   0  ,
 
z  C 0     
C  C 0 , D  D
If the original system (A,B) is controllable, the
augmented system ( A , B ) is also controllable.

32
 Cont…
So, the PI-type regulator becomes

     K k   x    K x  k ydt
u   Kx 1 2   1 2
z
where K can be obtained by one of the previously
used methods.

Cont…
Consider a scalar system.
x   x  2u  d , x(0)=0.5
yx
From the system, a= -1, b= 2, w= 1, c=1.
The augmented system is
 x   a 0   x  b   w 
 z    c  u+
0   z   0   0 
d
  
 1 0  x   2  w
  u+
0   z   0   0 
d
1
A B

33
 Cont…
If the augmented feedback system has two poles -2j2.
 ( )  (  2  j2)(  2  j2)   2  4  8 
෩ = [k1 k2]
Letting K

 ( )   I  A  BK


 0   1 0   2 
 det( 
0     1 0    0   k1 k2 )
     
  1  2k1 2k2 
 det(  )
  1  
  2  (1  2k1 )  2k2 

Cont…
From  and 
1  2k1  4  k1  1.5
2k2  8  k 2  4

Thus, the PI-type regulator gives

    1.5 4  x   1.5 x  4 ydt

u   Kx z
 


34
Cont…
Feedback system d
u + + x x y
 4 - 2  1
- +
-1
PI-type
1.5
regulator

x   x  2u  d , x(0)  0.5
yx
u  1.5 x  4 ydt 

Cont…
Responses
1

x(t)
0.5
z(t)
0

0 1 2 3 4

0.5
t
y= x= 0
0
u(t) -0.5
-1

-1.5
0 1 2 3 4
t

35
 Cont…
Example 3: Consider a system.
0 1 0 0  0.5
x    x  1  u  1  d , x (0)= 0 
 2 2       
y  1 0 x
Obtain a PI-type regulator using MATLAB and plot
the response so that the augmented feedback system
has poles -2 and -2j2 where disturbance d= 1, t>0.

Cont…
Solution: Given the problem
0 1 0  0 
A
2 2  , B  1  , W  1  ,C = 1 0 , D  0
     
So,
0 1 0 0 
 0   
  2 2 0  , B     1 
A B
A   
C 0   1 0 0   D  0 
  
0
 
W     1  , C
W
 C 0  1 0 0 , D  D  0
 0  0
 

36
 Cont…
MATLAB program
>> AT= [0 1 0;-2 -2 0;1 0 0];
>> BT= [0; 1; 0];
>> P= [-2 -2+2*j -2-2*j];
>> KT= place(AT,BT,P) % Feedback gain matrix

KT= 14 4 16
Therefore, the PI-type regulator is given by
     K k   x    14 4 x  16 ydt
u   Kx 1 2  
z


Cont…
MATLAB program
t= 0; x= [0.5;0]; h= 0.01; loop= 500;
z= 0; yy= 0; K=[14 4 16]; buf=[t x' 0];
for i=1:loop
y= x(1);

z= z+0.5*h*(y+yy); % ydt
yy= y;
u= -K*[x;z];
x= RK4(@fun,t,x,u,h);
t= t+h;
buf=[buf;t x' u];
end

37
Cont…

t= buf(:,1); x1= buf(:,2); x2= buf(:,3); u= buf(:,4);

subplot 211
plot(t,x1,'b',t,x2,'r')
axis([0 5 -1 1])

subplot 212
plot(t,u,'b')
axis([0 5 -8 1])

Cont…
function xdot= fun(t,x,u)
d= 1;
xdot= zeros(2,1);
xdot(1)= x(2);
xdot(2)= -2*x(1)-2*x(2)+u+d;

0 1 0  0 
x    x  1  u  1  d
 2 2     

38
Cont…
Responses
1
x1(t)
0

x2(t)
-1
0 1 2 3 4 t 5

0
u(t) -2
-4
-6
-8
0 1 2 3 4 5
t

39