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1 ST AUGUST 2017
LECTURE 9
ASSISTANT PROFESSOR
sikhahota@aero.iitkgp.ernet.in
Determination of Matrix Using Ackermann’s Formula
where we use the state feedback control u=–Kx. We assume that the system is completely
state controllable.
Let us define
Since the Cayley–Hamilton theorem states that satisfies its own characteristic
equation, we have
So,
Determination of Matrix Using Ackermann’s Formula ( 3)
We have
So,
We obtain,
Determination of Matrix Using Ackermann’s Formula ( 3)
First, we need to check the controllability matrix of the system. Since the controllability matrix M is
given by
we find that |M|=–1, and therefore, rank M=3. Thus, the system is completely state controllable and
arbitrary pole placement is possible.
where
Example: Pole Placement (contd…)
Finally,
Different Canonical Forms
Obtain state-space representations in the controllable canonical form, observable canonical form,
and diagonal canonical form.
CCF
OCF DCF