Solution:

Find the controllability of the given system:

Since the given system is third order system then :
𝑆 = [𝑏 𝐴𝑏 𝐴2 𝑏]
1 1 1 1 1
𝐴𝑏 = [−1] 𝑎𝑛𝑑 𝐴2 𝑏 = [−1] → 𝑆 = [0 −1 −1]
0 1 0 0 0
1 1 1
𝑑𝑒𝑡 [0 −1 −1] = −1
0 0 0
The system is controllable.
∆𝑐 (𝑠) = (𝑠 + 2)(𝑠 + 1)(𝑠 + 1)
∆0 (𝑠) = det(𝑠𝐼 − 𝐴) = 𝑠 3 − 2𝑠 2 + 3𝑠 − 2
∆𝑐 (𝑠) − ∆0 (𝑠) = 6𝑠 2 + 2𝑠 + 4
𝑠2 − 𝑠 + 2
𝐹(𝑠) = [𝑎𝑑𝑗(𝑠𝐼 − 𝐴)]𝑏 = [ −(𝑠 − 1) ]
1
Since
𝑘𝐹(𝑠) = ∆𝑐 (𝑠) − ∆0 (𝑠)

𝑠2 − 𝑠 + 2
[𝑘1 𝑘2 𝑘3 ] [ −(𝑠 − 1) ] = 6𝑠 2 + 2𝑠 + 4
1
𝑘1 (𝑠 2 + 𝑠 + 2) − 𝑘2 (𝑠 − 1) + 𝑘3 = 6𝑠 2 + 2𝑠 + 4
𝑘1 𝑠 2 + (−𝑘1 − 𝑘2 )𝑠 + (2𝑘1 + 𝑘2 + 𝑘3 ) = 6𝑠 2 + 2𝑠 + 4
∴ 𝑘1 = 6; (−𝑘1 − 𝑘2 ) = 2; (2𝑘1 + 𝑘2 + 𝑘3 ) = 4
𝑘1 = 6; 𝑘2 = −8 𝑎𝑛𝑑 𝑘3 = 0
To conform the solution is ok we have to find the following determinant of
𝑑𝑒𝑡(𝑠𝐼 − 𝐴 + 𝑏𝑘) = 0

1.2.3 Determination of Matrix k Using Ackermann’s Formula:

To calculate the given vector k for nth order system:
If the system is controllable then
𝑘 = [𝑘1 𝑘2 … 𝑘𝑛 ]
= [0 0 … 0 1][𝑏 𝐴𝑏 𝐴2 𝑏 … 𝐴𝑛−1 𝑏]−1 ∆𝑐 (𝐴) (1.8)
where ∆𝑐 (𝐴) represented the matrix polynomial formed with coefficient of the desired
characteristic equation∆𝑐 (𝑠).

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Example 1.9: Given A system with ;
0 1 0
𝐴=[ ];𝑏 = [ ]
0 0 1
Find the values of gains k to locate the poles of closed loop system at: 1) -4,-4; 2) -4-j4 ,
-4+j4. Using Ackermann’s formula?
Solution:
1) Test the controllability
0 1
𝑆 = |𝑏 𝐴𝑏| → 𝑆 = [ ]
1 0
0 1
𝑑𝑒𝑡(𝑆) = 𝑑𝑒𝑡 [ ] = −1
1 0
It is controllable.
[𝑘1 𝑘2 ] = [0 1][𝑏 𝐴𝑏]−1 ∆𝑐 (𝐴)
0 1 −1 0 1
[𝑏 𝐴𝑏 ]−1 = [ ] =[ ]
1 0 1 0
∆𝑐 (𝑠) = (𝑠 + 4)(𝑠 + 4) = 𝑠 2 + 8𝑠 + 16
0 0 0 8 16 0 16 8
∆𝑐 (𝐴) = 𝐴2 + 8𝐴 + 16𝐼 = [ ]+[ ]+[ ]=[ ]
0 0 0 0 0 16 0 16
0 1 16 8
∴ [𝑘1 𝑘2 ] = [0 1] [ ][ ] = [16 8]
1 0 0 16
∴ 𝑘1 = 16; 𝑘2 = 8
2) For 𝑠1 = −4 + 𝑗4 𝑎𝑛𝑑 𝑠2 = −4 − 𝑗4
∆𝑐 (𝑠) = (𝑠 + 4 − 𝑗4)(𝑠 + 4 + 𝑗4) = 𝑠 2 + 8𝑠 + 32
0 0 0 8 32 0 32 8
∆𝑐 (𝐴) = 𝐴2 + 8𝐴 + 16𝐼 = [ ]+[ ]+[ ]=[ ]
0 0 0 0 0 32 0 32
0 1 32 8
∴ [𝑘1 𝑘2 ] = [0 1] [ ][ ] = [32 8]
1 0 0 32
∴ 𝑘1 = 32; 𝑘2 = 8

Example 1.10: Consider the regulator system. The plant is given by:
𝑥̇ 1 0 1 0 𝑥1 0
[𝑥̇ 2 ] = [ 0 0 𝑥
1 ] [ 2 ] + [0] 𝑢
𝑥̇ 3 −1 −5 −6 𝑥3 1
Find the gain vector k to locate the poles at:
𝑠1 = −2 + 𝑗4; 𝑠2 = −2 − 𝑗4; 𝑠 = −10.
Solution:
Since, the given system is third order system, then the Ackermann’s formal is written as:
[𝑘1 𝑘2 𝑘3 ] = [0 0 1][𝑏 𝐴𝑏 𝐴2 𝑏]−1 ∆𝑐 (𝐴)
To test the controllability of the given system

11
 det(𝑆) = 𝑑𝑒𝑡[𝑏 𝐴𝑏 𝐴2 𝑏] = −1
Therefore, the system is completely controllable.
∆𝑐 (𝑠) = (𝑠 + 2 − 𝑗4)(𝑠 + 2 + 𝑗4)(𝑠 + 10) = 𝑠 3 + 14𝑠 2 + 60𝑠 + 200
∆𝑐 (𝐴) = 𝐴3 + 14𝐴2 + 60𝐴 + 200 =
−1 −5 −6 0 0 14
3 2
𝐴 =[ 6 29 31 ] ; 14𝐴 = [−14 −70 −84] ;
−31 −149 −157 84 406 434
0 60 0
60𝐴 = [ 0 0 60 ]
−60 −300 −360
199 55 8
∴ ∆𝑐 (𝐴) = [ −8 159 7 ]
−7 −43 117
0 0 1
[ 2 ]
𝑆 = 𝑏 𝐴𝑏 𝐴 𝑏 = [0 1 −6]
1 −6 31
5 6 1
𝑆 −1 = [6 1 0]
1 0 0
5 6 1 199 55 8
[𝑘1 𝑘2 𝑘3 ] = [0 0 1] [6 1 0] [ −8 159 7 ] = [199 55 8]
1 0 0 −7 −43 117

1.2.4 Determination of Matrix k Using Transformation Matrix T:

Suppose that the system is defined by
𝒙̇ = 𝑨𝒙 + 𝒃𝑢

and the control signal is given by

𝑢 = −𝒌𝒙
The feedback gain matrix k that forces the eigenvalues of (A – bk) to be 𝜇1 , 𝜇2 , … , 𝜇𝑛 (desired
values) can be determined by the following steps:
Step 1: Check the controllability condition for the system. If the system is completely state
controllable, then use the following steps:
Step 2: From the characteristic polynomial for matrix A, that is,
|𝑠𝑰 − 𝑨| = 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛
determine the values of a1, a2, .. . , an.
Step 3: Determine the transformation matrix T that transforms the system state equation into
the controllable canonical form. It is not necessary to write the state equation in the
controllable canonical form. All we need here is to find the matrix T. The transformation matrix
T is given by:

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 𝑻 = 𝑺𝑾
Where the matrix W is given by:

And
𝑺 = [𝒃 𝑨𝒃 𝑨𝟐 𝒃 … 𝑨𝒏−𝟏 𝒃]
Step 4: Using the desired eigenvalues (desired closed-loop poles), write the desired
characteristic polynomial:
(𝑠 − 𝜇1 )(𝑠 − 𝜇2 ) … (𝑠 − 𝜇𝑛 ) = 𝑠 𝑛 + 𝛼1 𝑠 𝑛−1 + ⋯ + 𝛼𝑛−1 𝑠 + 𝛼𝑛
and determine the values of 𝛼1 , 𝛼2 , … , 𝛼𝑛
Step 5: The required state feedback gain matrix k can be determined from the following
Equation
𝒌 = [𝑘1 𝑘2 𝑘3 … 𝑘𝑛 ]
= [𝛼𝑛 − 𝑎𝑛 𝛼𝑛−1 − 𝑎𝑛−1 … 𝛼2 − 𝑎 2 𝛼1 − 𝑎1 ]𝑻−𝟏 (1.9)

Example 1.11: For example 1.10, used eq. 1.9 to determine the matrix k.
Solution:
Find the char. Eq. of the open loop system.
𝑠 −1 0
|𝑠𝑰 − 𝑨| = |0 𝑠 −1 | = 𝑠 3 + 6𝑠 2 + 5𝑠 + 1
1 5 𝑠+6
By comparing with 𝑠 3 + 𝑎1 𝑠 2 + 𝑎2 𝑠 + 𝑎3 , we find that:
𝑎1 = 6; 𝑎2 = 5; 𝑎3 = 1
The desired characteristic equation is:
∆𝑐 (𝑠) = (𝑠 + 2 − 𝑗4)(𝑠 + 2 + 𝑗4)(𝑠 + 10) = 𝑠 3 + 14𝑠 2 + 60𝑠 + 200
By comparing with 𝑠 3 + 𝛼1 𝑠 2 + 𝛼2 𝑠 + 𝛼3 , we find that:

𝛼1 = 14; 𝛼2 = 60; 𝛼3 = 200

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 To find the matrix 𝑻 = 𝑺𝑾
0 0 1
𝑺 = [𝒃 𝑨𝒃 𝑨 𝒃] = [0 1
𝟐 −6]
1 −6 31
5 6 1
𝑊 = [6 1 0]
1 0 0
0 0 1 5 6 1 1 0 0
𝑇 = [0 1 −6] [6 1 0] = [0 1 0]
1 −6 31 1 0 0 0 0 1
𝒌 = [𝑘1 𝑘2 𝑘3 ] = [𝛼3 − 𝑎3 𝛼3 − 𝑎3 𝛼1 − 𝑎1 ]𝑻−𝟏

𝒌 = [𝑘1 𝑘2 𝑘3 ] = [200 − 1 60 − 5 14 − 6] = [199 55 8]

H.W:
Determine the matrix k for the following systems using three different methods:
0 1 0
1) 𝐴 = [ 2 ] ; 𝑏 = [ ] ; the desired poles of closed loop system at 𝑠1 = 2𝜔0 and
−𝜔0 0 1
𝑠2 = 2𝜔0.
1
2) 𝐺(𝑠) = 𝑠2 ; the desired poles of closed loop system at 𝑠1,2 = −1 ± 𝑗
0 1 0 0
3) 𝐴 = [ 0 0 1 ] ; 𝑏 = [0]; the desired poles of closed loop system at
−6 −11 −6 1
𝑠1,2 = −1 ± 𝑗 𝑎𝑛𝑑 𝑠3 = −5
0 1 0
4) 𝐴 = [ ] ; 𝑏 = [ ]; 𝜁 = 1 𝑎𝑛𝑑 𝜔𝑛 = 4 (for the closed loop system).
0 0 1
0 1 0
5) 𝐴 = [ ] ; 𝑏 = [ ]; 𝜁 = 0.3 𝑎𝑛𝑑 𝜔𝑛 = 10 (for the closed loop system).
−2 −3 1

1.3 Design of Servo Systems:

In what follows we shall just discuss a problem of designing a type 1 servo system when the
plant involves an integrator. Assume that SISO system is defined by:
𝒙̇ = 𝑨𝒙 + 𝒃𝑢
𝑦 = 𝒄𝒙
Figure 2 shows a general configuration of the type 1 servo system when the plant has an
integrator. Here we assumed that 𝑦 = 𝑥1 .

14