Control Laboratory

Fourth Year

Experiment no. 2

Process Control Using Poles Placement Controller

Student's Name:

Student's No.:

Type of Studying:

Prepared by:
Dr Ammar A. Aldair
Dr Mofeed T. Rashid

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 Objectives
1. The experiment aims to make students acquainted with process control and
design the poles placement controller for a plant model by using of MATLAB.
2. Testing the controllability of the system.
3. Studying the effects of changing the locations of the desired poles on the time
response of the controlled system.
4. Making a comparison between the response of the system with and without
controller.

Introduction
In this Lab, we will present a design method commonly called the pole-placement or
pole-assignment technique. We assume that all state variables are measurable and are
available for feedback. It will be shown that if the system considered is completely
state controllable, then poles of the closed-loop system may be placed at any desired
locations by means of state feedback through an appropriate state feedback gain
matrix.

The present design technique begins with a determination of the desired closed-loop
poles based on the transient-response and/or frequency-response requirements, such
as speed, damping ratio, or bandwidth, as well as steady-state requirements.

It is assumed that we decide that the desired closed-loop poles are to be at

. By choosing an appropriate gain matrix for
state feedback, it is possible to force the system to have closed-loop poles at the
desired locations, provided that the original system is completely state controllable.

Let the single input single output system be given by:

̇( ) () ( ) ( )

( ) ( ) ( )

if state feedback control () , then the control input for the given system is given by

( ) ( ) ()

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 The system with the state feedback system is given in Figure 1

Figure 1 the system with state feedback controller

The state feedback controller is given by:

( ) ( ) ( ) ( )

where [ ] is feedback vector with constant elements.

̇ ( ) [ ] ( )

Or: ̇ [ ] ( )

It can be show that if the pair (A,b) is completely controllable, then the vector k exist and can
give any arbitrary set of Eigen values (poles) of matrix [ ] or roots of characteristic
equation:

| ([ ])|

Or: | | ( )

Regulator System Design:

Consider the regulator system. The plant is given by:

̇
[ ̇ ] [ ][ ] [ ]
̇

Find the gain vector k to locate the poles at:

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 First of all, we have to test the controllability of the given system. The following MATLAB
codes can be used:

A=[0 1 0;0 0 1;0 -2 -3];

b=[0;0;1];
Co=ctrb(A,b);

Where the code ctrb computes the controllability matrix for state-space systems. For an
n-by-n matrix A and an n-by-m matrix B, ctrb(A,B) returns the controllability matrix

where Co has n rows and nm columns.

Co = ctrb(sys) calculates the controllability matrix of the state-space LTI object sys.

The system is controllable if Co has full rank n.

The following codes can be used to design and plot the respons of the system with and
without the poles placement controller:

clc
clear all
A=[0 1 0;0 0 1;-1 -5 -6];
b=[0;0;1];
J=[-2+j*4 -2-j*4 -10];
Co=ctrb(A,b);
E=det(Co)
if E==0
disp('the system is uncontrolable')
else
K=acker(A,b,J);
c=[1 0 0];
d=[0];
AA=A-b*K;
BB=b*K;
CC=c;
DD=d;
% Enter step command and plot command
t=0:0.1:15;
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 y1=step(A,b,c,d,1,t);
y2=step(AA,BB,CC,DD,1,t);
plot (t,y1,t,y2)
end

The comparison between the system with and without the pole placement controller is
shown in Figure 2:

Figure 2 comparison between the system with and without the pole placement controller

Exercise: For the inverted pendulum system shown in Fig. 3, the state space model is
given in equation 7

Fig. 3 inverted pendulum system

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 ̇
( )
[ ] [ ]

[ ] (7)

By setting different values for these parameters, various transfer functions can be
obtained.

Based on your group number, parameters should be selected as follows in Table 1.

Table 1: Different groups of parameters for and

Group # (Kg) ( ) l (m)

Group 1 0.1 1 1 -2,-2,-10,-10
Group 2 0.1 1 1 -4,-2,-5,-5
Group 3 0.1 1 1 -2,-3,-4,-5
Group 4 0.1 1 1 -3,-3,-6,-7
Group 5 0.1 1 1 -2,-4,-6,-8

Each group should make their state space equation:

Write your state space equation (1 mark):

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 Find the values of K matrix parameters (1 mark):

Report

1. Plot the time response of the the system without the controller : (1 mark)

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 2. Plot the the response of the system with the controller (1 mark)

3. What does happen for the system after the controller is connected? And why?
(2 marks)

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 4. Choose another locations for the desired poles and plot the response of the
system with the controller: (2 marks)

5. Conclusion (2 marks)

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