Feedback Gain, Stability, Controllability and Observability of System

By

Akash Sinha -14BEE1020

Shubham Guleria 14BEE1104

Under the Guidance of

Dr. Gunabalan R.

A report submitted to the

SCHOOL OF ELECTRICAL AND ELECTRONICS ENGINEERING
in partial fulfillment of the requirements for the project of the course
of
EEE403 Advanced Control Theory
in
B.Tech ELECTRICAL AND ELECRTRONICS ENGINEERING

VIT UNIVERSITY, CHENNAI

Vandalur Kelambakkam Road
Chennai 600 127
 INTRODUCTION

In state space analysis in Control system, sometimes we come across controllability and observability test
on a control system
X=Ax+Bu
Y=Cx+Du

Controllability
A system with internal state vector x is called controllable if and only if the system states can be
changed by changing the system input.

Observability
A system with an initial state, is observable if and only if the value of the initial state can be determine
from the system output y(t) that has been observed through the time interval . If the initial state cannot
be so determined, the system is unobservable.

Full State Feedback or Pole Placement is a method employed in feedback control system theory to place
the closed loop poles of a plant in a pre determined locations in the s-plane placing poles is desirable
because the location of the poles corresponds directly to the eigen values of system which control the
characterstics of the response of the system, the system must be considered controllable to implement this
method.

If the closed loop input-output transfer function can be represented by a state space equation as :

where,
A=System Matrix
X=State Vector
B=Control input Matrix
U=Input Vector
C=Output Matrix
Y=Output Vector
D=Direct Matrix
Then the poles of the system are the roots of the characteristic equation given by

Full state feedback is utilized by commanding the input vector u. Consider an input proportional to the
state vector u = -Kx
Substituting in state space equation we get:

y = (C-DK)x

The roots of Full state feedback system is given by: |I(K)

Comparing the terms of this equation with those of the desired characterstic equation yields the value of
the feedback matrix K which force the closed loop eigen values to the pole locations specified by the
desired characterstic equation.

Stability

One of the first things we want to do is analyze whether the open-loop system (without any control) is stable.
As discussed in the Introduction: System Analysis section, the eigenvalues of the system matrix, , (equal
to the poles of the transfer function) determine stability. The eigenvalues of the matrix are the values
of that are solutions of .
 CODE

% x. = Ax + Bu
% y = Cx + Du
A = [0 1 0;0 0 1;-1 -5 -6];
B = [0; 0; 1];
C = [1 0 0];
D = [0];
initialX = [1;0;0];
% Testing Controlability and Observability
Q=horzcat(B,A*B,(A^2)*B)
t1=transpose(C);
t2=transpose(A);
T=horzcat(t1,t2*t1,((t2)^2)*t1)
if rank(Q)==3
fprintf('The system is Controllable\n')
else
fprintf('The system is Not controllable\n')
end
if rank(T)==3
fprintf('The system is Observable\n')
else
fprintf('The system is Not Observable\n')
end
% Checking Stability of the system
poles=eig(A)
if poles>0
frpintf('The system is unstable \n')
end
if poles<0
fprintf('The system is stable \n')
end
desiredPoles = [-2+4i -2-4i -10];
% Using Ackerman Formula instead of Place to remove mismatching
GainK = acker(A,B,desiredPoles);
disp('Feedback Gain Matrix: ');
disp(GainK);
% Using this GainK in formula sI - (A- BK) we will get a new MatrixA. Using
% this new MatrixA finding our new System with this feedback controller
% gain.
newMatrixA = A - (B*GainK);
newMatrixB = eye(3);
newMatrixC = eye(3);
newMatrixD = eye(3);
mysys = ss(newMatrixA,newMatrixB,newMatrixC,newMatrixD);
% Now Initial REsponse with the GainK
timeT = 0:.1:10;
x = initial(mysys,initialX,timeT);
x1 = [1 0 0]*x';
x2 = [0 1 0]*x';
x3 = [0 0 1]*x';
% Plotting the response
plot(timeT,x1,'r',timeT,x2,'b',timeT,x3,'g');
title('Response to initial Condition of State Variables');
xlabel('Time -->');
ylabel('Magnitude -->');

RESULT

Q=

0 0 1
0 1 -6
1 -6 31

T=

1 0 0
0 1 0
0 0 1

The system is Controllable

The system is Observable

poles =

-5.0489
-0.3080
-0.6431

The system is stable

Feedback Gain Matrix:
199 55 8
 CONCLUSION

Hence, the system is tested for controllability, observability, stability and the feedback gain
matrix is found for the given system.