)Amirkabir University of Technology (AUT

4

) )

)
)

) (zero placement

Lecture 4-1

)Amirkabir University of Technology (AUT

SISO

MIMO

)Amirkabir University of Technology (AUT

: )

(

)
)
) (

)Amirkabir University of Technology (AUT

) G(s :

s
) G(s )gij(s


) ) (

)Amirkabir University of Technology (AUT

) G(s -

5s + 1
2
( s + 1)
s 1
2
s
+
1
(
)

s 1
2

s
+
1
(
)
G (s ) =
1

2
) ( s + 1

G11 : s 1 = 0 s = 1
G12 : 5s + 1 = 0 s = 0.2
G 22 : s 1 = 0 s = 1

)Amirkabir University of Technology (AUT

- ) G(s

0
2

s
+
1
(
)

M (s ) =

s + 2
0

s +1

-2 ) M(s

)Amirkabir University of Technology (AUT

s :
To find
]decoupling[sI-A,B
[P(s),Q(s)] - zeros
first find poles of the system by letting either
|sI-A|=0 or |P(s)|=0

then find rank of [sI-A,B] or [P(s),Q(s)] for input

:
decoupling
s zeros
or find rank

] [sI-AT,CT
output

])or[PT(s),RT(s]of [sI-AT,CT
[PT(s),RT(s)] for
- decoupling zeros

)Amirkabir University of Technology (AUT

) G(s

1 0 0
1 1
) x& (t ) = 0 1 0 x (t ) + 0 0 u (t
0 0 1
1 0
0 1 1
y (t ) =
) x (t
1
1
0

)G(s

)Amirkabir University of Technology (AUT

0
s +1

G (s ) =

1
1

s + 1 s + 1
1

0
s +1

M (s ) =

1
0

s + 1
) M(s

) G(s

) G(s

)Amirkabir University of Technology (AUT

SISO

MIMO

Amirkabir University of Technology (AUT)

MIMO
To use Nyquist, we need to know if the system has any
zeros inthe
right half
plane or
not
)

In the MIMO case, this translates to knowing if

)

zeros
(in

there are
any
transmission
the RHP
recalling

Also,
root locus
diagram,
we
know (
that
as we
increase gain, the open loop poles move towards zeros

and in this
case
transmission
zeros
It is important to know that if there are any

transmission zeros in the RHP

)Amirkabir University of Technology (AUT

) P(s :


( P
s ) Q
) P(s ) ( s

P ( s ) =
8*11
) P(s

R
(
s
)
W
(
s
)

6 .
or

sI 6A*6
) P(s B

= )P( s

C
D

)Amirkabir University of Technology (AUT

|P(s)|=0

Amirkabir University of Technology (AUT)

(A,Bnxm,Cmxn)
sI and
A B

Let C bemxn
assume
n>m. Assume C is full rank, then
P
(
s
)
=
;
Invariant
zeros(MacFarlane
P ( s ) = 01976)

rank(C)=m.
0

Therefore, one can find n-m independent vectors that are

If wein
find
elementary
matrices
U&
Vfor
such
that nonzero
we
the vector
following
canthe
null
space
(that
is
each
we

of
CC
getMnx(n-m)

will have C*v=0).

( s )N(n-m)xn
0

B UP

( s )V =
B.
Similar argument can be made
for
matrix
0
0
minors

Then the invariant zeros will be (recall the greatest
that have
nonzero determinant)

M ) )

)
Invariant
zeros
)
(s) =
0

So the objective here will be to somehow eliminate B & C

CM=0mx(n-m) , NB=0(n-m)xm

Amirkabir University of Technology (AUT)

NM

(
M
M
Note that
NM is
nonsingular
since
both N and
are full
rank and
1 the way they are multiplied together guarantees
N =NM
( NM
) Nnonsingular. NM-1 exists!
being

(
)

1
NM = ( NM ) NM = I
1
However,
note
is singular!
N = NMis considered
N that MN
left inverse of M since when it is multiplied by
NAM
M from the left it yields the identity matrix.

N
U =
0

0
M
; V =

I
0

0
I

Amirkabir University of Technology (AUT)

N
UPV =
N 0( sI

0 sI A B M 0 N ( sI A ) M
=

IA ) M
C = NMsI
0 0 NAM
I = 0 CM

NB

1

(NM )CM=0mx(n-m)
, NB=0(n-m)xm
NMsI NAM
=0
NMsI NAM
=0

N ( sI A ) M
sI UPV
( NM ) NAM0 = 0
=1

Something
wrong
with the
proof
( s ) = N
Invariant
zeros
: N (
sI (HW)
A) M = 0
( sI A) Mis

Invariant zeros : sI ( NM ) N AM = sI NAM = 0

1 42 43
1

)Amirkabir University of Technology (AUT

i.o.d{o.d.z}-i.d.z, {=} {}+

Other DZs

Some DZs

)Amirkabir University of Technology (AUT

C
B

0
0
0
0
0 1
s 1 0
0

1
0
0
0
0
1
0

0
0
s 3
0
0
0
1 1

0
0
s +4
0
0
0 0
0
sI A B

P(s) = 0
=
0
0
0
s +1
0
0 1
0

C
0
0
0
0
s 3 1 1
0
1
0
0
1
0
0
0 0

s=-4

1
0
A 1
0
1
s=-10
0

0
.
0

100

0
1
0
0
s=-1 ] [sI-AT,CT s=-4 ] [sI-A,B

) )

Amirkabir University of Technology (AUT)

2 ( s 2 )
G (s ) =
s 1) ( s 3)
(

P(s)
1

1
( s 1) ( s 3)
s 1

1
0
; M (s ) =

s 3

0
s 3

s 2
( s 1) ( s 3)

s+1 s+4
G(s)

)Amirkabir University of Technology (AUT

:


4
1
-

2

8*8
{ } + {
}

)P(s

4-

1-

2
12-

-1

2
1-

4 )

-4
ODZ
)

)Amirkabir University of Technology (AUT

0
0
0
1 1
s + 3
0

s
+
4
s

1
0
0

0
0
s 1 s + 2 1 0 P (s ) Q (s )
P(s) =
=

0
0
0
s
+
2
1
1

R
(
s
)
W
(
s
)

1
1
0
0
0 0

1
0
0

1
0
0

A
) )1+,2-,3-,4-

s=+1 s=-4 ) G(s

s =-4 ]) [P(s), Q(s
(R2 =R3-R4
)for s =-4

s =1 ]) [PT(s), RT(s
) (i.o.d.z -

)Amirkabir University of Technology (AUT

- ) P(s
) (G(s)=RP-1 Q+W

s +3
) ; M (s ) = ( s + 2 ) ( s + 3

2s + 5

0
( s + 2 ) ( s + 3)

s +3

= ) G (s
1

) ( s + 2 ) ( s + 3

s+4 s+1
) G(s

Amirkabir University of Technology (AUT)

P Q
1
det
=
det
P
det
W
+
RP
Q) =
(
)
(

R W

det ( P ) det ( RP 1Q ) = det ( R Adj ( P ) Q )

1 4 4 4 2 4 4 43
when W =0

is
stable

Uncontrollable mode

system
is stabilizable

2/5(that
is, if we
some
unstable
modes,
then
we can|P(s)|
make the
system

have
W
=0

stable
since
they
are controllable)

Unobservable mode is unstable

system
is not detectable

|P(s)|=|R
Adj(P)B|

(that
is, we
cannot
detect
internal instability
of the system
from
output

|P(s)|
measurements since the unstable mode behaviour
does
not show
up in the

output)
{ } + {=0
}

41-

41-

)Amirkabir University of Technology (AUT

0
0
0
1 1
s + 3
0
1 sI A
B
=
1 C
D( s)
0

s+4

s 1

s+2

P(s) =

)Amirkabir University of Technology (AUT

B
sI A

PO (s) =

C
0

B
0

sI A + BK
PC (s) =
C

Amirkabir University of Technology (AUT)

sI A B X 0
=
C

1 44 2 4 403 U Y
PO (s)

sX = AX + BU

( sI

; U

= R KX

A + BK ) X BR = 0 ; Y = CX

sI A + BK B X 0
=

C
0 R Y
1 4 44
2 4 4 43
Pc (s)

PC(s)

System matrix relates output to the input and the input in this case is R

Amirkabir University of Technology (AUT)

A
Recall: det
C

| PC(s)|=|PO(s)|

0
A
= det
D
0

B
= det ( A ) det ( D )
D

sI A
sI A + BK B
det ( PC (s ) ) = det
= det

C
0
1 4 44
C
2 4 4 43

B I
0 K

0
=

Pc (s)

sI A B I 0
det
det
= det ( PO (s ) )

C
0 K I
1 44
2
4
4
3 1 4 2 4 3

PO (s)
=1

...

Amirkabir University of Technology (AUT)

sX = AX + BU

( sI

; U = R KY

A + BKC ) X BR = 0 ; Y = CX

sI A + BKC B X 0
=

1 4 4 4C2 4 4 4 03 R Y
Pc (s)

Amirkabir University of Technology (AUT)

| PC(s)|=|PO(s)|

sI A
sI A + BKC B
det ( PC (s ) ) = det
= det

1 4 4 4C2 4 4 4 03
C

B I
0 KC

0
=

Pc (s)

sI A B I
0
det
det
= det ( PO (s ) )

C
0 KC I
1 44
2
4
4
3 1 44 2 4 43

PO (s)
=1

...

)Amirkabir University of Technology (AUT

-
) G(s

) G(s
)=N(s)DG(s

1976
)-1(s

)N(s
) D(s

MacFarlane

) G(s

) G(s

) N(s ) G(s

) G(s ) G(s


)
)

)Amirkabir University of Technology (AUT

)Amirkabir University of Technology (AUT

SISO
= Z f
MIMO
= Z

s m + b m s m 1 + L +b1s + b 0
g (s ) = k n

s + an s n 1 + L P
+f a1=s + a0
= P

:
Z f + Z = Pf
+ P
n m
= m =n

)Amirkabir University of Technology (AUT

) g(s m > n m < n

b
b
b
s m 1 + m + m21 + L + m0
s
s
s

g (s ) = k
a
a a
s n 1 + n + n 21 + L + 0n
s
s
s

)g(s

Z f = m ; Pf = n ; P = 0
m < n
1 (1 s )
1 (1 s )
g (s ) = k n m
=
k

1
s
s
s
L
s

1
s
(
)
(
)

123

n m

1 & g (s ) 0

) (1 s
as s
) (1 s

n-m s
n= Z
) g(s m
n-m ) g(sZ f + Z = m + ( n m ) = n = n + 0 = Pf + P

)Amirkabir University of Technology (AUT

Z f

= m
= ; Z
m > n0; Pf = n
) g(s
(1 s )
(1 s )
g (s ) = ks
= k s s L s

) 1 2 3 (1 s

1
s
(
)

m n

m n

( 1
s)

)g(s
)

as s

1
&
g
(
s

( 1 s )

s
m

m-n

Z


n

+ Z
=P
)+ P g(s

m-n ) g(s
P = m n

Z f + Z = m = n + ( m n ) = Pf + P

)Amirkabir University of Technology (AUT

i
1

s
i =1
k m
;
m =n
p i

) G(s :

z (s )
s
i =1
G (s
) = k M
( P(s ) = k

) s
m
m
zi

)M(s
-

( s z i ) 1 1 s

i =1
)=p(s

)G(s

G (s ) = :
)k i n=1 z(s
; m
< n
k n m m
pi
s

p
1

)G(s
(

-
) )
i

s
i =1
i =1

m
) z (s
zi

) G (s ) = k P (s
1

m n i =1
s
ks
m;
n m > n
m
)z(s
)p(s
pi

i
=
1

m
n
) z (s ) = ( s z i ) ; p (s ) = ( s p i

iSISO

i =1
=1

Z +Z =P +P

)Amirkabir University of Technology (AUT

n ) (A ,B,C,D

= ) Gmm ( s
( C
sI A
G) B + :D

= s ) G(s

)( s

1
1
1
G ( s ) = C ( I + 2 A + 3 A2 + L) B + D
s
s
s

)( G

<m . )( G G()=D )*(

m- ) G(s m = s ) G(s

) (
m ) n-m+

)





)G(s

. ) G(s =m

n )( G

)Amirkabir University of Technology (AUT

G() m =0 D=0

. n-m m ) G(s

CAi-1B

n-m m CB
n-m+d m-d CB

. m n

m ) G(s
= (m
) =

Amirkabir University of Technology (AUT)

Using Laurent series approach find.

1
s +1
G (s) =
1
s + 1

2
( s + 1) ( s + 3)
s + 3
; M ( s) =
1

s + 1

0
;
s 1

s + 1

poles = {1, 1, 3); zerotrans = {1}

0 0 1 3 2 1 11 6
CB CAB CA2 B
G (s) = D +
+ 2 + 3 +L =
+
+ 2
+L

s
s
s
0 0 s 1 1 s 11 1
1 8 8
0 0
0 1 2

A = 1 5 4 ; B = 1 0 ; C =

0
0
1

0 0 1
1 1

( CB ) = 2 = m (n m) = 1

Expect one finite transmission zero!

)Amirkabir University of Technology (AUT

) x& (t ) = Ax(t ) + Bu (t

sI A B
= ) P ( s
C

;3
0

) y (t ) = Cx(t

(*

)2
*
1

|P(s)|=0

x1 (t )
C2 ]

x
(
t
)
2

y (t ) = [ C1

) A12 x (t
1 0

;) A22 x (t ) + B u (t
{ 2 2
m

A
x&1 (t ) 11
x& (t ) = A21
{ 2
n m

mxm C2 m ) (n-m ) x2(t )x1(t

HW

sI n m A11 + A12C 21C 1 = 0

)Amirkabir University of Technology (AUT

- 0

1
s 1

s + 1

) G(s

8 8
0 0
) 5 4 x(t ) + 1 0 u (t
1 1
0 1
1 2
) x (t
0 1

)( s + 1) ( s + 3
s + 3
; M (s ) =
1

s + 1

1

|P(s)|=0


)
)

1
s +1
G (s ) =
1
s + 1

1
x& (t ) = 1
0
0
y (t ) =
0

1 2 0
s 1 + [ 8 8]
= s 1 = 0
0 1 0

)Amirkabir University of Technology (AUT

( )

) D

D -1
) x& (t ) = Ax (t ) + Bu (t
) y (t ) = Cx (t ) + Du (t
1

D 1 y (t ) = D 1Cx
( (t ) + u
( t ) u
t )D
= D-11 y
(t ) D
Cx (t
)

)Amirkabir University of Technology (AUT

) u(t
) ) x& (t ) = Ax (t ) + B ( D 1 y (t ) D 1Cx (t

1
1
A

BD
C
x
(
t
)
+
BD
) y (t
(
)

) x& (t ) = ( A BD 1C ) x (t ) + BD 1 y (t
1 44 2 4
( 43

A%

) u (t ) = D 1 y (t ) D 1Cx (t

)Amirkabir University of Technology (AUT

(
A%
1
%

sI A = sI A + BD
( C = (0

Transmission
Zeros

Amirkabir University of Technology (AUT)

x& (t ) = Ax (t ) + Bu (t )
:
y (t ) = Cx (t )

Bnm Clm
D=0

) n vector
si (

( A I ) nn Bnm
=
0
i
=
1,
2,
L
m
(
)
Why?

t
(

)
m vector
i
deg
Wes (can
m independent vectors such that
) = obtain
1 ; deg t ( ) = ; 0 < L
i

Work with the smallest degree that would satisfy the equation
and all [si()T ti()T]T are independent vectors

Amirkabir University of Technology (AUT)

Now define the following l-vector
Also from

( i = 1, 2,L m )

z i ( )l vector = Csi ( )

s i ( )
= by
0
I ) sZ(
) )looses
+ Btits
) = 0and

( A where
[ A IzerosB ]aret obtained
i (
i (

So transmission
finding
rank
i ( )
we already know how to find
Z( ) without sfinding
G(( )I A ) 1 Bt ( )
(

)
=
i
i

Hence

z i ( ) = C s i ( ) = C ( I A ) Bt i ( ) = G ( ) t i ( )
1

Or

Z ( ) = G ( )T ( )

Where (because the system is minimal and hence order of transfer function must be the same
m
as system order)

deg T ( ) = i = n
i =1

Therefore, since tis are independent:

G ( ) = Z ( )T ( )
1

Why?

Z & T are right coprime

polynomial matrices