State-Space Representation of a Plant Plant with State-Variable Feedback

f = (k1 x1 + k 2 x2 + L + k n xn )

State-Equation: State-Equation:
x& = Ax + Bu x& = (A BK)x + Bu

0 1 0 L 0 0 1 0 L 0
0 0 1 L 0
A= A BK =
0 0 1 L 0
M M M M M M M M M M

a0 a1 a2 L an 1
(a0 + k1 ) (a1 + k2 ) (a2 + k3 ) L (an1 + kn )

Characteristic Equation: Characteristic Equation:

s n + an 1s n 1 + L + a1s + a0 = 0 s n + (an 1 + k n )s n 1 + L + (a1 + k 2 )s + (a0 + k1 ) = 0

Desired Characteristic Equation: s n + d n 1 s n 1 + L + d 1 s + d 0 = 0

Design: d i = a i + k i + 1 i = 0, 1, 2, L , n - 1