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http://dx.doi.org/10.5762/KAIS.2020.21.1.20

Pole Placement Method of a Double Poles Using LQ Control and Pole's Moving-Range  

Park, Minho (Electrical & Electronics Engineering, Chungnam State University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.21, no.1, 2020 , pp. 20-27 More about this Journal
Abstract
In general, a nonlinear system is linearized in the form of a multiplication of the 1st and 2nd order system. This paper reports a design method of a weighting matrix and control law of LQ control to move the double poles that have a Jordan block to a pair of complex conjugate poles. This method has the advantages of pole placement and the guarantee of stability, but this method cannot position the poles correctly, and the matrix is chosen using a trial and error method. Therefore, a relation function (𝜌, 𝜃) between the poles and the matrix was derived under the condition that the poles are the roots of the characteristic equation of the Hamiltonian system. In addition, the Pole's Moving-range was obtained under the condition that the state weighting matrix becomes a positive semi-definite matrix. This paper presents examples of how the matrix and control law is calculated.
Keywords
Pole Placement; LQ Control; Hamiltonian; Jordan Block; Pole's Moving-Range;
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