ppol

pole placement

Calling Sequence

[K]=ppol(A,B,poles)

Arguments

:A,B real matrices of dimensions nxn and nxm. : :poles real or complex vector of dimension n. : :K real matrix (negative feedback gain) :

Description

K=ppol(A,B,poles) returns a mxn gain matrix K such that the eigenvalues of A-B*K are poles. The pair (A,B) must be controllable. Complex number in poles must appear in conjugate pairs.

An output-injection gain F for (A,C) is obtained as follows:

Ft=ppol(A’,C’,poles); F=Ft’

The algorithm is by P.H. Petkov.

Examples

A=`rand`_(3,3);B=`rand`_(3,2);
F=ppol(A,B,[-1,-2,-3]);
`spec`_(A-B*F)

See Also

• canon canonical controllable form
• stabil stabilization