‫ي َفْهما‬

ِ ‫عْلمًا َو ْرُزْقن‬
ِ ‫ي‬
ِ ‫ب زْدن‬
ّ ‫َر‬
ً
My Lord! Advance me in
Knowledge and true
understanding
 Modern Control
Systems
MCT 4332/4250
Lecture #14: Multivariable
System
Assoc. Prof. Dr. Wahyudi Martono
Department of Mechatronics Engineering
International Islamic University Malaysia,
E-mail: wahyudi@iiu.edu.my
I M -RS G
Summary of Last
Lecture
 State observer is required when the state
is A reduced- order estimator will be of
lower order, requiring less computational
power.

η̂ ̂
η
I M -RS G Outlines
 Introduction
 Multivariable Systems
I M -RS G Introduction
 So far we know how to design controller for
SISO systems based on the pole placement
method.
 In SISO systems the feedback matrix K is
unique since it has 1 x n row vector with n
elements to be determined based on the n
poles to be placed.
 Can we still get the unique solution of K?
I M -RS G Multivariable Systems

 There are two inputs

from pump 1 and
pump 2.
 We can also control
two outputs although
we have three tanks.
I M -RS G Multivariable Systems

 There are two

inputs from pump 1
and pump 2.
 We can also control
two outputs
although we have 4
tanks.
I M -RS G Multivariable Systems
In multivariable (or MIMO) systems
the feedback matrix K is not unique.
– If the input has m dimension, then the
feedback matrix is a m x n matrix with
m x n elements to be determined.
– As consequent there are more
elements than n poles.
I M -RS G Multivariable Systems
 The overcome the difficulty in
designing feedback matrix K for
multivariable system, we need to
restrict and “convert” a MIMO system
into SISO system by introducing
vector r:  r1 

r =   
rm 
 I M -RS G Multivariable Systems
Then we have
b11  b1m   k11  k1n 

BK =     
     
bn1  bnm  k m1  bmn 
b11  b1m   r1 

=     
    [ k1  k n ]
bn1  bnm  rm 
 I M -RS G Multivariable Systems
We can define a new B matrix as
b11  b1m   r1 

B =    
    
bn1  bnm  rm 

the new B is n x 1 vector, (A,B) is single inpu

I M -RS G Multivariable Systems
Hence if we can find feedback matrix [k1
… kn] to place the poles in desired
locations, the feedback matrix for
multivariable system is:
 r1 
 
K =   [ k1  k n ]
rm 
I M -RS G Multivariable Systems
Summary of Controller Design
Given controllable (A,B) and desired
characteristic polynomial.
1. Randomly pick [r1 … rm]T
2. Check if (A,B) is controllable. If yes,
continue, otherwise go back to step
1.
3. Determine the feedback matrix [k1
… kn] for (A,B).
4. Determine the feedback matrix K for
I M -RS G Multivariable Systems
Example
Consider the following MIMO system

 x 1  0 1 0  x1  0 0
 x  = 0 0 0  x  + 1 0  u1 
 2   2    u 
 x 3  0 0 2  x3  0 1  2 
Design a controller so that the desired
poles are -5, -20 and -20.
I M -RS G Further Readings
 Gopal, Digital Control and
State Variable Methods
– Chapter 7, Section 7.1 - 7.4.

‫س ِ ہم‬
ِ ‫حّت ٰىُيَغّيُروْا َما ِبَأنُف‬
َ ‫ل َل ُيَغّيُر َما ِبَق ۡوٍم‬
َّ ‫ٱ‬
“…Verily, God will never change the condition of a people
until they change what is in themselves…”
Al Qur’an 13:11