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(Sumber:Wikipedia.net)
Ackerman's Formula
Consider a linear feedback system with no reference input:
u = − Kx
Where K is a vector of gain elements. Systems of this form are typically referred
to as regulators. Notice that this system is a simplified version of the one we
introduced above, except that we are ignoring the reference input. Substituting
this into the state equation gives us:
x' = Ax − BKx
[Ackerman's Formula]
Where a(z) is the characteristic equation of the system and ζ is the controllability
matrix. The goal of this type of regulator is to drive the state vector to zero. By
using a reference input instead of a linear state feedback, we can use the same
kind of idea to drive the state vector to any arbitrary state, and to give the system
arbitrary poles.
(Sumber: © 2008 Wolfram Research, Inc.)
Ackermann's Formula
According to Ackermann's formula, the feedback matrix K that places the poles of
a single-input system into the positions can be found as
where
The function State Feedback Gains with the option Method Ackermann
implements this algorithm.
The Ackermann method, besides being useful for single-input systems, may also
find application if an attempt is to be made to control a multi-input system
through a single input. The option ControlInput Automatic is used in such cases
to find the "best" control using the condition number of the corresponding
controllability matrix as a criterion. It is also possible to specify the control input
explicitly.
Option specific to the Ackermann method.
SA.
where , , , and are the roll and yaw rates and the sideslip and roll angles,
respectively, and and are the aileron and rudder deflections. Figure 9.3
introduces the nomenclature.
In[15]:=
Out[15]=
In[16]:=
StateFeedbackGains finds that the system is better controlled through the second
input (i.e., the rudder deflection) and returns the corresponding feedback gains.
In[17]:=
Out[17]=
The attempt to control the aircraft from only the first input fails, and we are
presented with messages suggesting that the trouble possibly stems from the
system being uncontrollable.
In[18]:=
Out[18]=
Indeed, the system is not controllable from its first input; in other words, the
aircraft cannot be controlled by only the aileron deflections (at least not within the
linearized model).
In[19]:= Out[19]=
(Sumber: Christian Schmid 2005-05-09)
Steps 5 and 6 from the end of the previous section 13.3.1 will be combined by
using the relationship for the transformation matrix from Eqs. (13.41) and
(13.46):
is the desired polynomial from Eq. (13.30), where the scalar variable is
substituted by the matrix . The same holds for the characteristic polynomial
of the system matrix from Eq. (13.35). According to the Cayley-Hamilton
theorem a quadratic matrix always satisfies its own characteristic polynomial, i.e.
, Eq. (13.50) is simplified to
(13.51)
As is the last row of the inverse controllability matrix the calculation of the
feedback vector is simpler than in the previous case of section 13.3.1. The
following steps are necessary:
1. Calculation of the controllability matrix from Eq. (12.16), its inverse and
extracting the last row.
2. Choice of the eigenvalues .
3. Calculation of the coefficients of the desired polynomial according to
Eqs. (13.29) and (13.30).
4. Calculation of the term .