ppol

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