# MIMO control system with marginally stable poles at the origin

조회 수: 2 (최근 30일)
Mohamed 2020년 2월 29일
댓글: M 2020년 4월 1일
hello everyboday
I have a mimo system trying to design a controller for it, when I test the pole zero locations it tells that all are in the lefet side of the pole zero s-plane and the pole values are negative, but the problem the poles and the zeros are very neer to the origin only one is to far from them with negative value also.
the system has been tested with the impulse responce and it ossilate to zero
the system is 3 inputs and 3 outputs, with 5 states
can anybody give a idea how to reblace the pole locations to get a good gain value for the control designe?
A = [0 0 -2244.38902743142 0 0
0 0 810.810810810811 -1351.35135135135 0
29508.1967213115 -19672.1311475410 -1.87692307692308e-06 0 0
0 222222.222222222 0 -4444444.44444444 0
0 0 0 0 0];
B = [124688.279301746 124688.279301746 -1.90000000000000
0 -67567.5675675676 1283.78378378378
-2.56000000000000 -4.25800000000000 0
0 0 0
0 0 -111770.491803279];
C = [0 0 1 0 0
0 0 0 1 0
0 0 0 0 1]
D = [0 0 0
0 0 0
0 0 0 ]
please anybody have an idea how to desin a controller.
thank you

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### 답변 (1개)

M 2020년 3월 9일
편집: M 2020년 3월 9일
How do you test the pole zero locations ?
Here, you have a pole equal to 0.
##### 댓글 수: 2없음 표시없음 숨기기
Mohamed 2020년 3월 31일
I use the eig() command and it gives me negative value poles
M 2020년 4월 1일
Well, eig(A) should return a value equals to zero, as the last line of matrix A is full of zero

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