pp2chp

Generic pole palcement controller for second order processes.

Transfer function of the controlled system:

Vector of identification initial parameter estimations:

Controller specific parameters:

Parameter

Description

Reference signal type

It’s possible to choose one of the following signal types:

·         steps

·         ramps

·         sin waves

Frequency

Frequency f of reference signal - valid only when reference signal is 'sin waves'

Coefficients of characteristic polynomial

Vector determining characteristic polynomial D(z-1) and thus the positions of the poles of the closed loop. If vector is [d0, d1, d2, d3], then characteristic polynomial will be D(z-1) = d0 + d1·z-1 + d2·z-2 + d3·z-3.  The length of the vector can vary but at lest d0 must be specified.

Control law:

where controller parameters r0, r1, q0, q1, p0 and p1 are calculated by solving following diophantine equation:

where polynomials are as follows:

 is any appropriate polynomial

 

F(z-1) depends on reference signal type:

Reference signal type

F(z-1)

steps

ramps

sin waves

 where

Source code:

sid

on-line identification s-function

pp2chp

function for computation of controller parameters

scfbfw

controller s-function

See also:

On-line identification methods

List of common controllers parameters