Optimal uniform-damping ratio controller for sequential design of multivariable systems

All existing optimal regional-pole assignment controllers are state- feedback controllers and full-order observers are often required. To achieve specific transient behaviour (i.e. specific damping ratios) of the respective designed closed-loop system and established reduced-order observer, this paper shows how to design uniform-damping ratio controllers which place the closed-loop poles of the system and reduced- damping observer exactly on the negative real axis and/or the boundaries of the sectors with sector angle \(\pm\pi/4\) or \(\pm\pi/6\) from the negative real axis of the complex \(s\)-plane. The damping ratio of the poles of the reduced-order observer is chosen to be larger than that of the designed system so that the states of the designed reduced-order observer can quickly and smoothly converge to the exact states of the designed system. A sequential design procedure is proposed for the development of these optimal uniform damping ratio controllers. The functions in the quadratic performance index to be minimized are chosen as a combination of the weighted outputs, reduced-order states and inputs. The optimal regional-pole placement technique involves solutions of Riccati equations for finding the optimal control law and the solution of a polynomial for determining the lower bound of the constant gain. Also, the same design procedure can be applied to design an optimal reduced-order observer. A numerical example is given to demonstrate the design procedure.

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