ppol

ppol

ppol — pole placement

Calling sequence

[K]=ppol(A,B,poles)

Parameters

`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, stabil