place
Pole assignment for a given matrix pair (A,B) such that p = eig (A-B*F).
If parameter alpha is specified, poles with real parts (continuous-time)
or moduli (discrete-time) below alpha are left untouched.
Inputs
Continuous- or discrete-time LTI system.
State matrix (n-by-n) of a continuous-time system.
Input matrix (n-by-m) of a continuous-time system.
Desired eigenvalues of the closed-loop system state-matrix A-B*F.
length (p) <= rows (A).
Specifies the maximum admissible value, either for real
parts or for moduli, of the eigenvalues of A which will
not be modified by the eigenvalue assignment algorithm.
alpha >= 0 for discrete-time systems.
Outputs
State feedback gain matrix.
Structure containing additional information.
The number of fixed poles, i.e. eigenvalues of A having
real parts less than alpha, or moduli less than alpha.
These eigenvalues are not modified by place.
The number of assigned eigenvalues. nap = n-nfp-nup.
The number of uncontrollable eigenvalues detected by the eigenvalue assignment algorithm.
The orthogonal matrix z reduces the closed-loop
system state matrix A + B*F to upper real Schur form.
Note the positive sign in A + B*F.
Note
Place is also suitable to design estimator gains: L = place (A.', C.', p).' L = place (sys.', p).' # useful for discrete-time systems |
Algorithm
Uses SLICOT SB01BD,
Copyright (c) 2020, SLICOT, available under the BSD 3-Clause
(License and Disclaimer).
Source Code: place