control.place
- control.place(A, B, p)[source]
Place closed loop eigenvalues.
K = place(A, B, p)
- Parameters
- A2D array_like
Dynamics matrix.
- B2D array_like
Input matrix.
- p1D array_like
Desired eigenvalue locations.
- Returns
- K2D array
Gain such that A - B K has eigenvalues given in p.
See also
Notes
This is a wrapper function for
scipy.signal.place_poles
, which implements the Tits and Yang algorithm [1]. It will handle SISO, MISO, and MIMO systems. If you want more control over the algorithm, usescipy.signal.place_poles
directly.Limitations: The algorithm will not place poles at the same location more than rank(B) times.
References
- 1
A.L. Tits and Y. Yang, “Globally convergent algorithms for robust pole assignment by state feedback, IEEE Transactions on Automatic Control, Vol. 41, pp. 1432-1452, 1996.
Examples
>>> A = [[-1, -1], [0, 1]] >>> B = [[0], [1]] >>> K = ct.place(A, B, [-2, -5])