Pole-Placement for Collocated Control of Flexible Structures

Abstract

Pole assignment is one of the central problems in most control systems designs. In relation to low-authority active flexible structural systems where robustness is difficult to achieve primarily due to many closely-spaced low-frequency lightly damped modes, pole-placement techniques are commonly used to design constant gain collocated controllers that will ensure that the transient phenomenon of the structure dies down sufficiently fast. In this paper, the active control of flexible structures is presented for collocated control design using a modified pole-placement approach that reduces the control efforts significantly. The effectiveness of employing the proposed approach is demonstrated using tensegrity structures.