# MIMO control system with marginally stable poles at the origin

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Mohamed il 29 Feb 2020
Commentato: M il 1 Apr 2020
hello everyboday
I have a mimo system trying to design a controller for it, when I test the pole zero locations it tells that all are in the lefet side of the pole zero s-plane and the pole values are negative, but the problem the poles and the zeros are very neer to the origin only one is to far from them with negative value also.
the system has been tested with the impulse responce and it ossilate to zero
the system is 3 inputs and 3 outputs, with 5 states
can anybody give a idea how to reblace the pole locations to get a good gain value for the control designe?
A = [0 0 -2244.38902743142 0 0
0 0 810.810810810811 -1351.35135135135 0
29508.1967213115 -19672.1311475410 -1.87692307692308e-06 0 0
0 222222.222222222 0 -4444444.44444444 0
0 0 0 0 0];
B = [124688.279301746 124688.279301746 -1.90000000000000
0 -67567.5675675676 1283.78378378378
-2.56000000000000 -4.25800000000000 0
0 0 0
0 0 -111770.491803279];
C = [0 0 1 0 0
0 0 0 1 0
0 0 0 0 1]
D = [0 0 0
0 0 0
0 0 0 ]
please anybody have an idea how to desin a controller.
thank you
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### Risposte (1)

M il 9 Mar 2020
Modificato: M il 9 Mar 2020
How do you test the pole zero locations ?
Here, you have a pole equal to 0.
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Mohamed il 31 Mar 2020
I use the eig() command and it gives me negative value poles
M il 1 Apr 2020
Well, eig(A) should return a value equals to zero, as the last line of matrix A is full of zero

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