harold.ackermann¶
-
harold.
ackermann
(G, loc)¶ Pole placement using Ackermann’s polynomial method.
Parameters: - G (State, tuple) – The model or (A, B) arrays of the model as a tuple
- loc (arraylike) – Desired eigenvalue locations given as a 1D arraylike
Returns: K (ndarray) – Resulting static full state feedback gain such that the array
A-B@K
has the eigenvalues prescribed byloc
Notes
This is a naive implementation method of pole placement. Numerically it is quite fragile and instable. Hence it might only give meaningful results for small and well-controllable systems.