Optimal controller placement in modal control of complex systems

Within the framework of modal control of large systems, a simple approach is advanced for the determination of optimal control configuration under an energy constraint, i.e., optimal locations of a limited number of controllers such that the total energy requirement for control is minimized. It is shown that the resulting design criterion is a simple function of projections of the control matrix onto components of eigenvectors associated with the affected eigenvalues. Furthermore, it is applicable to both single-input and multi-input systems. Systems possessing distinct complex eigenvalues are considered but the approach is equally applicable to other types of systems. Examples show that the minimum-energy control configuration also tends to be the most effective in terms of accomplishing control objectives.