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1 AUTHOR:
Mikulas Huba
Slovak University of Technology in Bratislava
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Abstract: The paper shows tuning of the Filtered Smith Predictor for higher performance requirements
expressed in terms of the monotonicity at the plant and the controller output by the Performance Portrait
method (Huba, 2010; 2011a).
Keywords: Robustness analysis; robust controller synthesis; robust time-delay systems.
1. INTRODUCTION
The Smith Predictor (SP) may be considered as the best
known Dead-Time Compensator (DTC) used for controlling
systems with dead time (Smith, 1957). Complexity of its
tuning, together with its importance for practice and problems
related to its robust tuning lead to the situation that despite its
relatively long history it is still in focus of current research
(strm and Hgglund, 2005; Guzmn et al., 2008; NormeyRico and Camacho, 2007; 2008; 2009; Normey-Rico et al.,
2009; Panda, 2009; Tan et al., 2010; Zhang, Rieber and Gu,
2008).
As it was shown in many above mentioned contributions, an
increase of the dead-time values with respect to the dominant
plant time constant leads in the loops with PID controllers to
rapid performance deterioration. DTCs proposed to eliminate
dead-time influence are being robustly designed for
a nominal plant representing whole family of plants defined
by a norm-bounded multiplicative uncertainty error and the
required performance is then tuned in the frequency domain.
The aim is to keep the modeling error within prescribed
limits also for the plant with the largest deviation from the
nominal one. In carrying out such a robust control design one
may e.g. use the phase, or the gain margin, the maximum
sensitivity (Rivera et al., 1986; Skogestad and Postlethwaite,
1996).), or the dead-time margin (Ingimundarson and
Hgglund, 2002). However, when aiming to design control
loops and having higher requirements on the resulting control
quality that should be respected by all plants of a given
family, the frequency domain approach shows to be not
sufficiently effective.
The filtered Smith Predictor (FSP, Normey-Rico et al., 1997)
was proposed for stable First Order Plus Dead Time
(FOPDT) processes to improve robustness of the traditional
SP and to decouple the reference setpoint and the disturbance
response by adding an additional degree of freedom for the
loop tuning. It is based (Fig. 1) on the dynamical feedforward
control with the reference plant model (strm and
designing,
comparing and
visualizing
properties of the considered FSP. The key question is, how to
robustly design control loop with stable dead-time dominated
plant to keep the plant input and output nearly monotonic
in the case of possible plant-model mismatch. To cope with
this problem, it is firstly necessary to introduce measures for
evaluating deviations of real responses from ideal monotonic
(MO) shapes and then to propose algorithms processing
achieved information.
As it is well known, it is not enough to demonstrate the
quality of DTCs just by the responses measured in the
nominal case with perfect plant-model matching. Their
robustness (see e.g. Normey-Rico and Camacho, 2007) is
then usually shown for the dead-time uncertainty in the range
C (s ) =
1 1 + T0 s
U (s )
C0
=
=
E (s ) 1 + C0 P0 K 0 1 + Tr s
(3)
H w (s ) =
Y (s )
e Ls
= C (s )P(s ) =
W (s )
1 + Tr s
(4)
Fr (s ) =
1
1+ Tf s
(5)
Ce (s ) = C / (1 CPFr )
(6)
H o (s ) =
F (s )e Ls
Y (s )
1
=
= 1 r
Do (s ) 1 + C e PFr
1 + Tr s
(7)
Y (s )
P
e Ls
H i (s ) =
=
= P(s )1 Fr (s )
Di (s ) 1 + C e PFr
1 + Tr s
H o (0) = 0 ; H i (0) = 0
(8)
H o (s ) =
Y (s )
1
e Ls
=1
Do (s )
1 + T f s (1 + Tr s )
(9)
Y (s ) Ke s
1
H i (s ) =
e Ls
=
1
Di (s ) Ts + 1
1 + T f s (1 + Tr s )
The key question of the robust design is, how to choose the
tuning parameters K 0 ,T0 , L0 ,Tr and T f of the FSP in order to
P(s ) =
K0
K e L0s
Ke Ls
; P0 (s ) =
; Pn (s ) = 0
Ts + 1
T0 s + 1
T0 s + 1
(1)
(10)
1 + Ti s
T
U (s )
C0 (s ) =
= Kc
; Ti = T0 ; K c = 0
E (s )
Ti s
Tr K 0
(11)
Definition 2
IAE =
(12)
TV =
dt dt u
du
i +1
ui
(13)
TV0 =
i +1
ui u ( ) u (0)
(15)
Theorem 1
Definition 1
initial value y0 = y (0) and a final value y = y( ) , will be
denoted as monotonic when its all samples fulfill condition
(14)
points
is
y -monotonic, if all
; i = 1, 2, 3, ...
(17)
Proof: Follows from the fact that the maximal signal increase
in the direction opposite to y y 0 in (16) will be
constrained by two subsequent extreme points.
By comparing measured amplitude and integral deviations of
a signal it is possible to get additional information about its
y0-MO
12
11
11
10
10
9
0.8
9
0.8
0.9
1.1
1.2
y1-IAE
1
000
0.0.001
0.01
0.9
0.2
0.25
0.
1
0. 5
16
15
0.
0.2 0. 25
1
1.1
Kp
11
16
14
10
1.2
9
0.8
0.9
1
Kp
y0-MO
1.1
1.2
1.1
1.2
y1-MO
12
11
11
10
10
12
9
0.8
0.9
(18)
1.1
1.2
9
0.8
0.9
u-TV0
y1-IAE
12
12
28
24
11
30
0. 01
11
0.01
0.9
1.1
1.2
32
30
26
22
18
0.1
0.15
0.2
0.25
1
Kp
10
9
0.8
0.9
1
Kp
26
24
22
9
0.8
0.0001
0.001
14
28
10
18
16
14
12
The FSP with the primary PI controller (2) was tuned using
standard robust approach in the frequency domain based on
a nominal plant and norm bounded multiplicative uncertainty.
As the nominal model approximation of the original plant by
the FOPDT system (1) with
1.1
1.2
(19)
T f = L0 / 2 = 5.25
9
0.8
18
0.1
K 0.8,1.2 ; L 9 ,12
K 0 = 1; T0 = 1.5 ; L0 = 10.5
1.2
12
11
Ke Ls
;
(s + 1)(0.5s + 1)(0.25s + 1)(0.125s + 1)
1.1
12
F (s ) =
1
u-TV0
0.1
5
10
0.9
12
y1-MO
12
14
16
16
with a single
(20)
with
white
= K0 / K
11.5
11
y0-MO
(21)
11
11
10
10
10
9.5
12
10.5
9
0.8
9
1.5
2.5
1.5
u-TV0
2.5
16 18
14
1.5
=K0/K
with
white
0.8
y(t), u(t)
0.6
0.4
0.2
min , Lmax
UB =
min , Lmin
2.4
1.2
2.5
2.2
34
32
30
28
26
24
22
20
18
12
1.5
=K 0/K
1.8
10
0.1
1.6
14
0.5
0.2
0.01
5
00.0
.00010 0.1
1
0.0001
0.001
0.01
1.4
16
11
1.2
2.5
12
11
10
y1-IAE
12
20
40
60
80
100
t
120
140
160
180
200
11.5
11
max , Lmax
K
K
; = 0 ; max = max min (22)
max Lmin
K
K min
y1
10.5
10
9.5
9
0.8
1.2
1.4
1.6
1.8
2.2
2.4
lower mean IAE values than for T0 = 1.5 (Fig. 12-13). This
value was probably determined by the trial and error
method. The PP method represents a newer and automatized
version of this still frequently used method.
1.2
y(t), u(t)
0.8
0.6
11.5
y1
0.4
11
0.2
20
40
60
80
100
t
120
140
160
180
200
10.5
10
9.5
9
0.8
1.2
1.4
1.6
1.8
2.2
2.4
11.5
11
10.5
T f = 5.25; L0 = 10.5;T0 = 1 .
10
9.5
1.2
9
0.8
1.2
1.4
1.6
1.8
2.2
2.4
0.8
y(t), u(t)
0.6
y1
0.4
u
IAE11=28.9404, IAE12=17.6531, IAE13=17.5548, IAE14=28.953
0.2
1.2
20
40
60
80
100
t
120
140
160
180
200
y(t), u(t)
0.8
0.4
6. DISCUSSION
u
IAE11=23.5553, IAE12=15.8282, IAE13=13.9551, IAE14=23.5574
0.2
20
40
60
80
100
t
120
140
160
180
200
(23)
T = 1.875
i
(24)
7. CONCLUSIONS
By analyzing the traditionally difficult task of the FSP tuning
we have shown that the methods of robust control design
based on expressing the norm-bounded deviations from the
nominal model in the frequency domain are strongly limited
both in the precision and in spectrum of details they can
offer. The Performance Portrait method has firstly shown that
the tuning proposed originally in the frequency domain does
not fulfill higher quality in terms of amplitude or integral
deviations from monotonicity over the whole uncertainty
area. Then, it was demonstrated that the monotonicity aspects
may be reasonably improved by modifying the tuning
parameter K 0 to values lying (due to the quantization)
typcally out of the interval K (K min , K max ) . It is evident
from the shape of identified MO areas that the analysis could
be simplified by taking K 0 = K max .