Professional Documents
Culture Documents
Dr Abraham T Mathew
ENVIRONMENT
SYSTEM
BOUNDARY
INPUT
INPUT
CONTROL SYSTEM
OUTPUT
INPUT
SUCCESS IN CONTROL DESIGN IS SAID TO BE BASED ON THE
SUCCESS IN IDENTIFYING THE SYSTEM BOUNDARY,
INPUTS,OUTPUTS & THE ENVIRONMENT
Robust Control
Design a controller such that some level of performance of the controlled system is
guaranteed irrespective of the changes in the plant dynamics/process
dynamics within a predefined class and
the stability is guaranteed
Disturbance rejection
Sensor(measurement) noise rejection
Avoidance of actuator saturation
Modeling a DC Servo
We consider a DC servo mechanism consisting of a DC
Motor
Load
0
0
1
0
NK m
La
0
0 0
1
NK m
0 v(t ) TL
1
Je
Je
Ra i L
0
a
La
1 0 0
0 1 0
i
TF FORM
(s)
NK m
J e La
a0
2
2
2
v( s )
2 Ra
N K m s s b1s b2
s s
s
La
J e La
Nominal Model
Km=0.05 Nm/A, Ra=1.2 ohms, La=0.05H
Uncertainty
Let the parameters are subject to changes as follows
0.04Km 0.06
6x10-4 Jm 10-3
0.01J 0.05
[74.22, 99.58]
G( s) 2
s s 12s [47.8, 53.4]
Abstracting a
Noise v(t)
Sensor
S1
Input yd
Controller
Plant/Process
Sensor
Output ym
System Equations
If the Plant is LTI the zero state linearity dictates that y is a linear
d (s) P (s)w(s)
Then, we have
(2)
(3)
System Equations
Sensor is assumed to have two inputs, plant output y and the
y ( s ) P ( s ) y ( s ) v( s )
Ideally Ps(s)=1 and v(t)=0 so that ym=y
m
(4)
Disturbance
w(t)
wm
Noise v(t)
Sensor
S1
yd
Controller
Plant/Process
Sensor
ym
Contd
Controller gets three inputs ym, yd and wm
s) all
Fdthe
(s) ythree
( s)
Fm (s)need
ym (sto
) be
Fwused
(s)wmalways
(s) here. Several
(5)
d
u(Not
inputs
equation
yd
+
ym
Fd
yd
Fd
+
+
Fm
ym
w
Fw
Pw
yd
Fd
d
u
+
Fm
+
y
Ps
ym
Problem formulation
System enclosed in the dotted box is seen to have three
Tracking problem
Let the error e(t) be defined as e(t)=yd-y
That is,
e( s) y ( s ) H ( s) y ( s ) H ( s) w( s) H ( s )v( s)
d
Or
e( s) 1 H ( s)y ( s) H ( s) w( s ) H ( s )v( s)
d
Look at it again
w
Fw
Pw
yd
Fd
d
u
+
Fm
+
y
Ps
ym
wd
e( s ) y ( s ) H ( s ) y ( s ) H ( s ) d ( s ) H ( s ) v ( s )
d
wd
Or
wd
Tracking performance
For the system to ideally track the reference, the error must
be zero
To achieve this for all possible yd,v,w and d, we would
require Hd(s)=1 and Hw(s)= Hwd(s)=Hv(s)=0
In the practical setting, as we see more in detail, we can see
that this condition cannot be satisfied perfectly for the entire
bandwidth or entire region of system perturbations
Some design tradeoffs, optimality conditions and so on would
have to be called for as we have already noted.
Admissible/acceptable designs
In order to do the adjustment/tradeoff for obtaining an
Stability
When it comes to stability, in the modern settings of design,
Internal Stability
A system to be internally stable means all the transfer functions
Design Model
be a set of all plants that each member of set
P is an admissible model, given the uncertainty
region (interval)
Let P
P0 in
parameters
If P0 is used for the robust designs, then let us call P0 as Design
Summary
A model of the physical system is only an approximation of
Summary contd
Models are subjected to various uncertainties
Design model
Internal Stability and robust stability are starting points for
good control system design
Once stability is assured, other performance measures can be
specified
Design Dilemma
It will not usually be possible(which we will see in detail) to
Sensitivity
It is the percentage change in system transmission or
Parameter Sensitivity
Let T be the system function which depends on a parameter
ln T
T
T
ln
T
System Sensitivity
Let T be the system closed loop transfer function which
ln T
T
T
S
G
ln G G
G
G
T
Root Sensitivity
Let T be the system closed loop transfer function with the ith
ln K K
i
Let
T ( s)
K ( s z )
1
j 1
( s )
i 1
Contd
Let K be a parameter that influences the location of the roots i
ln K
S
ln K
ln K ( s )
n
i 1
1
1
S
S
ln K ( s )
(s )
T
i 1
i 1
Eigenvalue Sensitivity
Let us assume that we have the relation(A is from the state
space equation)
A
i
have
a
a a
a
i
kj
kj
kj
kj
Contd
Premultiplying with i , the left eigenvector we have ii=1
a
a
kj
kj
Contd
All elements in
which will be 1
Therefore we get
A
will
a be zero except the (k,j)th element,
kj
a
i
ik
kj
ji
yd
u
-
G
1 G
T
ln T
T G T 1
S
ln G G
T G 1 G
G
T
Waterbed effect
Now, add T and S
We get T+S =1
GK
1 GK
T
ln T
T G T 1
S
ln G G
T G 1 GK
G
T
Check T+S
yd
H
T
G
1 GH
T
ln T
T G T 1
S
ln G G
T G 1 GH
G
T
Check T+S
crucial role
Let S(s) be the Sensitivity Function
Then T(s) is the Complimentary Sensitivity Function such
that S+T=1 for SISO and S+T=I for MIMO
Limited in performance
Usually reserved for special applications where feedback
yd
+
P
+
y
Input-Output Relations
In open loop control input yd is usually a synthesized signal
y FPy d
d
and e (1 FP) y d
d
H ( s) F ( s) P( s)
d
and H ( s) 1
wd
Tracking Performance
Perfect tracking of yd occurs if
H ( s ) F ( s ) P( s ) 1
d
That is, if
F ( s ) P( s )
F ( j ) P( j ) 1
Disturbance rejection
Since
open
H ( s)
1 loop control does nothing to attenuate
wd
Sensitivity
The sensitivity of
H with
(s) respect to P(s) is calculated as
d
follows
H F ( P P) FP FP
0
FP
S
H
FP
Stability Conditions
We modify the block diagram of the Open loop control
yd
+
F
Analysis
In any system, any addition or deletion of some of the input lines
Fig.1
yd
P
v
Fig.2
yd
+
F
The system, in Fig 1 and Fig 2 are same but with additional input v
and one additional output z in Fig 2
Controllability/Observability/Stability
System in Fig.2 is controllable and observable if both F(s) and P(s)
Y ( s ) FPy ( s ) Pv( s )
d
z ( s ) Fy ( s )
d
Or
y( s ) FP P y ( s )
z ( s ) F 0 v( s )
Analysis contd
Because the realization is controllable and observable, it is
Feedforward Control
Feedforward control is a variation of open loop control.
+
P
y +
d
y
Pw
Pw
+
P
y +
d
y
yd +
+
P
ym
Ps
+
+
Analysis
We have
FP
1
y( s )
y (s)
d (s)
1 FP
1 FP
d
1
1
e( s ) y ( s ) y( s )
y (s)
d (s)
1 FP
1 FP
d
y( s ) FP( y v )
y( s )
FP
v( s ) T ( s )v( s )
1 FP
and
e( s ) y y( s ) T ( s )v( s )
d
x x
2
i 1
( x x)
T
x x (t ) x(t )dt
value(rms) norm
Frobenius Norm
For an mxr matrix A, the Frobenius norm is defines as
A a
2
i 1 j 1
i, j
A 2 tr ( A A) tr ( AA )
T
System Norm
LTI systems are generalization of matrices-
norm
G tr G ( j)G( j)d
2
G(s) plane in H2
When G L2 we can write the norm with respect to
complex s plane as
1
G
tr (G ( s )G( s ))ds
2j
2
tr (G ( s )G( s ))ds
2j
T
Exercise
Calculate the L2 norm of G(s) given as:
( s 3 ) ( s 2 )
1
G( s )
s 3s 2 2
( s 2)
2
Answer
3s 21
tr G ( s )G( s )
( s 1)( s 2)( s 1)( s 2)
2
Induced norm
Induced norm is a different type of norm which applies to
A max Ad
2i
=sqrt(eigen(ATA))
( A)
1
y
G( j) u( j) d
2
2
(A)
Clearly
1
y sup G( j)
u( j) d
2
2
Or
y sup G( j) u
2
2
2
2
(B)
frequency domain at = 0
Then the integral of Eq(A)
1
y
G( j) u( j) d
2
will approach
G( j )
2
(A)
If
sup y sup G( j)
u 2 1
Hinfinity Norm
The norm calculated last is also the infinity norm given by
G lim( G( j) )
1
y
G( j)u( j) d
2
2
2
1
y
[ (G( j))] u( j) d
2
2
2
1
y sup (G( j)
u( j) d
2
2
2
Or
2
2
Contd
The factor ||u(j)||2 in the integrand refers to the 2-norm
y 2 sup
j)] by
u propoer
[G( closely,
can be approached
arbitrarily
choice of
2
u(j)
2
MIMO H norm
As a continuation of the development, we define
Disturbance Rejection
Disturbance Rejection
Disturbance rejection is a performance measure
yd
Analysis
T (s )
yd
G
1 GH
and
T (s )
d
G
1 GH
yd
Analysis
We have
G
T (s )
1 GH
and
yd
T (s )
d
1
1 GH
the spectrum
Contradiction
The requirements to suppress disturbance at the input is
Noise Rejection
yd
H
+
n
Analysis
T (s )
yd
G
1 GH
and
T (s )
n
GH
1 GH
Exercise
yd
H
Derive the Sensitivity and Complimentary Sensitivity Functions
with respect to of the system given as G(s). G(s) is containing Uncertainty
Structured Uncertainty
Interval Models
State Space model
Transfer function model
Unstructured Uncertainty
Unstructured uncertainty is modeled, using the perturbation
General Basis
Given a set of plants P with uncertainty in the parameters. A plant
Unmodeled dynamics
Uncertainty due to neglected and unmodeled dynamics is
Classification of unstructured
uncertainty-SISO
Additive Uncertainty
Multiplicative Uncertainty
Inverse Multiplicative Uncertainty
Division Uncertainty
Additive Uncertainty
Let us sue the property
P0(0,s) P is one such plant with nominal values of the parameters,
Example
Consider the system
Multiplicative Uncertainty
Let P(,s)= P0(0,s) + P0(0,s) P(s)
||||1
Example
P: Gp(s)=AG (s). The uncertainty is in the Gain A and is given
as A[Amin ,Amax]
Let A0 =(1/2)(Amin+Amax)
A= (Amin -Amax)/ (Amin+Amax)
A= A0[1+ A ]
Gp(s)= A0 [1+ A ] G (s)=A0G (s) [1+ A ]
Method
Given a model with uncertainties
Contd
In the case of multiplicative uncertainty, find the smallest
G ( j )
a (s)
wa(s)
+
G(s)
Multiplicative Uncertainty
wm(s)
m (s)
+
G(s)
+
Inverse Multiplicative
im (s)
wim(s)
+
G(s)
Division Uncertainty
Consider the
1
G (s)
s s 1
p
1
s 2 0.6s 1
w ( s ) 0.2s
d
Robust Control
Robust Control
Normally Robust control design considers two aspects
Robust Stability(RS)
Robust Performance(RP)
As a bottom line we need
Robust Stability?
How far the uncertainty can be, without violating the
Im
(-1,j0)
?
|1+G(j)|
G(j)
Nyquist Plot
Re
K(s)
-
Gp(s)
m(s)
+
G(s)
Analysis
We have
G ( s ) G( s )(1 w ( s ) ( s ))
p
G(s) w ( s )G( s ) ( s )
m
w ( s )G( s ) 1 G( s )
m
Or
w ( s )G( s )
1
1 G( s )
m
We have
S ( s ) [1 K ( s )G( s )]
S (s) T (s) 1
For robust stability, we want
w ( s ) K ( s )G( s )
1
1 K ( s )G( s )
m
w ( s )T ( s ) 1
m
Robust Performance
We find the bounds on the Sensitivity Function S and/or
Doyles Theorem
A necessary and sufficient condition for robust performance
W1S
W
T
2
Books
Prabha Kundur Power System Stability & Control Tata McGrawHill,
1994|2012
Richard C Dorf & Robert H Bishop, Modern Control Systems Addison
Wesley, 1999
Pierre R. Belanger, Control Engineering: A Modern Approach Saunders
College Publishing, 1995
John Dorsey, Continuous & Discrete Time Control Systems, McGrawHill
International, 2002
Vladimir Zakian, Control Systems Design-A new Framework, Springer 2005