Feedback Control 2

AUTOMATIC CONTROL AND SYSTEM THEORY

FEEDBACK CONTROL 2
Gianluca Palli

Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI)

Università di Bologna
Email: gianluca.palli@unibo.it

G. Palli (DEI) Automatic Control & System Theory 1

 Feedback Control 2

Feedback Control – non-null setpoint

• In the feedback control scheme considered so far, the origin of both the state and
the input spaces has been implicitly considered as the desired equilibrium point (x
= 0; u = 0).

• In general, a final state (and input) value xp (up) different from zero could be
desired
x3 x3

xp

x2 x2

x1
x1

G. Palli (DEI) Automatic Control & System Theory 2

 Feedback Control 2

Feedback Control – non-null setpoint

• Given the following asymptotically stable system

define up, yp such that

xp = set point NOTE: If xp ≠ 0,

x constant then up ≠ 0 !
vel = 0!

• By posing

G. Palli (DEI) Automatic Control & System Theory 3

 Feedback Control 2

Feedback Control – non-null setpoint

• From

It follows

G. Palli (DEI) Automatic Control & System Theory 6

 Feedback Control 2

Feedback Control – non-null setpoint

• From the following scheme is obtained

• Since the system is asymptotically stable, the final state value is

G. Palli (DEI) Automatic Control & System Theory 7

 Feedback Control 2

Feedback Control – non-null setpoint

• From the following scheme is obtained

• In general, xp is not defined but only yp. Then, the input value must be computed
by

where ups is defined on the base of yp

G. Palli (DEI) Automatic Control & System Theory 8

 Feedback Control 2

Feedback Control – non-null setpoint

• We need to verify if the value of ups corresponding to a given yp can be defined.

There are three possbilities:

• m = r. The system possesses the same number of outputs (m) and inputs (r).
From

In this case, the system is named servomechanism, and the output vector y
asymptotically follows the value of the reference yp

G. Palli (DEI) Automatic Control & System Theory 9

 Feedback Control 2

Feedback Control – non-null setpoint

• m > r. More outputs (m) than inputs (r).

It is possible to determine ups just for some value of the yp, then in general the
problem has no solution.

• m < r. More inputs (r) than outputs (m).

Several values of ups can be determined for each yp. In this case it is preferable to
increase the number of output information y(t) (increasing m) or to reduce the
number of control inputs (reducing r)

G. Palli (DEI) Automatic Control & System Theory 10

 Feedback Control 2

Feedback Control – non-null setpoint

• Example: Controlling the angular position of an antenna

By substituting:

G. Palli (DEI) Automatic Control & System Theory 11

 Feedback Control 2

Feedback Control – non-null setpoint

• Example: Controlling the angular position of an antenna
The controller is designed by
eigenvalues assignement

uall

To Workspace7

ypall

To Workspace4

1
K*u K*u K*u yall
s

Pulse Kuallpc B. Integrator2 C. To Workspace3

Generator1 A.

K*u

Kalloc

K*u xall

To Workspace5

G. Palli (DEI) Automatic Control & System Theory 13

 Feedback Control 2

Feedback Control – non-null setpoint

• Example: Controlling the angular position of an antenna
The controller is designed by
eigenvalues assignement
Response of yp and y
2

-1

-2
0 10 20 30 40 50 60 70 80

Response of x1 and x2
2

-1

-2
0 10 20 30 40 50 60 70 80

G. Palli (DEI) Automatic Control & System Theory 14

 Feedback Control 2

Feedback Control – non-null setpoint

• Example: Controlling the angular position of an antenna

With a different feedback matrix λ1 = -0.51764, λ 2 = -1.9319

uo

To Workspace6

yp

To Workspace14

1
K*u K*u K*u y
s

Pulse KUps B Integrator1 C To Workspace13

Generator A

K*u

Kopt

K*u xo

To Workspace2

G. Palli (DEI) Automatic Control & System Theory 15

 Feedback Control 2

Feedback Control – non-null setpoint

• Example: Controlling the angular position of an antenna

λ1 = -0.51764, λ 2 = -1.9319

Response of yp and y
2

-1

-2
0 10 20 30 40 50 60 70 80

Response of x1 and x2
2

-1

-2
0 10 20 30 40 50 60 70 80

G. Palli (DEI) Automatic Control & System Theory 16