Submitted by ABHISHEK RANJAN Reg No.

- 080921316

Details of the organisation: Manipal Institute of Technology, Manipal, Udupi District, Karnataka 576104

Name of Guide: Dr. V.I.George, Dept. of Instrumentation and Control Engineering, Manipal Institute of Technology, Manipal Email id: vig_rect@yahoo.com Contact No.: 9448548101

INTRODUCTION Need for project Objective LITERATURE SURVEY Identification of dominant state Reduced order Model survey RESEARCH METHODOLOGY Identification of dominant states of DTLS Reduced order model schemes of DTLS

INTRODUCTION

In the higher order systems,simulation and designing of a controller is a complex

problem.Thus we go for suitable reduced order

model of original system.

The preliminary design and optimization of complex systems can often be accomplished with greater ease if a reduced order model is

derived,which provides a good approximation to

the system.

Quick And Easy Understanding Of The System A lower oder model reflects the characteristics of the original system such as the time constant,the damping ratio,and the natural frequency.
Reduced Computational Burden Reduced Hardware Complexity

Making Feasible Designs: Reduced order models may be effectively used in control applications like Model reference adaptive control schemes Hierarchial control schemes Suboptimal control Decentralised controllers The results studied for a simple low-order model can be easily generalized to other comparable systems. To Improve the Methodology of Computer Aided Control System Design.

To Identify the Dominant States of DTLS

To Obtain Reduced Order Models of DTLS

The reduced order model for linear system keeps only the dominant state of the given linear plant. The dominant modes are used to indicate which states should be retained in a reduced order model. Davison, Mahapatra , Lastman and Aldeen have proposed for identifying dominant modes of a linear system

Aldeen [4] has presented the combined participation measure for effective identification of the dominant and nondominant modes of the linear system The concept of Aldeen [4] has been modified and extended for selecting the state variables that significantly participate in the construction of dominant modes of DTLS

Davison, Lastman , Johnson and Aldeen have attempted to derive a reduce order model based on eigen value concept.
The model order reduction proposed here for DTLS is a development of Aldeen method which deals with continuous time linear systems.

Consider a DTLS described by the following equation: x(k+1) = Ax(k) + Bu(k) y(k) = Cx(k) Consider the modal transformations X(k) = Mz(k)

Normalization transformations on the standard state space equations obtains, z(k+1) = M-1 AMz(k) + M-1 Bu(k) y(k) = CMz(k)

where =M -1AM= 1 0 0 2

=M -1B=[1 2]T
=CM = [1 2] where 1 and 2 are diagonal matrices,consisting of the dominant (slow) and nondominant(fast) modes of A.

The dominance measure of the kth eigen value in the ith state is determined as Dik = Mik/(1-k)*kj The relative dominance of the kth eigen value in the ith state is determined as Pik = (Dik/Rk)*100

Rk = Dki is the model dominance of each eigen value in all the states. The higher the value of Rk, more dominant is the eigen value.

An nth order linear discrete time system can be modelled by a state equation of the form X1(k+1) = A x1(k) + B u(k) Y(k) = C x1(k) As shown earlier,we identify the dominant states of the system. Thus the equations reduce to the following Z1(k+1) = 1 z1(k) + 1(k) Z2(k+1) = 2 z2(k) + 2(k) Y(k) = 1 z1(k) + 2 z2(k)

To carry out the reduction process,following assumptions are made : (A1) As k tends to infinity, z2(k+1) = z2(k) (A2) The matrix I-2 is invertible. So for large values of k, Z2(k) = 2 z2(k) + 2u(k) i.e. z2(k) = (I-2)-1 2 u(k)

By the linear change of coordinates,we have Z(k) = M-1 x(k) = Q x(k)

Z1 (k+1) = Q x1(k) Z2 (k+1) x2(k) = Q11 Q12 Q21 Q22 x1(k) x2(k)

Using Z2(k) = Q21 x1(k) + Q22 x2(k) =(I-2)-1 2 u(k) The matrix Q22 is invertible. The equation may be simplified as X2(k) = - Q22-1 Q21 x1(k) + Q22-1(I-2)-1 2 u(k)

the reduced order model of the given linear system is X1(k+1) = Ar x1(k) + Br u(k) Y(k) = Cr x1(k) + Dr u(k) Where Ar = A11- A12 Q22-1 Q21 Br = B1 + A12 Q22-1(I-2)-1 2 Cr = C1 C2 Q22-1 Q21 Dr = C2 Q22-1 (I-2)-1 2

Let (A, B, C) be an th order stable system that is both controllable and observable. Let the following balanced transformation x(k) = T xb(k) be applied to the system, where xb(k) is an n-dimensional balanced state vector. The internally balance system is obtained as Xb(k+1) = Ab xb(k) + Bb u(k) Y(k) = Cb xb(k)

Applying proposed scheme 1, we get reduced order model as Xb1(k+1) = Arb xb1(k) + Br bu(k) Y(k) = Cr xb1 (k) + Dr bu(k) Where Arb = Ab11- Ab12 Q22-1 Q21 Brb =B b1 + A12 Q22-1(I-2)-1 2 Crb = Cb1 Cb2 Q22-1 Q21 Drb = Cb2 Q22-1 (I-2)-1 2

The jet model during cruise flight at MACH =0.8 and height,H = 60,000 feet is
A= 0.9312 -0.1683 -0.0264 -0.1683 0.7923 0.1683 -0.0558 -0.1947 0.9607 0.0264 -0.1683 -0.0264 0.0558 0.1947 0.2506 0.9607

B= 0.1837 0.1082 0.2919 0.0885 0.1988 0.0021 0.0197 0.1988 C= 1 0 0 0 0100 D= 0 0 0 0

1 =0.9607+0.1947i 2=0.9607 -0.1947i 3=0.8186 4=0.9048 Here 1 and 2 are the most dominant state of the system.

Using the model reduction schemes the reduced order model derived for given DTLS as, X1(k+1) =0.9606 -0.1947 x1(k)+ 0.1279 0.2252 u(k) 0.1948 0.9608 -0.0867 -0.1660

Y(k) = 1 0 x1 (k) 0 1

Step Response From: In(1) 2.5 reduced 2 original From: In(2)

1.5

To: Out(1) Amplitude To: Out(2)

0.5

-0.5 2

1.5

0.5

-0.5

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100

150

200

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300 0 Time (seconds)

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The discrete time model of voltage regulator at sampling time interval of 0.1 sec. The voltage regulator matrices are given by
A = 0.9802 0 0 0 0 -0.0483 0.9512 0 0 0 -0.0026 0.0826 0.2398 0 0 -0.0047 -0.0084 0.2066 0.5331 1.2609 6.5212 0.0821 1.4290 0 0.3679

B= -0.0059 0.5092 10.1543 3.9743 1.896

C = [1 0 0 0 0] D= 0 So we calculate the balanced form of A,B,C ad D. Ab = 0.9916 -0.0211 0.0054 -0.0005 0 0.0211 0.9426 0.0369 -0.0036 -0.0001 0.0054 -0.0369 0.4824 0.1615 0.0018 0.0005 -0.0036 -0.1615 0.1620 -0.0763 0 0.0001 0.0018 0.0763 0.0426

Bb = [2.0798 -2.1858 -0.6804 -0.0686 0.0012]T Cb= [-2.0798 -2.1858 0.6804 -0.0686 -0.0012]

Db = 0 The eigen values of the system is given by :1 = 0.9802 2 = 0.9512 3=0.3679 4=0.2398 5=0.0821

Clearly 1 and 2 are the most dominant state of the system.

Thus the proposed reduced order model will be, X1(k+1) = 0.9916 -0.0213 x1(k) + 2.0780 u(k) 0.0213 0.9412 -2.1986 Y(k) = [-2.0756 -2.2121] x1(k) + [ -0.2342] u(k)

Step Response 50

reduced 0 original

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Amplitude

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The proposed scheme 1 reductions step response finally converges to the original system after some interval of time,while the proposed scheme 2s reduction step response is almost similar to the original system.Hence both the schemes give satisfactory reduction technique,though scheme 2 yields a better result.

REFERENCES
Davison, E. J. (1996) A method for simplifying linear dynamic systems, IEEE Transaction on Automatic control, AC11, pp.93101. Mahapatra,G.B, (1977) A note on selecting a low-order system by Davisons model simplification technique,IEEE Transaction on Automatic Control,Vol. AC-22,pp.677-678 Lastman,G.J,Sinha,N.K. and Rozsa,P. (1984) On the selection of states to retained be in a reduced order model,IEE Proc. Control Theory,131, pp.1524. Aldeen,M. (1991) Intercation modelling approach to distributed control with application to interconnected dynamical systems, International journal of control, Vol. 53,pp.1035-1054.

Fortman,T.E and Williamson,D (1972) Design of loworder observers for linear feedback control laws,IEEE Trans on Automatic Control,Vol.AC-17,No.5, pp.301-308. Kokotovic,P.V and Haddad,A.H. (1975) Controallbility and Time-optimal control of systems with fast and slow modes,IEEE Transactions on Automatic control,Vol. AC-20, pp. 111-113 Sreeram, V and Agathoklis P. (1991) Model reduction of Linear Discrete System via weighted Impulse Grammians,International journal of control,Vol.53,No.1,pp. 129-144. Aldeen,M and Trinh H. (1991), Observing a subset of states of linear systems,IEE Proc.-Control theory,Vol.141 ,pp 137-144

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