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8.

REFERENCE INPUTS AND INTEGRAL CONTROL Theory Contents:


8.1 Reference Inputs 8.1.1 Single reference input 8.1.2 Position of reference input 8.1.3 Multi input systems 8.2 Integral Control

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Objectives: I Learn how the position of the reference input affects steady state error. I Learn how to decouple linear systems with several inputs using state feedback. I Learn how to increase the type of a system using integral control.

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8.1 Reference Inputs


Single Reference Input

+ -

u
n

& x = A x + Bu
n

In most cases, n references are not required. In many cases we only want to control one state (usually defined as an output). In these cases, we only need ONE reference input.

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8.1.1 Single Reference Input


Example 1:
u 1 s+1 Transfer Fcn x2 1 s Integrator r2 k2 k2 r1 k1 k1 x1

If x1 is to be controlled to follow a constant reference (r1), then r2=0. E.g. If x1is the position of a system and x2 is the speed. Clearly, if we want the system to reach a certain position (r1), we require zero steady state speed (r2=0).
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8.1.1 Single Reference Input


u 1 s+1 Transfer Fcn x2 1 s Integrator x1

k2 k2 k1 k1

-1 su m

r1

r1 k1 k1

1 s+1 Transfer Fcn

x2

1 s Integrator

x1

1+k2/k1s H

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8.1.1 Single Reference Input


Example 2:
u 1 s+1 G1 x2

1 s+3 G2 r2

x1

k2 k2 r1 k1 k1

If x1 is to be controlled to follow a constant reference, then the desired steady state value of x2 is 3x1. Specifying r2 will just alter the steady state errors. Easy to show!
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8.1.1 Single Reference Input


If r2=0:
r1 k1 k1 x2

1 s+1 G1

1 s+3 G2

x1

k2/k1(s+3+k1/k2) H

Conclusion: If there is only one output or state to be controlled, then generally the systems are single input and one reference input is enough.

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8.1.2 Position of Reference Input


For a single input (or reference system), we have:

+ -

K1
1x1

& x = A x + Bu
K2
1xn n

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8.1.2 Position of Reference Input r + K1


1x1

& x = A x + Bu
K2
1xn n

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8.1.2 Position of Reference Input r + K1


1x1

& x = A x + Bu
K2
1xn n

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8.1.2 Position of Reference Input r + K1


1x1

& x = A x + Bu
K2
1xn n

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8.1.2 Position of Reference Input r + K1


1x1

& x = A x + Bu
K2
1xn n

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8.1.2 Position of Reference Input

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8.1.3 Multi-Input Systems r + K1


rxp

& x = A x + Bu
K2
pxn n

For multi-input systems K1 is a matrix. Moreover: - State feedback does affect closed loop zeroes - K1 affects steady state error.

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8.1.3 Multi-Input Systems r + K1


rxp

& x = A x + Bu
K2
pxn n

Sometimes it is possible to make each controlled output dependent on only one input. E.g.

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8.1.3 Multi-Input Systems r + KD1


rxp

& x = A x + Bu
KD2
pxn n

We want to obtain:

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8.1.3 Multi-Input Systems r + KD1


rxp

& x = A x + Bu
KD2
pxn n

If B is square, KD and KD1 can easily be obtained:

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8.1.3 Multi-Input Systems r + KD1


rxp

& x = A x + Bu
KD2
n

pxn From the previous results, we can obtain KD2:

Non-interacting or decoupled system:

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8.2 Integral Control


State feedback does NEVER increase the Type of the system. Therefore, if the system is Type 0, the output will show steady state error to a step input. Integral control can be added by taking the integral of the error:

Note that xI is a new state. Therefore we have increased the order of the system. For sign convention reasons we define: If we want to introduce integral control to more than one output:

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8.2 Integral Control

Open Loop System Integral Control

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8.2 Integral Control


Augmented System:

Feedback Law:

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8.2 Integral Control


Example:

We want zero steady state error and eigenvalues placed at s=-5, -2, -3.

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8.2 Integral Control

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8.2 Integral Control

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8.2 Integral Control

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8.2 Integral Control

. xI +

1/s

xI

u -

& x = A x + Bu
3 -1

x1 x2

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8.3 Examples
You should solve the following examples by next week: Ex. 3.7 Ex. 3.8

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