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Objective: Study on analysis and synthesis of feedback control systems with disturbances and model uncertainties Introduction Generalised description of feedback control systems Parameterisation of stabilising controllers Observers and observer-based controllers Norms of signals and systems and their computation LMI-aided design of robust control systems H2 optimal design Hinfinity optimal design Optimal design of certain kinds of uncertain dynamic systems
steven.ding@uni-due.de Robust control (V-WS 09/10)
1 Introduction
Schematic description of a feedback control system
Disturbance
Reference signal
Output
Sensors
State of the art of the (past) courses on control theory: Analysis and synthesis of feedback control systems on the assumption of a perfect model. Study on the influence of disturbances is restricted to some simple cases No parameter changes have been taken into account
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System analysis
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References:
Essential knowledge of control theory
GD
w(s) -
e(s)
GR
u(s)
GS
y(s)
y ( s ) = GS ( s )u ( s ) + GD ( s )d ( s ) u ( s ) = GR ( s )( w( s ) y ( s ))
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Control error:
tracking behaviors
disturbance behavior
Since the disturbances are unknown and the reference signal is often event driven (change on-line, depending the process behavior), it is reasonable to re-formulate the above problem into
d GR , =1 w
min
ia
La dia 1 k + ia = ua E n Ra dt Ra Ra
2 dn = ma mb = kmia mb 60 dt
Ra
La
ua
Load
mb
Control objective: The speed follows the reference signal Measurements: Speed n and current ia Input: u := ua Disturbances d := mb
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w( s ) n( s ) = w( s ) y1 ( s ) = w( s ) G y1u ( s )u ( s ) G y1d ( s )d ( s )
Controller design:
Guy ( s ) bwz. Gue ( s )
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Example: Speed control of a DC motor (cont) Block diagram of the control loop
d (mb )
w e
y1 ( n)
u (ua )
DC motor
G ue ( s )
y2 (ia )
Guy 2 ( s )
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y1
d
DC motor
u
y1 = e( s )
y2 = y2
Plant
Guy2 ( s ) = Guy2 ( s )
G u y1 ( s ) = G ue ( s )
Controller
Control output (objective) can be different from the system outputs (measurements) Also w is considered as disturbance
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leads to
u ( s ) = Guy2 ( s ) y2 ( s ) Gue ( s ) y1 ( s )
y ( s ) = G yu ( s )u ( s ) + G yd ( s )d ( s ) = G yu ( s ) ( Guy2 ( s ) y2 ( s ) Gue ( s ) y1 ( s ) ) + G yd ( s )d ( s )
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and moreover
Gy1d ( s ) G y1u ( s ) y1 ( s ) y1 ( s ) I I y ( s ) = y ( s ) + O w( s ) = G ( s ) u ( s ) + O w( s ) + G ( s ) d ( s ) 2 2 y2 d y2 u := G yu ( s )u ( s ) + G yd ( s )d ( s ) + Gyw ( s ) w( s ) y1 ( s) u(s) = Guy1 ( s ) Guy2 ( s ) y ( s ) = Guy ( s ) y ( s ) 2 I Guy1 ( s ) = Gue ( s ), Gyw ( s ) = , G yu ( s ) = Gyu ( s ), Gyd ( s ) = G yd ( s ) O
Control error
z ( s ) = w( s ) y1 ( s ) = w( s ) G y1u ( s )u ( s ) G y1d ( s ) d ( s ) := Gzu ( s )u ( s ) + Gzw ( s ) w( s ) + Gzd ( s )d ( s ) Gzu ( s ) = G y1u ( s ), Gzw ( s ) = I , Gzd ( s ) = G y1d ( s )
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Plant
G zu ( s ) G zd ( s) G ( s ) G ( s ) yd yu
y y = 1 y2
(measurements)
Controller
G uy ( s ) = Guy1 ( s ) Guy2 ( s )
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y ( s ) = G yu ( s )u ( s ) + G yd ( s )d ( s )
Description of the control output and objective
z ( s ) = Gzu ( s )u ( s ) + Gzd ( s )d ( s )
Minimisation of z, independent of d
u ( s ) = Guy ( s ) y ( s ) := K ( s ) y ( s )
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G yu ( s ) G yd ( s ) G ( s) G ( s) zd zu
u Plant (incl. actuators & sensors)
Guy ( s )
Controller
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Major differences between the classical feedback control concept and the generalised description: no difference is made between the reference signals and disturbances - no difference between the tracking behavior and disturbance behavior - a different handling can be achieved by a suitable selection of weighting matrices output variables (measurements) can be different from controlled variables (control objective) the control objective is expressed in terms of the control variables the input signals of the controller are the output variables of the process the controller design is formulated as: - stabilisation - robustness against disturbances
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2.2 Description of the generalised control systems in the state space Example: Speed control of a DC motor
State space description of the plant
60km 0 0 60 n 2 n = Ax + Bu + Ed i = k i + 1 ua + 2 mb x R a E a a L 0 a La La y1 1 0 n y = 0 1 i , y = x a 2
State feedback controller: u = K1 ( w y1 ) K 2 y2 = K1w K x, K = [ K1
K2 ]
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d (mb )
60 E = 2 0
1 0 C= 0 1
y1 ( n)
y2 (ia )
K1
u (ua )
0 B= 1 L a
0 A= kE La
60km 2 R a La
Plant
K2
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d
u
= A x + Bu + Ed x y = Cx = x
Plant
y1
y1 = e( s )
y2 = y2
K2 K1
controller
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10
Control objective:
z = w n = w y1 min
Generalised description:
y x w y = 1 = 1 y2 x2 u = K1w Ky = K y
1 = Ax + Bu + Ed , y = x + Fw w, Fw = x 0 z = w x1 u = K y
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= Ax + Bu + E d d x z cz Fz y = C x + F d y y
Controller
y y = 1 (Measurable y2 signals)
Cy = I
K = [ K1
K2 ]
60 1 0 0 2 , = cz = [ 1 0] , Fz = [1 0] , C y = I , Fy = E d 0 0 0 0
22
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Generalised description of feedback control systems in the state space form The compact form
D F y C = Ax + Bu + Ed , = y x + y u + y d x z Cz Dz Fz u ( s ) = K ( s ) x( s )
Advantages of introducing the generalised description form The new defined output variables are plant outputs and control error Formulation of the control objective in an unified form unified description of the classic and state-space control structures Development of general design methods
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2.3 Some typical control problems Standard control problem: given generalised form of the control system, find the controller K(s) s.t. the whole system is stable and the transfer function (matrix) from the disturbance to the control output, i.e.
z = Gzd + Gzu K ( I G yu K ) G yd d
1
is minimised. Standard state feedback problem: given the generalised form of state feedback controller, find controller u(t)=-Kx(t) s.t. the whole system is stable and the transfer function (matrix) from the disturbance to the control output, i.e.
x( s ) = ( sI A + BK ) Ed ( s ), z ( s ) = ( Cz Dz K ) x( s ) + Fz d ( s )
1 1 z ( s ) = ( Cz Dz K )( sI A + BK ) E + Fz d ( s )
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12
d(s)
Gd
w(s) -
e(s)
Gc
u(s)
Gp
y(s)
w( s) z ( s ) = w( s) y ( s) = w( s ) G p ( s )u ( s ) Gd ( s )d ( s ) = G p ( s)u ( s ) + [ I Gd ( s ) ] d ( s ) w( s ) w( s ) y ( s) = G p ( s )u ( s ) + [ I Gd ( s ) ] d ( s ) u ( s ) = Gc ( s )( w( s ) y ( s))
z = I G p Gc ( I + G p Gc )
1
) w (I G G (I + G G ) )G d
1 p c p c d 1
= ( I + G p Gc ) w ( I + G p Gc ) Gd d
steven.ding@uni-due.de Robust control (V-WS 09/10)
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Model-matching problem: T1(s) d T3(s) Find a stable Q(s) s.t. y Q(s) u T2(s) z
z = (T1 T2QT3 ) d
is minimised. It can be re-formulated into the standard control problem:
Gzd ( s ) = T1 ( s ), Gzu ( s ) = T2 ( s ), G yd ( s ) = T3 ( s ), G yu ( s ) = 0, K ( s ) = Q ( s )
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Tracking problem: d r u v
W(s)
C1(s)
P(s)
C2(s)
2
is minimised.
( r v
+ u
2 1/ 2
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14