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Introduction Loop
Introduction:
A very desirable response goal of the LTR/IMP ROBUST ZERO STEP TRACKING is to obtain a robust, zero steady-state error
Despite any potential plant parameter variations. That is the main objective.
Loop Transfer Recovery In LTR we have to design an observer with parameter such
that the resulting loop transfer function is as close as possible to the TFl, Target Feedback Loop or LQR Loop Transfer Function.
Under certain condition that the LQG can asymptotically recover the LQR properties. Block-Diagram of an LQR Controller and LQG Controller.
(LQR Controller)
(LQG Controller)
We have to consider two conditions 1.) G(s) is minimum-phase(i.e., it has no zeros in the RHP) 2.) and
It can be shown that Q and R are assumed to be noise intensities for LQG compensator.
This condition suggests that we have to choose the LQR parameter such that the LQR loop transfer function(also called Target Feedback Loop or TFl) has desirable time and/or freq. domain properties for that we have to design an observer with this parameter. Increase the tunning parameter q until the resulting loop transfer function is as close as possible to the TFL. In many situations, the variable that is measured is different from the variable we are interested to control. For example we may desire to control thrust in a jet engine, but we can only sense temperature and turbine speed.
let y denote the measured states and z denote the controlled states, then and The detailed procedure how the loop transfer function of LQG approaches that of LQR and will asymptotically recover its property.
Loop Shaping Step: 1.) determine the controlled variable and set
2.) convert the design specification into a desired TFL. 3.) vary the parameter R until the resulting loop transfer function is similar to the TFL.
Recovery Step:
LTR(loop transfer recovery) used on double integrator system to recover the LQR property. our objective is to recover bode plot for double integrator system shown in fig.
next let the parameter q vary over the range (1, 10, 100, 1000).
Plots for the closed-loop step response for the LQR case and LTR, for the specified values of q.
fig shows that as the value of q increases the step response approaches the LQR case.
(b) (Closed-loop step response for LTR using 10, 100, 1000.)
q = 1,
Internal Model Principle: The main objective of the internal model principle is to obtain a robust steady-state error, which is defined by the condition Despite any potential plant parameter variations. Error response of the nominal control plant
------- (4) the error response of this nominal control system relative to a nondeminishing reference input r(t) is defined by the error response transfer function relationship
------- (5)
at t
------ (6)
So in order to have a zero steady-state error, it it necessary that In the above equation. This observation can be stated as the internal model principle:
IMP: A robust assured by a stable 1 DOF unity feedback control system if a model of is present in the denominator of the internal loop gain transfer function
To ensure a robust , plant parameter changes can not alter any of the zeroes of that correspond to those of Therefore a choice for with arbitary, will always ensure a robust despite any plant parameter variation, since is fixed by designer.
LTR/IMP Robust Zero-Error Step Tracking: In the case of step changes in reference input r(t), it is posiible to obtain the exact LQR optimal closed-loop transfer function as well as a robust
If the pllant G(s) is type 0, it follows that which can be solved for the unique polynomials And
Therefore
for
Which is characterised by an output transfer function identical to LQR optimal T(s) obtained as
References:
William A. Wollowich, Automatic Control System International Edition Stefani, Sawant, Shahian, Hostetter, Design of Feedback Control System, International Edition.
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