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Lecture 3
G. Hovland 2004-2006
u(t) y(t)
K G(s)
-
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 2
design a controller that yields 10% overshoot and peak time 1.0 sec
for a step-response.
x = Ax + Bu = Ax + B( r − Kx ) = ( A − BK ) x + Br y = Cx
Summary State Space Forms
Figure 5.31
State-space forms for
C (s) s+3
=
R( s ) ( s + 4)( s + 6)
y = c(t )
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 7
Phase-Variable Form
x1 0 1 0 0 x1 0
x2 0 0 1 0 x2 0
= + u
xn −1 0 0 0 1 xn −1 0
xn − a0 − a1 − an −1 xn 1
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 8
A Matrix
B Vector
0 1 0 0 Major
advantage of
0 0 1 0
the phase-
A − BK = variable and
0 0 0 1 controller
canonical
− ( a0 + k1 ) − ( a1 + k2 ) − ( an −1 + kn ) forms
Phase-Variable Form
s n + an −1s n −1 + + a1s + a0 = 0
s n + ( an −1 + kn ) s n −1 + + ( a1 + k2 ) s + (a0 + k1 ) = 0
4
= 0.60 wn = = 9.0
Tsζ
20( s + 5)
G1 ( s ) = and
( s + 5.1)( s 2 + 2ζwn + wn )
2
20
G2 ( s ) =
( s 2 + 2ζwn + wn )
2
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 11
In general:
Use extra poles to cancel
out zeros. If no cancellations
required, place poles far away
from 2nd order pole.
20( s + 5)
G( s) =
s( s + 1)( s + 4)
How?
0 1 0
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 12
A= 0 0 1
0 −4 −5
C = [100 20 0]
Example 12.1: Controller Gains
0 1 0
A − BK = 0 0 1
− k1 − ( 4 + k2 ) − (5 + k3 )
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 13
Characteristic equation:
s 3 + (5 + k3 ) s 2 + ( 4 + k2 ) s + k1 = 0
Must match design requirements:
( s 2 + 2ζwn s + wn )( s + p ) = s 3 + 15.9 s 2 + 136.08s + 413.1
2
What happens to
the transfer function
R
if we increase the
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 14
controller gains?
State-Space Design: Summary so far
x1
x = x1U x1 + x2 U x 2 =
x2
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 19
x x
x1 x
U x1 = , U x2 = 2
| x1 | | x2 |
z z
z1
z = z1U z1 + z 2 U z 2 =
z2 O
Vector transformations
U z1 = p11U x1 + p21U x 2 z1
z = z1U z1 + z 2 U z 2 =
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 20
U z 2 = p12 U x1 + p22 U x 2 z2
U z1 = p11U x1 + p21U x 2 z1
z = z1U z1 + z 2 U z 2 =
U z 2 = p12 U x1 + p22 U x 2 z2
p11 p12 z1
x= = Pz z = P −1x
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 21
p21 p22 z2
The columns of P are the coordinates of the basis vectors of the z1z2 space
expressed as linear combinations of the basis vectors of the x1x2 space.
1st column of P is Uz1, 2nd column of P is Uz2. We have P=[Uz1, Uz2], or :
Transform vector x=[1 2 3]T expressed with its basis vectors, Ux1=[1 0 0]T, Ux2=[0 1 0]T
and Ux3=[0 0 1]T into a vector expressed in Uz1=[0 1/√2 1/√2]T, Uz2=[0 -1/√2
1/√2]T,Uz3=[1 0 0]T.
SOLUTION:
z = z1U z1 + z 2 U z 2 + z3 U z 3
0 0 1 z3
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 22
x = z1 1 / 2 + z 2 − 1 / 2 + z3 0 = 1 ( ) ( 2 )z
2 z1 − 1
(1 2 )z + (1 2 )z
2
1/ 2 1/ 2 0 1 2
! x x 1x 2 z z 1z 2 "x z
#
Transforming the state equations
y = Cx + Du y = CPz + Du
$ % z = P −1APz + P −1Bu
#$
%
y = CPz + Du
#$ & %
2 0 0 0 1 0 2 0 0 − 1.5 1 0
−1
P AP = 3 2 0 0 0 1 3 2 0 = − 1.25 0.7 0.4
1 4 5 −2 −5 −7 1 4 5 − 2.5 0.4 − 6.2
−1
2 0 0 0 0 2 0 0
P −1B = 3 2 0 0 = 0 , CP = [1 0 0] 3 2 0 = [0.5 0 0]
1 4 5 1 5 1 4 5
− 1.5 1 0 0
z = − 1.25 0.7 0.4 z + 0 u
z = P −1APz + P −1Bu − 2.5 0.4 − 6.2 5
y = CPz + Du y = [0.5 0 0]z
Similarity transformations on state equations
x1 0 1 0 x1 0 2 0 0
x2 = 0 0 1 x2 + 0 u z = 3 2 0 x = P −1x
x3 − 2 − 5 − 7 x3 1 1 4 5
y = [1 0 0]x -
−1
2 0 0
adj (P −1 )
P= P ( )
−1 −1
= 3 2 0 =
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 25
det(P −1 )
1 4 5
2*5 − 0* 4 − (0 * 5 − 0 * 4) 0*0 − 0*2
= 1
20 − (3 * 5 − 0 *1) 2 * 5 − 0 *1 − (2 * 0 − 3 * 0)
3 * 4 − 1* 2 − (2 * 4 − 0 *1) 2 * 2 − 3* 0
10 0 0 0.5 0 0
= 1
20 − 15 10 0 = − 0.75 0.5 0
10 −8 4 0.5 − 0.4 0.2
0 = (λi I − A)x i
det(λi I − A) = 0 λi
adj (λi I − A)
x i = (λi I − A) −1 0 = 0
det(λi I − A)
Verify eigenvector solution
Axi=λixi
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 27
#. / %
%& %
Λ=diag{λi} & x=[x1,x2,…xn].
#* P = x=[x1,x2,…xn].
0#. , Axi=λixi ( Λ,
: AP=PΛ
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 28
( Λ=diag{λi}.
1# ( Λ=P-1AP
2#$ & % % .
λ1 0
x x2,1 z = P −1APz + P −1Bu = z + P −1Bu
P = [x1 x 2 ] = 1,1 0 λ2
x1, 2 x2 , 2
y = CPz + Du
Diagonalising a system in state space
−3 1 1
x= x+ u
1 −3 2
y = [2 3]x
λ 0 −3 1 λ + 3 −1
det(λI − A) = − = = λ2 + 6λ + 8
0 λ 1 −3 −1 λ + 3
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 29
1 3 1
x= x+ u
−4 −6 3
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 30
y = [1 4]x
3 −2
z= x
1 −4
Class Question
Use:
1 3 1 P-1AP
x= x+ u P-1B
−4 −6 3 CP
y = [1 4]x
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 31
Parallel Form
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 33
Controllability by inspection
x = Ax + Bu
is completely controllable if the matrix
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 35
CM = [ B AB A2 B An −1B ]
is of rank n.
0 1 −2
CM = [ B AB A2 B ] = 1 − 1 1
1 −2 4
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 37
z = Az z + Bz u
and the phase-variable form
x1 0 1 0 0 x1 0
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 40
x2 0 0 1 0 x2 0
= + u = Ax x + Bx u
xn −1 0 0 0 1 xn −1 0
xn − a0 − a1 − an −1 xn 1
0 0 1
CM = [ B AB A2 B ] = 0 1 − 3
1 −1 1
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 42
1 1
= 3
( s + 1)( s + 2)( s + 5) s + 8s + 17 s + 10
2
x1 0 1 0 x1 0 Phase-variable
x2 = 0 0 1 x2 + 0 u form
− 10 − 17 − 8 x3
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 43
x3 1
0 0 1
CM = [ B AB A2 B ] = 0 1 −8
1 −8 47
1 0 0
−1
P = CMZ * CMX = 5 1 0
10 7 1
4
= 0.447 wn = = 2.24
Tsζ
= ( s 2 + 2 s + 5)( s + 4) = s 3 + 6s 2 + 13s + 20
State-Feedback Controller
0 1 0
A − BK = 0 0 1
− (10 + k1 ) − (17 + k2 ) − (8 + k3 )
Desired:
( s 2 + 2ζwn s + wn )( s + p )
2
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 45
= ( s 2 + 2 s + 5)( s + 4) = s 3 + 6s 2 + 13s + 20
Shaft
position
METR4202/7202 – AAdvanced Control & Robotics, Semester 2, 2005: Page: 47
Design a state-feedback
controller to yield
20.8% overshoot and
settling time of Ts=4.0
seconds for a step-response