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Key issues in this course
Control (I) considers the design of a controller K(s) for
a given plant P(s) using three approaches
(A) PID controller
(B) Root locus
(C) Bode plot
(s)
where P( s ) = P0 ( s) + ( s )
2
z What if there are disturbances and/or sensor noise?
d(t)
r(t) K(s) P0(s) y(t)
n(t)
And
u ( s ) = TUR ( s )r ( s ) + TUD ( s )d ( s ) + TUN ( s )n( s )
= P ( s ) 1 {TYR ( s )r ( s ) + TYD ( s )d ( s ) + TYN ( s )n( s )}
r(t) y(t)
K(s) P(s)
uC u
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Overview of the Course
(1) Review of root locus and design on Bode plot
(2) Feedback properties and feedback designs
(3) Nonlinear system and Robust design on Bode plot
1/6
(4) State space representation of a system
1/3
(5) Analysis of state equation
(6) Controllability and observability
(7) Pole assignment of control system design
(8) State estimator design
1/3
(9) Smith filter and nonlinear systems
1/6
Credit
Two mid term tests, each accounts for 1/3 of the credit,
two term report, each accounts for 1/6 of the credit
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Chapter 1. Review
Fig. 1
7
the change in plant dynamics. That is, if the plant model is
not obtained with sufficient accuracy, it is impossible to
acutely meet the required performance requirement.
However, the above block diagram is a representative
of a wider class of feedback systems, such as the one shown
below
r(t) y(t)
H K(s) P(s)
H
Fig. 2
Fig. 3
9
Consider a car driven by a torque of the engine. It can
be modeled as a mass m and an equivalent force u(t)
where u bx = mx
or or
b u
x+
x =
m m
m2
tire
ks/2 m1 ks/2
10
b( y x ) + k s ( y x) k w ( x r ) = m1
x
b( y x ) ks ( y x) = m2 y
b k k k
x+
( y x ) + s ( y x) + w x = w r
m1 m1 m1 m1
b k
y+
( y x ) + s ( y x) = 0
m2 m2
11
I11 + b(1 2 ) + k (1 2 ) = M c + M d
I + b( ) + k ( ) = 0
2 2 2 1 2 1
Example 2.14
z In this type of motors, the magnetic field is held at
constant by applying a constant voltage, while the
voltage applied to the armature circuit
varies to drive the motor.
Mechanical dynamic:
J + b = T = K i
t
Circuit dynamic:
L di + Ri = va e = va K e
dt
input: va
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Taking Laplace transform of the above equation, it gives
( Js 2
+ bs ) ( s) = Kt I ( s)
1 Js2 + bs Ke
va (s) = + (s)
( Ls + R ) Kt ( Ls + R )
Hence
1
(s) Js2 + bs Ke 1
= +
va (s) Kt ( Ls + R ) ( Ls + R )
Kt ( Ls + R ) 1
2
( Js + bs ) ( Ls + R) + Kt Ke ( Ls + R)
Kt
= 2
( Js + bs ) ( Ls + R) + Kt Ke
z There are three approaches to determine the model
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parameters J, b, L, R, Kt, Ke
(1) A series of direct measurements of model parameters.
For instance, J can be estimated from its geometric
shape, b can be measured from quasi-static experiment,
and so on.
(2) Curve fitting to the step responses (or other response
in the time domain) of the motor
(s) Kt (s)
= 2 =
va (s) ( Js + bs) ( Ls + R) because va (s) S=0
u (t ) = P(s) y (t ) =
N N
u sin ( t + )
i =0
i i i y sin ( t + )
i =0
i i i
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z It is inevitable that model inaccuracy exists due to sensor
noises, neglected higher order dynamics and
nonlinearities, hence it is essential that a feedback
control system must be able to handle model
inaccuracy/uncertainty in terms of robust stability and
robust performance.
z Uncertainty/model inaccuracy can be estimated from the
Bode plot, but NOT from time domain parameter
estimation.
Gain uncertainty
phase uncertainty
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z Handling model uncertainty for robust stability
Unit circle
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1.3Design Requirement/performance specifications
Some of the primary design requirements can be
transcribed into properties of the dominant poles of T(z) in
the time domain, such as
(A-1) Transient performance tr, ts, PO (i.e., and N)
(B) Stability margin (in terms of )
(C) Steady state error (KP, KV, Ka)
(D) Noise attenuation
(E) Disturbance rejection/ sensitivity reduction (often
equivalent to tracking)
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j
= wn
= wn
21
where
=0 j
1>>0
<0
1 = wn
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z Steady state error (KP, KV, Ka)
KP measures the capability of a system to follow a
constant step command (polynomial of zero degree), and
the steady state error following a step command is
1
eSS
KP
For system type zero,
K PL( s) S =0 = P( s) K ( S ) H S =0
K VsL( s) S =0 = sP( s) K ( S ) H S =0
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1
eSS = limited > 0
Ka
Steady state error system
Type 0 Type I Type II
Step command 1 0 0
KP
Ramp command 1
KV
0
Parabolic commnad 1
Ka
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1.4Classifications of systems and ODE
y(t)+ a2(y , y )y(t)+ a1(y , y )y(t)= u(t) (1.1)
Transfer function
Applying Laplace transform to Eq. (1), it gives
s3Y(s)s2y(0)sy (0) y(0) + a2 s2Y(s)sy(0) y (0)
+ a1 sY(s) y(0) = b1 sU(s)u(0) +U(s)
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Assuming zero initial condition
y(0)= y (0)= y(0)= u(0)= 0 ,
one obtained
3 2
s + a2s + a1sY(s)= b1s+ 1U(s)
(1.5)
That is
Zero polynomial
b s+ 1
P(s) = Y(s) = 3 1 2 (1.6)
U(s) s + a2s + a1s
Pole polyno.
A transfer function description can be obtained from the
ODE by assuming zero initial conditions
Zero polynomial represents differential operators on the
input, while pole polynomial represents differential
operators on the output
To obtain an ODE from a transfer function, convert (6)
into (5), then convert (5) into (3).
However, a transfer function does not exist for a linear
time varying system since Laplace transform is not
applicable.
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1.5Transfer function and ODE
Consider a general linear, time-invariant ODE
y(n)(t)+ a1y(n1)(t)+ a2y(n2)(t)+...+ any(t)=
(1.7)
b0u(m)(t)+ b1u(m1)(t)+ b2u(m2)(t)+...+ bmu(t)
Applying Laplace transform to the ODE, one obtains
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snY(s)+ a1sn1Y(s)+ a2sn2Y(s)+...+ an1sY(s)+ anY(s)
+C(ai , y(i)(0), si ) (10)
= b0smU(s)+b1sm1U(s)+...+bm1sU(s)+bmU(s)
+D(bi , u( j)(0), s j )
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1.6: Multivariable (MIMO) system
z A system is called a Multiple-Input-Multiple-Output if
consists of more than one inputs and/or more than one
outputs.
z For instance, consider a mill plant rolling papers or
steels as depicted below
u2 = P
u1 = T
y1 = t
y2 = v
where
u1 = Tpulling force, 1st input
u2 = Prolling pressure, 2nd input
y1 = tproduction speed, 1st output
y2 = vthickness of the plate or paper, 2nd output
Let the dynamics between u1 and y1 be captured by the
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transfer function P11(s) so that
Y1 ( s )
P11 ( s ) or Y1 ( s ) = P11 ( s )U1 ( s )
U1 ( s ) (1.25)
Similarly,
Y2 ( s )
P22 ( s ) or Y2 ( s ) = P22 ( s )U 2 ( s )
U 2 ( s) (1.26)
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Y2 ( s )
P21 ( s ) or Y2 ( s ) = P21 ( s )U1 ( s )
U1 ( s ) (1.28)
Y1 ( s ) P11 ( s ) P12 ( s ) U1 ( s )
Y ( s ) = P ( s ) P ( s ) U ( s )
2 21 22 2
U 1 ( s ) (1.29)
P( s)
2
U ( s )
where P(s) is called the transfer function matrix of the
multivariable process.
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