Outline Outline

Outline

1 Introduction to MIMO Systems

Classical Control
What is a MIMO System?
Lecture 7 Description of a MIMO System

2 Analysis and Design for MIMO Systems

MIMO System Analysis and Design
Decoupling and Pole Assignment

Lecture 7 Classical Control Lecture 7 Classical Control

Introduction to MIMO Systems What is a MIMO System? Introduction to MIMO Systems What is a MIMO System?
Analysis and Design for MIMO Systems Description of a MIMO System Analysis and Design for MIMO Systems Description of a MIMO System

MIMO System Example: Flight Control System Characteristics of MIMO System

MIMO Plant Multiple Input Channels and/or Multiple Output Channels

6 Degrees of Freedom Coupling Phenomena Among Channels
Eighth order ODE
Coupling Phenomena for Lateral Motion
Longitudinal Motion
δr : rudder r : yaw rate
Lateral Motion
Measured Signals
Control Surfaces
δa: aileron p: roll rate
MIMO Controller
MIMO
Flight
Controller

Lecture 7 Classical Control Lecture 7 Classical Control

 Introduction to MIMO Systems What is a MIMO System? Introduction to MIMO Systems What is a MIMO System?
Analysis and Design for MIMO Systems Description of a MIMO System Analysis and Design for MIMO Systems Description of a MIMO System

Description of MIMO Systems Description of MIMO Systems - Example

Transfer function matrices Matlab

nums={[0.1134] [0.924]; [0.3378] [-0.318]};
 
G11 (s) · · · G1m (s)
 .. .. ..  dens={[1.78 4.48 1] [2.07 1]
G(s) =  . . .  [0.361 1.09 1] [2.93 1]};
Gp1 (s) · · · Gpm (s) sys=tf(nums,dens,’inputname’,{’u1’ , ’u2’},...
Gij (s): Transfer function from jth input to ith output ’outputname’,{’y1’ , ’y2’})

Using tf in Matlab
 0.1134 0.924 
Specify numerator and denominator of each SISO entry: 1.78s 2 +4.48s+1 2.07s+1
sys = 0.3378 −0.318
0.361s 2 +1.09s+1 2.93s+1
nums={num11 num12;num21 num22};
dens={den11 den12;den21 den22}; See mm7mimodescrip.m,
sys=tf(nums,dens);

Lecture 7 Classical Control Lecture 7 Classical Control

Introduction to MIMO Systems What is a MIMO System? Introduction to MIMO Systems What is a MIMO System?
Analysis and Design for MIMO Systems Description of a MIMO System Analysis and Design for MIMO Systems Description of a MIMO System

Description of MIMO Systems - Example Description of MIMO Systems - Example

Bode Diagram Impulse Response

From: u1 From: u2 From: u1 From: u2

0 0.5
To: y1

0.4
−100

0.3

To: y1
−200
0
Magnitude (dB) ; Phase (deg)

0.2
To: y1

−90 0.1

Amplitude
−180 0
0 0.3
To: y2

−50 0.2

0.1

To: y2
−100
180
0
To: y2

0
−0.1

−180 −0.2
−2 −1 0 1 2 −2 −1 0 1 2
10 10 10 10 10 10 10 10 10 10 0 5 10 15 20 25 0 5 10 15 20 25
Frequency (rad/sec) Time (sec)

Lecture 7 Classical Control Lecture 7 Classical Control

 Introduction to MIMO Systems What is a MIMO System? Introduction to MIMO Systems What is a MIMO System?
Analysis and Design for MIMO Systems Description of a MIMO System Analysis and Design for MIMO Systems Description of a MIMO System

Description of MIMO Systems - Example Description of MIMO Systems

Step Response MIMO System Connections
1
From: u1 From: u2
Serial connection:
0.8
G1 (s)G2 (s) 6= G2 (s)G1 (s)
0.6
To: y1

0.4 Feedback connection:

0.2

+
Amplitude

0 G1 (s)
0.4
−
0.2
G2 (s)
To: y2

−0.2 G(s) = G1 (s)[I + G1 (s)G2 (s)]−1

−0.4
0 5 10 15 20 25 0 5 10 15 20 25
= [I + G2 (s)G1 (s)]−1 G1 (s)
Time (sec)

Lecture 7 Classical Control Lecture 7 Classical Control

Introduction to MIMO Systems MIMO System Analysis and Design Introduction to MIMO Systems MIMO System Analysis and Design
Analysis and Design for MIMO Systems Decoupling and Pole Assignment Analysis and Design for MIMO Systems Decoupling and Pole Assignment

Basic Analysis of MIMO Systems Control Design for MIMO Systems

Frequency analysis: bode, nyquist Frequency response design:

Time domain analysis: impulse, step, poles, tzero Decoupling technique: Diagonal dominance matrix,...
Inverse Nyquist array method
Root locus: Does not work (only applicable to SISO systems) Characteristic locus method
Useful tool: ltiview Quantitative Feedback Technique (QFT)
...

Lecture 7 Classical Control Lecture 7 Classical Control

 Introduction to MIMO Systems MIMO System Analysis and Design Introduction to MIMO Systems MIMO System Analysis and Design
Analysis and Design for MIMO Systems Decoupling and Pole Assignment Analysis and Design for MIMO Systems Decoupling and Pole Assignment

Decoupling Design Technique Decoupling Design Technique - Example

Motivation: Directly use SISO techniques for MIMO system Bode Diagram

design 0
From: u1 From: u2

Idea: Decouple multiple input and output channels into

To: y1
−100

several independent single input and output channels

−200
0

Magnitude (dB) ; Phase (deg)

Example

To: y1
−90

Transfer function −180

0
 0.1134 0.924 
G (s) = 1.78s 2 +4.48s+1 2.07s+1

To: y2
0.3378 −0.0318 −50

0.361s 2 +1.09s+1 2.93s+1

−100
180
refactorized into u1 → y2 and u2 → y1

To: y2
0

0.3378 0.924
G1 (s) = 2
G2 (s) = −180
−2 −1 0 1 2 −2 −1 0 1 2

0.361s + 1.09s + 1 2.07s + 1 10 10 10 10 10 10

Frequency (rad/sec)
10 10 10 10

Lecture 7 Classical Control Lecture 7 Classical Control

Introduction to MIMO Systems MIMO System Analysis and Design

Analysis and Design for MIMO Systems Decoupling and Pole Assignment

Decoupling Design Technique - Example

Step Response

From: u1 From: u2
1

0.8

0.6
To: y1

0.4

0.2
Amplitude

0
0.4

0.3
To: y2

0.2

0.1

0 5 10 15 20 25 0 5 10 15 20 25
Time (sec)

Lecture 7 Classical Control