Analysis of the Controller and Identification

Algorithm Gains for Closed-Loop

Identification Applied to a Perturbed DC
Servomechanism working under PD control

Dr. Roger Miranda Colorado

27 de Octubre del 2011

Mxico

Ing. Fernando Ochoa Garca

Mrida, Yucatn,

CONTENT

INTRODUCTION

REFERENCES

MODEL DESCRIPTION

CLOSED LOOP IDENTIFICATION ALGORITHM:

NON PERTURBED CASE
CLOSED LOOP IDENTIFICATION ALGORITHM:
PERTURBED CASE

ANALYSIS OF THE RESULTS

CONCLUSIONS

INTRODUCTION

-Servomechanism
- Open loop vs Closed loop
- Identification
- PBC

REFERENCES
Y. Zhou, A. Han, S. Yan, X. Chen, "A fast method for online closed loop
system identification", The International Journal of Advanced Manufacturing
Technology, vol. 31, no. 1-2, pp. 78-84, 2006.

E. J. Adam, E.D. Guestrin, "Identification and robust control for an

experimental servomotor", ISA Transactions, vol. 41, no. 2, pp. 225-234,
2002. ]
L. Ljung, System Identification., Ed. Prentice Hall, 1987.
Ortega, R., Loria, A., Nicklasson, P. J., R., H. Sira, Passivity-Based Control
of Euler-Lagrange Systems

MODEL DESCRIPTION
ALGORITHM

CLOSED-LOOP IDENTIFICATION ALGORITHM:

NON PERTURBATED CASE
The mathematical description of the model
is:

Jq(t ) fq (t ) ku (t ) v1 (t ) (t ) v1 (t )

where
J Inertia
f Viscous friction coefficient
k Amplifier gain
u Input voltage
v1 Perturbation signal

Torque input

q(t ) aq (t ) bu (t ) v(t )
where : a f , b k , v v
1

(1)

(2)

Stability of the real servomechanism

The servomechanism have the next PD control.

u (t ) k p e(t ) k d q
(t )

where :
e(t ) qd (t ) q (t )

(3)

qd reference

The real servomechanism in closed loop with u (t ) leads to the closed loop
dynamics:

: q(t ) (a bk
1

) q (t ) bk p e(t )

(4)

where :

(a bk d )
Using Routh- Hurwitz criterion, the control law u (t ) stabilizes

The estimated model of the servomechanism

The estimated model of the servomechanism is given by:

q
e a q e (t ) bue (t )

(5)

The PD controller applied to the model is given by.

ue (t ) k p ee (t ) kd q e (t )

where :
ee (t ) qd (t ) qe (t )

(6)

The estimated model of 1 in closed loop with ue (t ) leads to the closed loop
dynamics:
:q
(7)
e (a bk d )q e (t ) bk p ee (t )

An important issue now is to know if the closed loop dynamics

because it contains time varying signals.

is stable

Error dynamics

Let output error between the real servomechanism and its model be given as:

(t ) q qe

(8)

Evaluating its second time derivate and employing the real servomechanism
and the model estimated can be established the error dynamics as follows:

~
(t ) c bk p (t ) T (t )

where :
.
~ parameter error

regressor vector

q e
a a
~

(t )
, (t )

b b
ue

(9)

Stability analisys

Using passivity based arguments can be analized the behavior of the

signals involved in the error dynamics.
Considerating the vector:

x ( , )T

And considering the following storage function:

1 T bk p
x xT Mx
H1 (x) x
2 1
where : 1 real positive constant
H1 will

be positive definite if

bk p

(10)

Is possible to conclude that if min c/ 2 , 2bk p /c

then the time derivate of H1along the trajectories of the dynamics error:
yields
H 1 ( , ) ~ T ( ) c / 2( ) 2
(11)
therefore, defines an output strictly passive map (OSP)

(~ T ) ( )

(12)

Its intuitive to consider the parameter error dynamics as the following gradient
like parameter updating law:

~
3 : ( )
where : T M 2 X 2

(13)

Considering the feedback interconnection of the error dynamics and the

parameter error dynamics.

(t ) c (t ) bk p (t ) ~ T (t )

~
( )

(14)

With qe (t ) Lwe proves the stability of the estimated model of

the servomechanism.

Convergence of the parameter error

With the system

Then:

1 and assume that min

bk p , c / 2,2bk p / c,4bk p c /( 4bk p c 2 ) .

(t ), (t ),~(t )

Exponential convergence
(t ) c (t ) bk p (t ) ~ T (t ) then the system (A, B, C) is
Considerating
~ ( )

observable and controlable if c / 2

Considerating the systems:

~ 0
4 : y T (t )~(t )
2

~ ( )
5 : y T (t )~(t )
2

Theorem: Let the state space description of the error dynamics and assume that the
following inequalities hold:
4bk p c
1 2bk p
min bk p , ,
,
2c c
4bk p c 2
Let w ( x, ~ ) be an equilibrium point of the system. Then w is an exponentially
stable equilibrium point of the system.

 : q(t ) (a bk )q (t ) bk e(t )
2 : qe (a bkd )q e (t ) bk p ee (t )
~ ( )
:

3
d

~T
(t ) c (t ) bk p (t ) (t )
~
( )

CLOSED-LOOP IDENTIFICATION:
PERTURBED CASE
~

T
Theorem: If the equilibrium w 0 of the error dynamics (t ) c bk p (t ) (t )
is exponentially stable, then:

(1) The perturbed system (t ) c (t ) bk p (t ) (t ) v(t ) is small signal

T

L stable

(2) There exists m 1, such that , || w 0 || h / m implies that w (t )

converges to a ball of radius h

ANALYSIS OF THE RESULTS

From the stability proof of the perturbed system:
(t ) c (t ) bk p (t ) T (t ) v(t )
It is possible to obtain the bound:
2 1 max(max (M 2 ), max ())

min (Q) min(min (M 2 ), min ())

(15)

The eigenvalues for M 2 are given by:

s

(bk p c 1) (bk p c 1) 2 4 2

so that:
min (M 2 )

(b k p c 1) - (bk p c - 1) 2 4 2
2

min (Q) min{bk p , c }

max (M 2 )

(b k p c 1) (bk p c - 1) 2 4 2
2

max (Q) max{bk p , c }

In order to make the region as small as possible we need to minimize the

value of max (M 2 ) and maximize that of min (M 2 ) .

CONCLUSION

Its important to pay attention not only to the values of the gain matrix

k dgains and
. and ,but also to the value of the controllers
kp
.
Future work can be to design more complicated controllers and ensures the
overall exponential stability.

THANKS !!!