Analysis and Design of Linear Control Systems, 07th.

31st July, 7th Lecture

Analysis and Design of Linear Control System Part2Spring, 2012 Instructor: Prof. Masayuki Fujita (S5-305)
Lecture Time and Place: Tuesday, 10:4512:15, S224 Schedule: 31st, July TA: Tatsuya Ibuki, Yasuaki Wasa (S5-302)

Design Examples
Example 12.8 (Slow Stable Process Zeros) Example 12.9 (Fast Stable Process Poles) Example 12.10 (Design Rules for Pole Placement)

Summary

12.4 Robust Pole Placement Pole Placement State space design (pole placement) Closed loop poles can be assigned to arbitrary locations (observable and reachable system) ~ x 0 Im State equation x0 dx = Ax + Bu , y = Cx + Du dt 0 Controller Re dx + Bu + L( y Cx ) Observer = Ax dt eig. val. of A - BK + k r r State feedback u = Kx eig. val. of A - LC x = xx Closed loop system ~ BK x Bk r x d x A BK r, y = [C 0] ~ = + ~ ~ A LC x 0 dt x 0 x ( s) = det( sI A + BK ) det( sI A + LC )

Slow Stable Process Zeros [Ex. 12.8] Vehicle steering

(Ex. 2.8, 5.12, 7.3, 7.4, 8.6)

state: x = ( y, )

input: u = output: y

Fig. 2.16 Vehicle steering dynamics

state equation (8.3) dx = Ax + Bu , y = Cx + Du dt controller dx + Bu + L( y Cx ) = Ax dt + kr r u = Kx

0 1 A= 0 0

B= 1

C = [1 0] l L = 1 l2 k r = k1

D=0
K = [k1 k2 ]

= 0.5

Slow Stable Process Zeros [Ex. 12.8] Vehicle steering State feedback gain det( sI A + BK ) = s 2 + (k1 + k 2 ) s + k1
s + (k1 + k2 ) s + k1 = s + 2 cc s + c
2 2 2

Slow Stable Process Zeros Closed-loop Pole:

[Ex. 12.8] Vehicle steering

-14.14 -7.07 0 -7.07 -14.14

14.14 14.14i

7.07 7.07i

Im
14.14 7.07

k1 = c

k2 = 2 cc c

-14.14

Im
0 = 20
14.14

Re

-7.07 0

Observer gain det( sI A + LC ) = s 2 + l1s + l2 2 s 2 + l1s + l2 = s 2 + 2 oo s + o

l1 = 2 oo l2 = o Faster close loop system 0 = 20 c = 10 c = 0.707 o = 0.707
2

c = 10
-7.07 -14.14

7.07

Should be GOOD?
Re

eig. val. of A - BK eig. val. of A - LC

k1 = 100 k 2 = 35.86

l1 = 28.28 l2 = 400
Fig. 8.9 Block diagram for a steering control system

7.07 7.07i 14.14 14.14i

Analysis and Design of Linear Control Systems, 07th.

Slow Stable Process Zeros

Im

[Ex. 12.8] Vehicle steering

L( j )
gc

L( j )

Blind Spot of LQG Control Stability Margin of LQG Control (Robustness)

J.Doyle, G.Stein, IEEE TAC, 24 - 4, 1979

g m = 0.7 [dB]

LQG Regulator
m = 7
Phase Margin 15Oops

sm = 0.077

Re
arg L( j )

Fig. 12.11

M s = 13

M t = 12

Nyquist plot for the resulting observer-based controller is shown in Fig. 2. Oops less than 15phase margin.

S( j)

T ( j)
Fig. 12.12

Oops both performance and robust stability are poor !

Why Robust? Special Issue on Linear Multivariable Control Systems

Slow Stable Process Zeros What happens ? Process (from u to

[Ex. 12.8] Vehicle steering

Process -2 Im

Slow Stable Process Zeros

T= n p nc PC = 1 + PC d p d c + n p nc
np dp ,C = nc dc

[Ex. 12.8] Vehicle steering

T has the poles of closed-loop system and its zeros are given by zeros of the process and controller

P( s ) = C ( sI A) 1 B + D = 0.5s + 1 = s2
Controller (from
C ( s) = = KGx y ( s ) 1 + KGx u ( s )
2

s + 1
s2

P =

Pole : p = 0, 0 Zero : z = 2

Slow Stable 0 Process Zero

Re

Process (from u to y )

to u ) (8.3)
21 79i

Controller

Im 3.47
0

Re

Controller nc 11516s + 40000 Pole : p = 21 79i C ( s) = 2 s + 42.4 s + 6657.9 Zero : z = 3.47 Closed -loop
21 79i

Controller (from y to u )

0.5s + 1 P( s) = s2

nP

Pole : p = 0, 0 Zero : z = 2

Process -2

Im

0
Im 3.47
0

Re

Re

s (k1l1 + k 2l2 ) + k1l2 s + s(k1 + k 2 + l1 ) + k1 + l2 + k 2l1 k 2l2

Pole : p = 21 79i Zero : z = 3.47

11516s + 40000 = 2 s + 42.4s + 6657.9

Pole Zero

T ( s) =

5758( s + 2)( s 3.47) ( s 2 + 14.14s + 100)( s 2 + 28s + 400)

Pole : d p d c + n p nc = 0

-14.14

Im

14.14 14.14i Zero : z = 2, 3.47

p = 7.07 7.07i

14.14 7.07

-7.07-2 3.47 -7.07 -14.14

Re

[Ex. 8.8]
k ( s + b) Process: G ( s) = ( s + a)( s 2 + 2s + 2 )
kb a 2

a = 0.2, b = 1 = 5, = 0.1 k = 25

Slow Stable Process Zeros

n p nc PC = 1 + PC d p d c + n p nc closed loop poles Pole : 7.07 7.07i (c = 10) T= flat c = 10

controller zero s = 3.47

flat 1

0 = 20 Zero : 2, 3.47
Closed -loop
0

14.14 14.14i (o = 20)

flat

slope:-1 flat
s=a
s =b

|G |

s =

slope:-2

process zero s = -2

slope:-2

= 20
-14.14 -7.07

Im
14.14
c

= 10

7.07

T ( j)

-2 3.47
-7.07 -14.14

Fig. 12.12

Re Pole Zero

10 2

10 1

10 0

10 1

10 2

Pole/Zero

Frequency Shape

The magnitude of the peak depends on the ratio of the zeros and the poles of the transfer function. assign a closed loop pole close to the slow process zero

Analysis and Design of Linear Control Systems, 07th.

Slow Stable Process Zeros Process

[Ex. 12.8] Vehicle steering

Plant -2 Im

Slow Stable Process Zeros

0.5s + 1 P( s ) = s2

*process stable zero z = -2

Pole : p = 0, 0 Zero : z = 2

0
Im
14.14 7.07

0.5s + 1 Process: P( s ) = s2
c = 10 0 = 20 c = 2.6 o = 0.707

[Ex. 12.8] Vehicle steering

Process -2 Im

Re

C ( s) =

3628( s + 11.02) Re ( s + 2)( s + 78.28) *process stable zero

Controller

Closed -loop

-14.14 Assign a closed loop pole close to the slow process zero.

0 = 20 c = 10 c = 0.707 o = 0.707

7.07 7.07i 14.14 14.14i

closed loop pole

Faster close loop system

T ( s)
Re

1814( s + 11)(s + 2) ( s + 2)( s + 50)( s 2 + 28s + 400)

Im
14.14

-78

-14.14 -7.07 -2 3.47 -7.07

-11

-2

Im Re

Closed-loop

-50

original
Re
M t = 1.41
T ( j)

det(sI A + BK ) = s 2 + 2 2.6 10s + 10 2 = ( s + 2)( s + 50)

-50

c = 10 c = 2.6

0 = 20 o = 0.707

2, 50 14.14 14.14i

14.14

closed loop pole Closed -loop Im

-11 -14.14

-2

M s = 1.34

improved
Fig. 12.12

-11 -14.14

-2
-14.14

Re

-14.14

S( j)

Assign a closed loop pole close to the slow process zero

Fast Stable Process Poles [Ex. 12.9] Fast system poles Process Loop transfer function PI controller k p s + ki b( k p s + ki ) b C ( s ) = P( s) = L( s) = s s( s + a) s+a Pole : p = 0 Pole : p = a Zero : z = ki / k p Closed loop characteristic polynomial
s ( s + a) + b(k p s + ki ) = s 2 + (a + bk p ) s + ki b desired closed loop poles : p1 p2 s 2 + ( p1 + p2 ) s + p1 p2

Fast Stable Process Poles assume p1 < p2 << a

s( s + a ) S (s) = ( s + p1 )( s + p2 )

[Ex. 12.9] Fast system poles

Im -a

p2 p1

Re

poor robustness

p1 + p2 a pp ki = 1 2 b b Complementary sensitivity ( p + p2 a) s + p1 p2 T (s) = 1 ( s + p1 )(s + p2 ) Sensitivity s( s + a) S ( s) = ( s + p1 )(s + p2 ) kp =

p1 p2 Im a p p 1 2

-a

p2 p1 0

S( j)
Re
Fig. 12.13

assume p1 < p2 << a

Choose one closed loop pole equal to the process pole

p2 = a

Fast Stable Process Poles Process

P(s) = b s+a
kp =

[Ex. 12.9] Fast system poles

k p s + ki s

Fast Stable Process Poles Process

[Ex. 12.9] Fast system poles

k p (s + a)

PI controller C ( s) =

Pole : p = a

p1 + p2 a pp , ki = 1 2 b b Pole : p = 0 Zero : z = ki / k p

Sensitivity s( s + a) S ( s) = ( s + p1 )( s + p2 ) Im p1 < p2 << a

-a

p1 p2

Re

Choose one closed loop pole equal to the process pole. p Pole : p = 0 p2 = a k p = 1 ki = ap1 C (s) = k p (s + a) Zero : z = a b s b
L( s) =
bk p s b k p ( s + a) bk p S ( s) = T ( s) = = s + bk p s + bk p s+a s s Im The fast process pole is canceled p1 0 Re by a controller zero

PI controller C ( s) = s ap1 p1 b = k = k P(s) = i p b b s+a Pole : p = 0 Pole : p = a Zero : z = a Sensitivity p2 = a s( s + a ) s S (s) = S (s) = s + bk p ( s + p1 )( s + p2 )
bkp = p1
MS = 1

S( j)
Fig. 12.13

p 0 p
2

-a

Im Re

( )

bkp = p1

T ( s) =

bk p s + bk p

p2

-a

S( j)

T ( j)

Choose one closed loop pole equal to the process pole

Analysis and Design of Linear Control Systems, 07th.

Design Rules for Pole Placement

Process

Im
0

0
Im
0

Slow stable process zeros Process Im Controller -2 should be cancelled by the 0 Re -78 -11 controller poles. p2 = a ~ Fast stable process poles: x0 Im should be cancelled by x 0 p2 p1 -a the controller zeros

Re Im Re

-2

[Ex. 12.10] Nanopositioning system for an atomic force microscope ( Ex. 9.9) a2 40 P( s) = 2 Im 20 s + 2as + a 2 0 = 0.01, a = 1 20 Re 40 process

Re

Slow unstable process zeros: (1.2 / ) achievable gc must be p z tan( / 2 ) eig. val. of A - BK tan( / 2) smaller than the slowest (0.6 z ) (1.7 p ) unstable process zero. eig. val. of A - LC L ( j ) Fast unstable process poles: the gain crossover frequency (a) Frequency response (L ( s )) must be sufficiently large. Fig. 11.8
gc
l
l

Re

tan( l / 2 )

100 Fast stable process poles should be canceled by the controller zeros PID Controller controller 40 k d s 2 + k p s + ki 20 C ( s) = 0 s 20 ki s 2 + 2as + a 2 40 = s a2 100 2k
kp =
i

poles: - 0.0100 0.9999j

10 2

10 2

Im

Re

open loop
20 [dB/dec]
100

kd =

a ki a2

0 .5 L= s

[Ex. 12.10] Nanopositioning system for an atomic force microscope ( Ex. 9.9) a2 k s 2 + 2as + a 2 P( s) = 2 C ( s) = i 2 2 s a s + 2as + a

[Ex. 12.10] Nanopositioning system for an atomic force microscope

C ( s) = ki s 2 + 2as + a s a2

C ( s) =

1 ki s 2 + 2as + a 1 + T f s + (T f s) 2 / 2 s a2

L( s ) =

0.5 s

S ( s) =

s 0 .5 T (s) = s + 0 .5 s + 0.5 Gang of Four S

high-frequency roll-off
CS CS

Gun
stability margin
S

Tradeoff attenuation of measurement noise

Big T f reduces the effects of noise reduces the stability margin reasonable choice

T
Sensitive to load disturbances with frequencies close to resonant frequency

bad

bad

PS

CS

Very sensitive to High-frequency noise Fig. 12.14

Tf

Tf =

0. 2 ki
Fig. 12.14

PS

bad

CS

roll-off

[Ex. 12.10] Nanopositioning system for an atomic force microscope

[Ex. 12.10] Nanopositioning system for an atomic force microscope

C (s) = k d s 2 + k p s + ki s (1 + sT f + ( sT f ) / 2)
2

s Loop transfer function

C (s) =

k d s 2 + k p s + ki

a2 P( s) = 2 s + 2as + a 2

P( s) =

a2 s + 2as + a 2
2

L(s) =

a 2 (k d s 2 + k p s + ki ) s s 2 + 2 as + a 2

good filtering time constant : T f = 0 .1

Characteristic polynomial

s 3 + ( a 2 k d + 2 a ) s 2 + ( k p + 1) a 2 s + k i a 2
general third-order parameterized polynomial
s 3 + ( 0 + 2 )0 s 2 + (1 + 2 0 )0 s + 00
2 3

parameters : = 0.707 0 = 1 0 = 1 ,2 ,4 Controller 0 = 1

kd ki

process

0 = 2 0 = 4

Poles: 0, 4.2 4.2i Zeros: 0.3 0.6i

controller open loop

: relative configuration of the poles : magnitudes of the poles 3 2 ( 0 + 2 )0 2a 00 (1 + 2 0 )0 kp = 1 , ki = 2 , k d = 2 a2 a a

0 , 0

Poles: 2.0 1.7i Zeros: 0.9 0.9i Poles: 0, 66.4 66.4i Zeros: 0, 16.6 16.6i

Analysis and Design of Linear Control Systems, 07th.

Gang of Four
S

31st July, 7th Lecture

T

bandwidth increase
PS

Design Examples
Example 12.8 (Slow Stable Process Zeros) Example 12.9 (Fast Stable Process Poles) Example 12.10 (Design Rules for Pole Placement)

CS

Trade off

Disturbances are well Large control signals are required attenuated. to provide active dumping.
Fig. 12.15

Poles and Zeros ( S and T ) of Closed-loop System

Summary