MECH550F: Multivariable Feedback Control

MECH550F: Multivariable Feedback Control
Lecture 15 -synthesis
Dr. Ryozo Nagamune Department of Mechanical Engineering University of British Columbia
2009/10 T1
MECH550F : Multivariable Feedback Control
Review and todays topic

In the previous lectures, we have studied
structured singular value . -analysis of a feedback system.
(A controller K is given.)
In todays lecture, we will study -synthesis of a feedback system. (K is to be designed.)
2009/10 T1
-analysis (review)
Robustly stable case
Not robustly stable case
UB LB
UB LB
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Upper bound of (review)

For a complex matrix M
Note: D and commute.

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-synthesis problem
Design a nominally stabilizing K solving a minimization problem
(Minimizing upper bound over frequencies.)
(Minimizing scaled H norm.)

Scaled H minimization
If the minimized value is less than 1, then the obtained K is a robust stabilizing controller. The cost function is nonconvex w.r.t. D & K. If we fix D, it is (convex!) H optimal controller design. If we fix K, it is (convex!) -analysis. We use the D-K iteration to find a local optimum.
D-K iteration (dksyn.m)

Initialization of D Controller design Controller analysis K-design (with fixed D) OK?
no yes
end
Scaling design
D-design (with fixed K)
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Initialization of D(s)
Initialization K-design
One standard choice of D(s) is
OK?
no
end
yes
D-design
Different initial Ds will result in different final results, due to nonconvexity of the optimization problem.
Design of K(s)
Initialization K-design For the fixed D(s), design scaled (sub)optimal H controller OK?
no
end
yes
D-design
hinfsyn.m
Analysis of K(s)
Initialization K-design Analyze the designed K(s) by upper bound of -value. In other words, for gridded frequency , compute (with mussv.m) OK?
no
end
yes
D-design
Check if it is satisfactory.
Design of D(s)
Initialization K-design For given D, find D(s) s.t. the magnitude of D(j) is close to D, and User has freedom to select deg(D) (fitting accuracy vs complexity). deg(K)=deg(N)+2deg(D)
OK?
no
end
yes
D-design
Remarks on D-K iteration

D-K iteration can find only a local optimum, and there is no guarantee to find a global optimum. Practical experience suggests that the method works well in most cases. Final controller and -value depend on:
Initial choice of D(s) Order of D(s) to fit D Numerical accuracy in optimization etc.
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12
Example (in Help of dksyn.m)
Design K s.t.
Example: Bode plot of inv(Wp)

Bode Diagram 20
10
0 Magnitude (dB)
-10
-20
-30
-40 -4 10
10
-3
10
-2
10
-1
10
10
10
Frequency (rad/sec)
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14
Example: Extracting K
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Example: Matlab code
# of y # of u
Controller Optimized cost Closed-loop system

Example: Info of D-K iteration

1st iteration
Controller Optimized cost D-scaling -bounds
2nd iteration
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17
Example: Bode plots

Bode Diagram 20
10
Magnitude (dB)
-10
-20
Samples of S
-30 -40
-50 -4 10
10
-2
10
10
10
Frequency (rad/sec)
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Example: Redesign with 2Wp

Bode Diagram 10
-10
Magnitude (dB)
-20
-30
Samples of S
-40 -50
-60 -4 10
10
-2
10
10
10
Frequency (rad/sec)
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Example: Redesign with 3Wp

Bode Diagram 10
-10
Magnitude (dB)
-20
-30
Samples of S
-40 -50
-60 -4 10
10
-2
10
10
10
Frequency (rad/sec)
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Summary
-synthesis for structured uncertainty D-K iteration If you want to design a controller by step-by-step D-K iteration using dksyn.m, use options = dkitopt('AutoIter','off'); D-K iteration often generates very high-order controllers. Apply model reduction to designed controllers if necessary. Announcement: No lecture on November 5.
Last homework (Due Nov 10, 5pm)

In Lecture 14, we assumed that we have two PID controllers, and analyzed their robustness. In this homework, you are required to design a robust controller. The design specifications are (cf. Lec.14, slide 19)
The worst case sensitivity gain should be at most 8dB. The bandwidth (the frequency that |S| passes 0dB) should be as
large as possible.
Verify that your controller satisfies the specs by sampling uncertain plant. Submit only (readable!) m-file.
Appendix
In RP problem, what does it mean if for all ? It means.
2009/10 T1
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MECH550F: Multivariable Feedback Control

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MECH550F: Multivariable Feedback Control

Dr. Ryozo Nagamune Department of Mechanical Engineering University of British Columbia

MECH550F : Multivariable Feedback Control

Review and todays topic

In todays lecture, we will study -synthesis of a feedback system. (K is to be designed.)

MECH550F : Multivariable Feedback Control

Robustly stable case

Not robustly stable case

MECH550F : Multivariable Feedback Control

Upper bound of (review)

Note: D and commute.

(Minimizing upper bound over frequencies.)

(Minimizing scaled H norm.)

D-K iteration (dksyn.m)

D-design (with fixed K)

MECH550F : Multivariable Feedback Control

One standard choice of D(s) is

Remarks on D-K iteration

MECH550F : Multivariable Feedback Control

Example (in Help of dksyn.m)

Example: Bode plot of inv(Wp)

MECH550F : Multivariable Feedback Control

MECH550F : Multivariable Feedback Control

Example: Matlab code

Controller Optimized cost Closed-loop system

Example: Info of D-K iteration

MECH550F : Multivariable Feedback Control

Example: Bode plots

MECH550F : Multivariable Feedback Control

Example: Redesign with 2Wp

MECH550F : Multivariable Feedback Control

Example: Redesign with 3Wp

MECH550F : Multivariable Feedback Control

Last homework (Due Nov 10, 5pm)

MECH550F : Multivariable Feedback Control

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