ROBUST CONTROL

Traditional Control

Does not address plant/model mismatch issues in a systematic manner. Performance initially may be satisfactory, i.e. performance good for nominal model, but it may deteriorate or even become unstable when process dynamics vary with time. y
Response obtained during sunny days

Why do dynamics change?

Process Feed

throughput change t

quality change temperature efficiency u

Response obtained during rainstorm

Ambient

Equipment etc

 What is Robustness?

Robustness is the ability to control under changing operating conditions. As plant drifts from current conditions and process dynamics change, a robust controller will provide the best performance under different conditions.

Robustness vs. Performance PID Ad Hoc Model Information Sensitivity Information Z-N Tuning C-C Tuning partly partly Direct Synthesis invertible parts Robust Control a set of models uncertainty description
2

 Feedback Principle
+

d
GK = 1 + GK y

y GK = r 1 + GK

y 1 = d 1 + GK

+ + +

G ( s) K ( s)

loop-gain sensitivity function

1 = S (s) : 1 + GK GK = T (s) : 1 + GK
S +T =1

complementary sensitivity function

1. Set-Point Tracking
A If r = s y G ( 0) K ( 0) GK = = T y (t ) = A G (0) K (0) should be large or T (0) = 1 r 1 + GK 1 + G ( 0) K ( 0)

Note PI control => no steady-state offset => G(0)K(0)=? If r = A sin t

r y

T ( j )

T
y (t ) = A T ( j ) sin[t + (T ( j ))] T ( j ) 1 and (T ( jw)) 0 when G ( j ) K ( j )

1 1 2

y
2

b1

b2

High loop gain is required for good set-point performance,

1

or T ( j ) = 1 over a large frequency range.

time
4

Example G =

1 1 , K 1 = 1.5(1 + ), K 2 = 0.75(1 + ) s s s 2 + 3s + 2
1.2

0.8

0.8
0.6

T
0.6
0.4

0.4
0.2

0.2

0 -3 10

10

-2

10

-1

10

10

0 0

10

15

20

25

30

frequency

time

2. Disturbance Rejection
y 1 = =S d 1 + GK
' y For a step disturbance, (t = ) = 0 => large G (0) K (0) or small S (0)

Note PI control => no steady-state offset => S(0) = ?

If d = A sin t

y(t ) = A S ( j ) sin[t + ( S ( j ))]

It is clear that G( j ) K ( j ) >> 1 implies that

S ( j ) => 0 .

Again, high loop gain is required for good disturbance performance, or S ( j ) = 0 over a large frequency range.
6

Summary of Performance Requirements

1 0 or GK ( j ) >> 1, 1 + GK ( j ) GK ( j ) 1 or GK ( j ) >> 1, (b) Good set-point tracking T ( j ) = 1 + GK ( j ) where is the frequency range that covers the frequency content of disturbances and setpoint changes. Typically band-width of the control system is used, i.e. = [0 b ]. In general, the larger b is, the better control performance is. Any trade-off between (a) and (b) ?

(a) Good disturbance rejection S ( j ) =

3. Measurement Noise

GK = T ( s ) 1 + GK

T ( j) 1 (for good performance) => y 1, i.e. no suppression of noise

y
On the other end,

= 0 T = 0

(what is the implication on performance ?)

Trade-off exists between the noise suppression and set-point tracking (or disturbance rejection). 4. Plant/Model Mismatch In process control, noise is not the major limitation because it is either small or its frequency falls outside the bandwidth of interest. Bandwidth becomes limited usually by modeling error before it is limited by noise.
T
Modeling error becomes significant noise

Design Objective How to achieve high loop-gain (i.e. performance) while maintaining closed-loop stability in the presence of uncertainty ?
8

10

The performance weight is normally chosen as

s / M + wB wp ( s) = s + wB A
A =? M =?

wB = ?

11

Various sources of model uncertainty may be grouped into three classes:

1. Parametric uncertainty. The model structure is known, but its parameters are uncertain.

G p ( s ) = kG ( s ), k min k k max k max + k min k max k min k = k (1 + r k r ), k = , rk = , r 1 k max + k min 2

2. Neglected and unmodelled dynamics. The modelling errors occur either through deliberate neglect or because of a lack of understanding of the physical process. This class of uncertainty is normally described as the complex perturbations in the frequency domain, which is normalized as

1.

12

13

14

The disc-shaped uncertainty can be described by multiplicative uncertainty description:

G p ( s ) = Gm ( s )[1 + lm (s ) m (s )], m ( jw) 1

or

G p ( jw) Gm ( jw) = Gm ( jw)lm ( jw) m ( jw) Gm ( jw)lm ( jw)

Nyquist Plot Nyquist Band

|Gm(jw1)|

|Gm(jw2)| Gm(jw2) Gm(jw1) Gm(jw2) Gp(jw2) |Gm(jw2)lm(jw2)|

Gp(jw1) Gm(jw1) |Gm(jw1)lm(jw1)|

15

16

17

18

Example G m =

1 s + 1 , Gp = , 1 1 2s + 1 ( s + 1)(2 s + 1)

| l m ( j ) | Max

Gm

1 = Max

( 1 ) s s 2s = 2 => l m ( s ) = s +1 s +1 s +1

Now, apply RS condition to controller designs K = 10 and K = 2 .

10

10

10

10

10

10

10

-1

10

-1

10 -2 10

-2

10

-1

10

10

10

10 -2 10

-2

10

-1

10

10

10

19

Performance

Robust Stability
T21
T1

Mp T ( j1 )

l m ( )

1
M
1 p

T2

T11 ( j )

T1 violates RS condition T2 satisfies RS condition by detuning, i.e. at the expense of performance loss

This problem is inherent in feedback control (why ?) and cannot be overcome by any clever controller design.

20

21

22

23

Example G m =

1 s + 1 , Gp = , 1 1 2s + 1 ( s + 1)(2 s + 1)

2 7s + 1 l = m The weights are 1 + 2 (from previous discussion) and W p = 0.25 7 s

Case 1: K = 2.
6 12
1

10

NP + RS

Wp
3

RP
lm

S
0 -3 10 10
-2

10

-1

10

10

0 -3 10

10

-2

10

-1

10

10

frequency

frequency
24

1.5 1

Case 2: K = 1 +

1 1 1.5 s

1 0.5 0 -1 0 1.5 1 0.5 0 -0.5 0

s +1 Gp = ( s + 1)(2s + 1)
20 40

0 -0.5 0 1.5 1 0.5

Gp =

0.5s + 1 ( s + 1)(2s + 1)
20 40

1 Gp = ( s + 1)(2s + 1)
20
1

0 40 -0.5 0

Gp =
20

1 2s + 1
40

T
W
1 p

NP + RS

0.8 4

RP
l
m

0.6

3 0.4

2 0.2

S
0 -3 10 10
-2

10

-1

10

10

0 -3 10

10

-2

10

-1

10

10

frequency

frequency
25

50

2 1

1 1 Case 3: K = 21 + 1 . 5 s

Gp =
-50 0 1.5 1 0.5 0 -0.5 0
6
1

s +1 ( s + 1)(2s + 1)
20 40

0
Gp =

0 .5 s + 1 ( s + 1)(2 s + 1)

-1 0 1.5 1 0.5

20

40

Gp =

1 ( s + 1)(2 s + 1)

0 40 -0.5 0

Gp =

1 2s + 1

20
1.4 1.2 1

20

40

NP + RS

W
3

1 p

RP
l
m

0.8 0.6 0.4

S
1 0.2 0 -3 10

0 -3 10

10

-2

10

-1

10

10

10

-2

10

-1

10

10

frequency

frequency
26

2 1

Case 4: K = 1 +

1 1.1s

2 1 0 0 -1 0 1.5 1 0.5 0 -0.5 0

Gp = 1 ( s + 1)(2 s + 1) s +1 Gp = ( s + 1)(2 s + 1) Gp = 0 .5 s + 1 ( s + 1)(2 s + 1)

20

40

-1 0 1.5 1 0.5 0

20

40

G p[ =

1 2s + 1

1.2

20

40

-0.5 0

20

40

NP + RS

RP
W
1

0.8

0.6

lm

0.4

0.2

S
0 -3 10 10
-2

frequency

10

-1

10

10

0 -3 10

10

-2

frequency

10

-1

10

10

27