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Chapter 10
Goodwin,
3. Cascade Control
Next we turn to an alternative architecture for
dealing with disturbances. The core idea is to
feedback intermediate variables that lie between the
disturbance injection point and the output. This
gives rise to so called, cascade control.
Chapter 10
Goodwin,
Goodwin,
Chapter 10
ym (t)
r(t)
ym (t)
+
C(s)
+
C1 (s)
qm (t)
+
C2 (s)
u(t)
u(t)
supply
pressure
ps (t)
a)
q(t)
Non-cascade
Valve Controller
ps (t)
b)
Cascade
Valve Controller
q(t)
Goodwin,
Chapter 10
Dg (s)
R(s)
+
C1 (s)
U1 (s)
+
C2 (s)
Go1 (s)
+
+
Ga (s)
Gb (s)
Y (s)
Chapter 10
Goodwin,
or
(ii) when Gb(s) limits the bandwidth in a basic control
architecture.
Goodwin,
Chapter 10
es
Go2 (s) =
;
2s + 1
Ga (s) = 1;
es
Gb (s) = Go2 (s) =
2s + 1
8(s + 1)
s
Goodwin,
Chapter 10
Chapter 10
Goodwin,
Goodwin,
Chapter 10
1.4
Plant response
1.2
1
0.8
0.6
0.4
0.2
0
10
Time [s]
12
14
16
18
20
Chapter 10
Goodwin,
Chapter 10
Goodwin,