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Basics of H Control
the Loop-Shaping/Mixed Sensitivity
Approach
Endra Joelianto, PhD.

Note
An H Crash Course divides naturally into (at least) 3
parts:
1.
Intro / Nominal Stability + Perform. / Freq. Domain
(mainly) - Loopshaping Mixed Sensitivity Riccati
Approach (DGKF89)
2.
ROBUST Stability + ROBUST Performance + -SSV
3.
Linear Matrix Inequality (LMI), Bounded Real Lemma
(BRL), Dissipativity, LMIreg, LPV + Gain Scheduling,
Nonlinearities
THIS PRESENTATION IS AN ATTEMPT FOR PART #1 !

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Contents
1.

Intro Classical Feedback Control

(internal) stability + performance + robustness
SVD Norms {H, H2 } spaces & concepts in Control the
Engineering Interpratation
(Nominal) Controller Design
3.1 Loopshaping
3.2 Mixed Sensitivity (1-DOF architecture)
3.3 Generalized Plant + LFT
3.4 WHAT do the 3 filters represent ?
3.5 HOW do we select them? Fundamental Limitations in Control
MATLAB commands + examples (mixsyn/hinfsyn)
Whats next ? {-SSV, LMIs, BRL, dissipativity, LMIreg, LPV + Gain

2.
3.

4.
5.

Scheduling, Nonlinearities}

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The Classical (1-DOF) Control Loop

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The Gang of Four

The Gang of Four: For internal stability must check-stab Four TFs

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Two Degrees of Freedom

Use a prefilter to meet both
regulator and tracking performance

The Gang of Six

For internal stability must checkstab SIX TFs

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Two Degrees of Freedom

Alternative config.

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WARNING

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FOUR RESPONSES

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The System

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1-DOF feedback control system Closed-loop response

Control error:

Plant input:
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Design TRADE OFFs = CANNOT HAVE IT ALL

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Closed-loop Performance

Closed-loop Robustness
Bode / Nyquist plots of L(j)

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Max. (Peak) Sensitivity Ms

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Controller design = TRADE OFFs = CANNOT HAVE IT ALL

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Contents
1.
2.
3.

4.
5.

Intro Classical Feedback Control - (internal) stability +

performance + robustness
SVD Norms {H, H2 } spaces & concepts in Control the
Engineering Interpratation
(Nominal) Controller Design
3.1 Loopshaping
3.2 Mixed Sensitivity (1-DOF architecture)
3.3 Generalized Plant + LFT
3.4 WHAT do the 3 filters represent ?
3.5 HOW do we select them? Fundamental Limitations in Control
MATLAB commands + examples (mixsyn/hinfsyn)
Whats next ? {-SSV, LMIs, BRL, dissipativity, LMIreg, LPV + Gain
Scheduling, Nonlinearities}

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Signal & System Norms

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Vector & Matrix Norm(s)

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(Induced) Matrix Norms

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Vector & Matrix Norm(s)

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Vector & Matrix Norm(s)

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Signal & System Norms

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Signal & System Norms

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Signal & System Norms

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A paradigm shift: Generic control configuration (John Doyle)

The concept of Generalized Plant

Will be explained shortly

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Contents
1.
2.
3.

4.
5.

Intro Classical Feedback Control - (internal) stability +

performance + robustness
SVD Norms {H, H2 } spaces & concepts in Control the
Engineering Interpratation
(Nominal) Controller Design
3.1 Loopshaping
3.2 Mixed Sensitivity (1-DOF architecture)
3.3 Generalized Plant + LFT
3.4 WHAT do the 3 filters represent ?
3.5 HOW do we select them? Fundamental Limitations in Control
MATLAB commands + examples (mixsyn/hinfsyn)
Whats next ? {-SSV, LMIs, BRL, dissipativity, LMIreg, LPV + Gain
Scheduling, Nonlinearities}

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Recall Classical Loop Shaping

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Recall Classical Loop Shaping

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Recall Classical Loop Shaping

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Recall Classical Loop Shaping - Relation to stability margins

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Contents
1.
2.
3.

4.
5.

Intro Classical Feedback Control - (internal) stability +

performance + robustness
SVD Norms {H, H2 } spaces & concepts in Control the
Engineering Interpratation
(Nominal) Controller Design
3.1 Loopshaping
3.2 Mixed Sensitivity (1-DOF architecture)
3.3 Generalized Plant + LFT
3.4 WHAT do the 3 filters represent ?
3.5 HOW do we select them? Fundamental Limitations in Control
MATLAB commands + examples (mixsyn/hinfsyn)
Whats next ? {-SSV, LMIs, BRL, dissipativity, LMIreg, LPV + Gain
Scheduling, Nonlinearities}

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Loop gain
specifications

S as a function of L

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T as a function of L

Relation to stability margins

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Probably the most important slide

(for Design purposes)

Same as slide #44

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Probably the most important slide

(for Design purposes)

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Contents
1.

2.
3.

4.

Intro Classical Feedback Control

(internal) stability + performance + robustness
SVD Norms H - H2 - Engineering Interpr.
(Nominal) Controller Design
Loopshaping Mixed Sensitivity (1-DOF architecture)
Generalized Plant + LFT
WHAT do the 3 filters represent ?
HOW do we select the 3 filters ? Fundamental Limitations
MATLAB commands + examples (mixsyn/hinfsyn)

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Separate Lecture on
Robustness

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The SMALL GAIN Theorem

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Robustness Interpretation of W1, W2, W3 filters

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Robustness Interpretation of W1, W2, W3 filters

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Generalized Plant + LFT

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Generalized Plant + LFT

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Generalized Plant + LFT

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Generalized Plant + LFT

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Generalized Plant for the Classical Control Loop

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Standard Problem: P-K-Structure + LFT = Linear Fractional Transformations (Upper & Lower)

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LFT = Linear Fractional Transformations (Upper & Lower)

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Contents
1.
2.
3.

4.
5.

Intro Classical Feedback Control - (internal) stability +

performance + robustness
SVD Norms {H, H2 } spaces & concepts in Control the
Engineering Interpratation
(Nominal) Controller Design
3.1 Loopshaping
3.2 Mixed Sensitivity (1-DOF architecture)
3.3 Generalized Plant + LFT
3.4 WHAT do the 3 filters represent ?
3.5 HOW do we select them? Fundamental Limitations in Control
MATLAB commands + examples (mixsyn/hinfsyn)
Whats next ? {-SSV, LMIs, BRL, dissipativity, LMIreg, LPV + Gain
Scheduling, Nonlinearities}

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Fundamental Performance Limitations

reflected in filter limitations
1. Perfect control & plant inversion

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Fundamental Performance Limitations

reflected in filter limitations

2 Constraints on S and T

3 The waterbed effects (BODE sensitivity integrals 1945)

4 Interpolation constraints from internal stability

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Fundamental Performance Limitations

reflected in filter limitations
5 Sensitivity peaks - Maximum modulus Principle.

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Fundamental Performance Limitations

reflected in filter limitations

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Fundamental Performance Limitations

reflected in filter limitations

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Fundamental Performance Limitations

reflected in filter limitations

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Fundamental Performance Limitations

reflected in filter limitations
Limitations imposed by RHP-poles

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Limiting factors

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Contents
1.
2.
3.

4.
5.

Intro Classical Feedback Control - (internal) stability +

performance + robustness
SVD Norms {H, H2 } spaces & concepts in Control the
Engineering Interpratation
(Nominal) Controller Design
3.1 Loopshaping
3.2 Mixed Sensitivity (1-DOF architecture)
3.3 Generalized Plant + LFT
3.4 WHAT do the 3 filters represent ?
3.5 HOW do we select them? Fundamental Limitations in Control
MATLAB commands + examples (mixsyn/hinfsyn)
Whats next ? {-SSV, LMIs, BRL, dissipativity, LMIreg, LPV + Gain
Scheduling, Nonlinearities}

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hinfsyn

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hinfsyn

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mixsyn

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mixsyn

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Contents
1.
2.
3.

4.
5.

Intro Classical Feedback Control - (internal) stability +

performance + robustness
SVD Norms {H, H2 } spaces & concepts in Control the
Engineering Interpratation
(Nominal) Controller Design
3.1 Loopshaping
3.2 Mixed Sensitivity (1-DOF architecture)
3.3 Generalized Plant + LFT
3.4 WHAT do the 3 filters represent ?
3.5 HOW do we select them? Fundamental Limitations in Control
MATLAB commands + examples (mixsyn/hinfsyn)
Whats next ? -SSV, LMIs, BRL, dissipativity, LMIreg, LPV
+ Gain Scheduling, Handling Nonlinearities

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THE END
THANK YOU FOR YOUR ATTENTION
THANKS TO
Prof. Kostas Kyriakopoulos (NTUA CSL)
Panos Marantos (PhD candidate)

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