Passive Network Synthesis Revisited PDF

Passive Network Synthesis Revisited
Malcolm C. Smith
Department of Engineering
University of Cambridge
U.K.
Mathematical Theory of Networks and Systems (MTNS)

17th International Symposium
Kyoto International Conference Hall
Kyoto, Japan, July 24-28, 2006
Semi-Plenary Lecture
1
Passive Network Synthesis Revisited Malcolm C. Smith
Outline of Talk
1. Motivating example (vehicle suspension).
2. A new mechanical element.
3. Positive-real functions and Brune synthesis.
4. Bott-Duffin method.
5. Darlington synthesis.
6. Minimum reactance synthesis.
7. Synthesis of resistive n-ports.
8. Vehicle suspension.
9. Synthesis with restricted complexity.
10. Motorcycle steering instabilities.
MTNS 2006, Kyoto, 24 July, 2006 2

Motivating Example – Vehicle Suspension
Performance objectives
1. Control vehicle body in the face of variable loads.

2. Insulate effect of road undulations (ride).
3. Minimise roll, pitch under braking, acceleration and
cornering (handling).
MTNS 2006, Kyoto, 24 July, 2006 3

Quarter-car Vehicle Model (conventional suspension)
load
PSfrag replacements
disturbances
ms
spring damper
mu
kt tyre
road
disturbances
MTNS 2006, Kyoto, 24 July, 2006 4
The Most General Passive Vehicle Suspension
ms
Replace the spring and damper with a

Z(s)
general positive-real impedance Z(s).
ag replacements
mu But is Z(s) physically realisable?
kt
zr
MTNS 2006, Kyoto, 24 July, 2006 5

Electrical-Mechanical Analogies
1. Force-Voltage Analogy.
voltage ↔ force
current ↔ velocity
Oldest analogy historically, cf. electromotive force.
2. Force-Current Analogy.
current ↔ force
voltage ↔ velocity
electrical ground ↔ mechanical ground
Independently proposed by: Darrieus (1929), Hähnle (1932), Firestone (1933).
Respects circuit “topology”, e.g. terminals, through- and across-variables.
MTNS 2006, Kyoto, 24 July, 2006 6

Standard Element Correspondences (Force-Current Analogy)
v = Ri resistor ↔ damper cv = F
di dF
v = L dt inductor ↔ spring kv = dt
C dv
dt = i capacitor ↔ mass m dv
dt = F
i i
PSfrag replacements v2 v1
Electrical
F F
v2 Mechanical v1
What are the terminals of the mass element?
MTNS 2006, Kyoto, 24 July, 2006 7

The Exceptional Nature of the Mass Element
Newton’s Second Law gives the following network interpretation of the mass
element:
• One terminal is the centre of mass,
• Other terminal is a fixed point in the inertial frame.
Hence, the mass element is analogous to a grounded capacitor.
Standard network symbol F

PSfrag replacements
for the mass element:
v2 v1 = 0
MTNS 2006, Kyoto, 24 July, 2006 8

Table of usual correspondences
Mechanical Electrical
F F i i
v2 v1
v2 v1
spring inductor
F i i
• v2 v1
v2 v1 = 0
mass capacitor
F F i i
v2 v1
v2 v1
damper resistor
MTNS 2006, Kyoto, 24 July, 2006 9

Consequences for network synthesis
Two major problems with the use of the mass element for synthesis of
“black-box” mechanical impedances:
• An electrical circuit with ungrounded capacitors will not have a direct
mechanical analogue,
• Possibility of unreasonably large masses being required.
Question
Is it possible to construct a physical device such that

the relative acceleration between its endpoints is pro-
portional to the applied force?
MTNS 2006, Kyoto, 24 July, 2006 10

One method of realisation

rack pinions
PSfrag replacements
terminal 2 gear flywheel terminal 1
Suppose the flywheel of mass m rotates by α radians per meter of relative

displacement between the terminals. Then:
F = (mα2 ) (v̇2 − v̇1 )
(Assumes mass of gears, housing etc is negligible.)
MTNS 2006, Kyoto, 24 July, 2006 11

The Ideal Inerter
We define the Ideal Inerter to be a mechanical one-port device such

that the equal and opposite force applied at the nodes is
proportional to the relative acceleration between the nodes, i.e.
F = b(v̇2 − v̇1 ).
We call the constant b the inertance and its units are kilograms.
The ideal inerter can be approximated in the same sense that real springs,
dampers, inductors, etc approximate their mathematical ideals.
We can assume its mass is small.
M.C. Smith, Synthesis of Mechanical Networks: The Inerter,

IEEE Trans. on Automat. Contr., 47 (2002), pp. 1648–1662.
MTNS 2006, Kyoto, 24 July, 2006 12

A new correspondence for network synthesis
Mechanical Electrical
F F k i i 1
Y (s) = s v2 v1
Y (s) = Ls
v2 v1
dF di 1
dt = k(v2 − v1 ) spring dt = L (v2 − v1 ) inductor
F i i
• •F Y (s) = bs v2 v1 Y (s) = Cs
v2 v1
F = d(v2 −v1 )
b dt inerter i = C d(v2dt−v1 ) capacitor
F F i i 1
Y (s) = c v2 v1 Y (s) = R
v2 v1
1
F = c(v2 − v1 ) damper i= R (v2 − v1 ) resistor
1
Y (s) = admittance =
impedance
MTNS 2006, Kyoto, 24 July, 2006 13

Rack and pinion inerter

made at
Cambridge University
Engineering Department
mass ≈ 3.5 kg
inertance ≈ 725 kg
stroke ≈ 80 mm
MTNS 2006, Kyoto, 24 July, 2006 14

Damper-inerter series arrangement

with centring springs
PSfrag replacements
MTNS 2006, Kyoto, 24 July, 2006 15

Alternative Realisation of the Inerter
PSfrag replacements
screw nut flywheel
MTNS 2006, Kyoto, 24 July, 2006 16

Ballscrew inerter made at Cambridge University Engineering Department

Mass ≈ 1 kg, Inertance (adjustable) = 60–180 kg
MTNS 2006, Kyoto, 24 July, 2006 17

Electrical equivalent of quarter car model
Fs
g replacements PSfrag replacements
ms
kt−1
Y (s)
żr +
− Y (s)
mu
zs
mu ms Fs
zu
kt
zr
Force Current
Y (s) = Admittance = =
Velocity Voltage
MTNS 2006, Kyoto, 24 July, 2006 18

Positive-real functions
Definition. A function Z(s) is defined to be positive-real if one of the

following two equivalent conditions is satisfied:
1. Z(s) is analytic and Z(s) + Z(s)∗ ≥ 0 in Re(s) > 0.
2. Z(s) is analytic in Re(s) > 0, Z(jω) + Z(jω)∗ ≥ 0 for all ω at which
Z(jω) is finite, and any poles of Z(s) on the imaginary axis or at infinity
are simple and have a positive residue.
MTNS 2006, Kyoto, 24 July, 2006 19

Passivity Defined
Definition. A network is passive if for all admissible v, i which are square

integrable on (−∞, T ],
Z T
v(t)i(t) dt ≥ 0.
−∞
Proposition. Consider a one-port electrical network for which the impedance

Z(s) exists and is real-rational. The network is passive if and only if Z(s) is
positive-real.
R.W. Newcomb, Linear Multiport Synthesis, McGraw-Hill, 1966.

B.D.O. Anderson and S. Vongpanitlerd, Network Analysis and Synthesis, Prentice-Hall, 1973.
MTNS 2006, Kyoto, 24 July, 2006 20

O. Brune showed that any (ratio-

nal) positive-real function could
be realised as the impedance
or admittance of a network
comprising resistors, capacitors,
inductors and transformers.
(1931)
MTNS 2006, Kyoto, 24 July, 2006 21

Minimum functions
A minimum function Z(s) is a positive-real function with no poles or zeros
on jR ∪ {∞} and with the real part of Z(jω) equal to 0 at one or more
frequencies.
PSfrag replacements
ReZ(jω)
0 ω1 ω2 ω
MTNS 2006, Kyoto, 24 July, 2006 22

Foster preamble for a positive-real Z(s)

Removal of poles/zeros on jR ∪ {∞}. e.g.
s2 + s + 1 1
= s+
s+1 s+1
↑
lossless
↓
−1
s2 + 1 2s
= +1
s2 + 2s + 1 2
s +1
Can always reduce a positive-real Z(s) to a minimum function.
MTNS 2006, Kyoto, 24 July, 2006 23

The Brune cycle

Let Z(s) be a minimum function with Z(jω1 ) = jX1 (ω1 > 0).
Write L1 = X1 /ω1 and Z1 (s) = Z(s) − L1 s.
Case 1. (L1 < 0)
L1 < 0
placements
Z(s) Z1 (s) (negative inductor!)
Z1 (s) is positive-real. Let Y1 (s) = 1/Z1 (s). Therefore, we can write

2K1 s
Y2 (s) = Y1 (s) − 2
s + ω12
for some K1 > 0.
MTNS 2006, Kyoto, 24 July, 2006 24

PSfrag replacements
The Brune cycle (cont.)
Then: L1 < 0
L2 > 0
Z(s) Z2 (s)
C2 > 0
where L2 = 1/2K1 , C2 = 2K1 /ω12 and Z2 = 1/Y2 .

Straightforward calculation shows that
Z2 (s) = sL3 + Z3 (s)

↑
proper
where L3 = −L1 /(1 + 2K1 L1 ). Since Z2 (s) is positive-real, L3 > 0 and Z3 (s)
is positive-real.
MTNS 2006, Kyoto, 24 July, 2006 25

PSfrag replacements

Then: L1 < 0 L3 > 0
L2 > 0
Z(s) Z3 (s)
C2 > 0
placements
To remove negative inductor:
L1 L3
M
Lp = L 1 + L 2
Lp Ls L2 Ls = L 2 + L 3
M = L2
M2
Some algebra shows that: Lp , Ls > 0 and Lp Ls = 1 (unity coupling
coefficient).
MTNS 2006, Kyoto, 24 July, 2006 26
PSfrag replacements
Realisation for completed cycle:
M
Z(s) Lp Ls
Z3 (s)
C2
MTNS 2006, Kyoto, 24 July, 2006 27


Case 2. (L1 > 0). As before Z1 (s) = Z(s) − L1 s
g replacements L1 > 0
(no need for
Z(s) negative inductor!)
Z1 (s)
Problem: Z1 (s) is not positive-real!

Let’s press on and hope for the best!!
As before let Y1 = 1/Z1 and write
2K1 s
Y2 (s) = Y1 (s) − 2 2 .
s + ω1
Despite the fact that Y1 is not positive-real we can show that K1 > 0.
MTNS 2006, Kyoto, 24 July, 2006 28

PSfrag replacements
Hence: L1 > 0
L2 > 0
Z(s) Z2 (s)
C2 > 0
But still Z2 (s) is not positive-real. Again we can check that
Z2 (s) = sL3 + Z3 (s)

↑
proper
where L3 = −L1 /(1 + 2K1 L1 ).

This time L3 < 0 and Z3 (s) is positive-real.
MTNS 2006, Kyoto, 24 July, 2006 29

PSfrag replacements

So: L1 > 0 L3 < 0
L2 > 0
Z(s) Z3 (s)
PSfrag replacements C2 > 0
As before we can transform to:

M
Z(s) Lp Ls
Z3 (s)
C2
M2
where Lp , Ls > 0 and Lp Ls = 1 (unity coupling coefficient).
MTNS 2006, Kyoto, 24 July, 2006 30

R. Bott and R.J. Duffin showed

that transformers were un-
necessary in the synthesis of
positive-real functions. (1949)
MTNS 2006, Kyoto, 24 July, 2006 31

Richards’s transformation
Theorem. If Z(s) is positive-real then
kZ(s) − sZ(k)
R(s) =
kZ(k) − sZ(s)
is positive-real for any k > 0.
Proof.
Z(s) − Z(k)
Z(s) is p.r. ⇒ Y (s) = is b.r. and Y (k) = 0
Z(s) + Z(k)
0 k+s
⇒ Y (s) = Y (s) is b.r.
k−s
0
0 1 + Y (s)
⇒ Z (s) = is p.r.
1 − Y 0 (s)
R(s) = Z 0 (s) after simplification.
MTNS 2006, Kyoto, 24 July, 2006 32

Bott-Duffin construction (cont.)

Idea: use Richards’s transformation to eliminate transformers from Brune
cycle.
As before, let Z(s) be a minimum function with Z(jω1 ) = jX1 (ω1 > 0).
Write L1 = X1 /ω1 .
Case 1. (L1 > 0)
Since Z(s) is a minimum function we can always find a k s.t. L1 = Z(k)/k.
Therefore:
kZ(s) − sZ(k)
R(s) =
kZ(k) − sZ(s)
has a zero at s = jω1 .
MTNS 2006, Kyoto, 24 July, 2006 33


We now write:
kZ(k)R(s) + Z(k)s
Z(s) =
k + sR(s)
kZ(k)R(s) Z(k)s
= +
k + sR(s) k + sR(s)
1 1
= 1 s + R(s)
.
k
Z(k)R(s) + kZ(k) Z(k)s + Z(k)
MTNS 2006, Kyoto, 24 July, 2006 34

1 1
Z(s) = 1 s + R(s)
k
Z(k)R(s) + kZ(k) Z(k)s + Z(k)
kZ(k) Z(k)R(s)
PSfrag replacements
Z(s)
Z(k) Z(k)
k R(s)
MTNS 2006, Kyoto, 24 July, 2006 35


1 s 1
We can write: Z(k)R(s) = const × s2 +ω12
+ R1 (s) etc.
R1
Z(s)
PSfrag replacements
R2
MTNS 2006, Kyoto, 24 July, 2006 36

Example — restricted degree
Proposition. Consider the real-rational function

a0 s2 + a 1 s + 1
Yb (s) = k
s(d0 s2 + d1 s + 1)
where d0 , d1 ≥ 0 and k > 0. Then Yb (s) is positive real if only if the following
three inequalities hold:
β1 := a0 d1 − a1 d0 ≥ 0,
β2 := a0 − d0 ≥ 0,
β3 := a1 − d1 ≥ 0.
MTNS 2006, Kyoto, 24 July, 2006 37

Brune Realisation Procedure for Yb (s)

Foster preamble always sufficient to complete the realisation if β1 , β2 > 0.
(No Brune or Bott-Duffin cycle is required).
A continued fraction expansion is obtained:

a0 s2 + a 1 s + 1 kb
Yb (s) = k
s(d0 s2 + d1 s + 1)
k 1
= +
s s 1 k
+ PSfrag replacements
kb 1 c4
c3 +
1 1
+ c3
c4 b2 s
kβ2 kβ4 kβ4 b2
where kb = , c3 = kβ3 , c4 = , b2 = and
d0 β1 β2
2
β4 := β2 − β1 β3 .
MTNS 2006, Kyoto, 24 July, 2006 38

PSfrag replacements
Darlington Synthesis
I1 I2
Realisation in Darlington form: V2
Z1 (s) V1 Lossless
a lossless two-port terminated RΩ
network
in a single resistor.
For a lossless two-port with impedance:

 
Z11 Z12
Z= 
Z12 Z22
we find
R−1 (Z11 Z22 − Z12
2
)/Z11 + 1
Z1 (s) = Z11 .
R−1 Z22 + 1
MTNS 2006, Kyoto, 24 July, 2006 39

Writing
m 1 + n1 n1 m1 /n1 + 1
Z1 = = ,
m 2 + n2 m2 n2 /m2 + 1
where m1 , m2 are polynomials of even powers of s and n1 , n2 are polynomials
of odd powers of s, suggests the identification:
√
n1 n2 √ n 1 n2 − m 1 m 2
Z11 = , Z22 = R , Z12 = R .
m2 m2 m2
Augmentation factors are necessary to ensure a rational square root.
Once Z(s) has been found, we then write:

s
Z(s) = sC1 + 2 C2 + · · ·
s + α2
where C1 and C2 are non-negative definite constant matrices.
MTNS 2006, Kyoto, 24 July, 2006 40

Darlington Synthesis (cont.)

Each term in the sum is realised in the form of a T-circuit and a series
connection of all the elementary two-ports is then made:
lacements PSfrag replacements

X1 (s) X2 (s) X1 (s)
Network 1
1: n X2 (s)
X3 (s)
I=0
1: n
X3 (s)
Ideal
etwork 1
etwork 2 Network 2
I=0 Ideal
MTNS 2006, Kyoto, 24 July, 2006 41

ag replacements PSfrag replacements

k2
k3
Electrical
λ1 and mechanical realisations of the admittance Yb (s)
λ2 k2−1 H
k1 1: − ρ
b
k3−1c H k2 k3
k2−1 H λ2
−1
λ1
R1 Ω 3 H
k
1: − ρ
b c
k1−1 Hk1
k1−1 H bF
bF
R1 Ω
MTNS 2006, Kyoto, 24 July, 2006 42

Minimum reactance synthesis
Let L1 = · · · = C1 = · · · = 1. If
 
M11 M12
M=  
sL1 M21 M22
is the hybrid matrix of X, i.e.

   
eplacements Nondynamic
v i
Z(s) Network  1  = M  1 ,
X i2 v2
1
sC1
then
Z(s) = M11 −M12 (sI+M22 )−1 M21 .
D.C. Youla and P. Tissi, “N-Port Synthesis via Reactance Extraction, Part I”, IEEE
International Convention Record, 183–205, 1966.
MTNS 2006, Kyoto, 24 July, 2006 43

Minimum reactance synthesis

Conversely, if we can find a state-space realisation Z(s) = C(sI − A)−1 B + D
such that the constant matrix
 
D −C
M=  
B −A
has the properties
M + M0 ≥ 0,
diag{I, Σ}M = M diag{I, Σ}
where Σ is a diagonal matrix with diagonal entries +1 or −1. Then M is the

hybrid matrix of the nondynamic network terminated with inductors or
capacitors, which realises Z(s).
A construction is possible using the positive-real lemma and matrix
factorisations.
B.D.O. Anderson and S. Vongpanitlerd, Network Analysis and Synthesis, Prentice-Hall, 1973.
MTNS 2006, Kyoto, 24 July, 2006 44

Synthesis of resistive n-ports

Let R be a symmetric n × n matrix.
A necessary and sufficient condition for R to be realisable as the driving-point
impedance of a network comprising resistors and transformers only is that it
is non-negative definite.
No necessary and sufficient condition is known in the case that transformers
are not available.
A general necessary condition is known: that the matrix is paramount.1
A matrix is defined to be the paramount if each principal minor of the matrix
is not less than the absolute value of any minor built from the same rows.
It is also known that paramountcy is sufficient for the case of n ≤ 3.2
1
I. Cederbaum, “Conditions for the Impedance and Admittance Matrices of n-ports without
Ideal Transformers”, IEE Monograph No. 276R, 245–251, 1958.
2
P. Slepian and L. Weinberg, ”Synthesis applications of paramount and dominant matrices”,
Proc. National Electron. Conf., vol. 14, Chicago, Illinois, Oct. 611-630, 1958.
MTNS 2006, Kyoto, 24 July, 2006 45

Simple Suspension Struts
cementsPSfrag replacements PSfrag replacements

PSfrag replacements
c k1 c
b
kb kb kb k kb k
b
k c k c b b
k2
k1 k1 k1
k2 k2 k2
Layout S1 Layout S2 Layout S3 Layout S4
parallel series
MTNS 2006, Kyoto, 24 July, 2006 46

Performance Measures
Assume:
Road Profile Spectrum = κ|n|−2 (m3 /cycle)
where κ = 5 × 10−7 m3 cycle−1 = road roughness parameter. Define:
2
J1 = E z̈s (t) ride comfort
= r.m.s. body vertical acceleration
MTNS 2006, Kyoto, 24 July, 2006 47

Optimisation of J1 (ride comfort)
2.6 18
2.4 16
2.2
14
2
12
1.8
% J1
10
J1
1.6
replacements 1.4 PSfrag replacements 8
6
1.2
4
1
0.8
J1 2
0.6 0
% J1 1 2 3 4 5 6 7 8 9 10 11 12 1 2 3 4 5 6 7 8 9 10 11 12
static stiffness static stiffness
(a) Optimal J1 (b) Percentage improvement in J1
Key: layout S1 (bold), layout S2 (dashed), layout S3 (dot-dashed), and

layout S4 (solid).
M.C. Smith and F-C. Wang, 2004, Performance Benefits in Passive Vehicle Sus-
pensions Employing Inerters, Vehicle System Dynamics, 42, 235–257.
MTNS 2006, Kyoto, 24 July, 2006 48

Fs
K(s)
Control synthesis formulation zr

zs
zu
PSfrag replacements Fs
mu
kt
ms zs m s
F ks w z
ks K(s) G(s)
F
mu F żs − żu
zu
K(s)
kt
zr
Ride comfort: w = zr , z = żs

Performance measure: J1 = const. × kTẑr →sẑs k2
MTNS 2006, Kyoto, 24 July, 2006 49

Bilinear Matrix Inequality (BMI) formulation
Let K(s) = Ck (sI − Ak )−1 Bk + Dk and Tẑr →sẑs = Ccl (sI − Acl )−1 Bcl .
Theorem. There exists a positive real controller K(s) such that

kTẑr →sẑs k2 < ν and Acl is stable, if and only if the following problem is
feasible for some Xcl > 0, Xk > 0, Q, ν 2 and Ak , Bk , Ck , Dk of compatible
dimensions:
   
ATcl Xcl + Xcl Acl Xcl Bcl Xcl Ccl T
 < 0,  > 0, tr(Q) < ν 2 ,
T
Bcl Xcl −I Ccl Q
 
ATk Xk + Xk Ak Xk Bk − CkT
  < 0.
BkT Xk − Ck −DkT − Dk
C. Papageorgiou and M.C. Smith, 2006, Positive real synthesis using matrix inequalities for mechanical
networks: application to vehicle suspension, IEEE Trans. on Contr. Syst. Tech., 14, 423–435.
MTNS 2006, Kyoto, 24 July, 2006 50

A special problem
What class of positive-real functions Z(s) can be realised using one damper,
one inerter, any number of springs and no transformers?
PSfrag replacements
Z(s) X
Leads to the question: when can X be realised as a network of springs?
MTNS 2006, Kyoto, 24 July, 2006 51

Theorem. Let
(R2 R3 − R62 ) s3 + R3 s2 + R2 s + 1
Y (s) = , (1)
s(det R s3 + (R1 R3 − R52 ) s2 + (R1 R2 − R42 ) s + R1 )
 
R1 R4 R5
 
where R :=  R4 R2 R6 

 is non-negative definite.
R5 R6 R3
A positive-real function Y (s) can be realised as the driving-point admittance
of a network comprising one damper, one inerter, any number of springs and
no transformers if and only if Y (s) can be written in the form of (1) and there
exists an invertible diagonal matrix D = diag{1, x, y} such that DRD is
paramount.
An explicit set of inequalities can be found which are necessary and sufficient
for the existence of x and y.
M.Z.Q. Chen and M.C. Smith, Mechanical networks comprising one damper and one inerter, in preparation.
MTNS 2006, Kyoto, 24 July, 2006 52

Collaboration with Imperial College
Application to motorcycle stability.
At high speed motorcycles can experience significant steering instabilities.

Observe: Paul Orritt at the 1999 Manx Grand Prix
MTNS 2006, Kyoto, 24 July, 2006 53

Weave and Wobble oscillations

Steering dampers improve wobble (6–9 Hz) and worsen weave (2–4 Hz).
Simulations show that steering inerters have, roughly, the opposite effect to
the damper. Root-loci (with speed the varied parameter):
Steering damper root-locus Steering inerter root-locus
60 60
6 6
wobble wobble
50 50
40 40
Imaginary Axis
Imaginary Axis
30 30
20 weave 20 weave
10 10
PSfrag replacements PSfrag replacements

0 0
−18 −16 −14 −12 −10 −8 −6 −4 −2 0 2 4 −15 −10 −5 0 5
Real Axis Real Axis
Can the advantages be combined?

S. Evangelou, D.J.N. Limebeer, R.S. Sharp and M.C. Smith, 2006, Steering compensation for high-
performance motorcycles, Transactions of ASME, J. of Applied Mechanics, 73, to appear.
MTNS 2006, Kyoto, 24 July, 2006 54

Solution — a steering compensator

... consisting of a network of dampers, inerters and springs.
Needs to behave like an inerter at weave frequencies and like a damper at
wobble frequencies.
PSfrag replacements PSfrag replacements

damper damper
inerter
real real
imaginary inerter imaginary
forbidden forbidden
Prototype designed by N.E. Houghton and manufactured in the Cambridge University

Engineering Department.
MTNS 2006, Kyoto, 24 July, 2006 55

Conclusion
• A new mechanical element called the “inerter” was introduced which is

the true network dual of the spring.
• The inerter allows classical electrical network synthesis to be mapped
exactly onto mechanical networks.
• Applications of the inerter: vehicle suspension, motorcycle steering and
vibration absorption.
• Economy of realisation is an important problem for mechanical network
synthesis.
• The problem of minimal realisation of positive-real functions remains
unsolved.
MTNS 2006, Kyoto, 24 July, 2006 56

Acknowledgements
Research students Michael Chen, Frank Scheibe

Design Engineer Neil Houghton
Technicians Alistair Ross, Barry Puddifoot, John Beavis
Collaborations Fu-Cheng Wang (National Taiwan University)
Christos Papageorgiou (University of Cyprus)
David Limebeer, Simos Evangelou, Robin Sharp
(Imperial College)
MTNS 2006, Kyoto, 24 July, 2006 57

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Passive Network Synthesis Revisited

Mathematical Theory of Networks and Systems (MTNS)

MTNS 2006, Kyoto, 24 July, 2006 2

Motivating Example – Vehicle Suspension

1. Control vehicle body in the face of variable loads.

MTNS 2006, Kyoto, 24 July, 2006 3

Quarter-car Vehicle Model (conventional suspension)

The Most General Passive Vehicle Suspension

Replace the spring and damper with a

mu But is Z(s) physically realisable?

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Standard Element Correspondences (Force-Current Analogy)

What are the terminals of the mass element?

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The Exceptional Nature of the Mass Element

Hence, the mass element is analogous to a grounded capacitor.

Standard network symbol F

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Table of usual correspondences

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Consequences for network synthesis

Is it possible to construct a physical device such that

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One method of realisation

terminal 2 gear flywheel terminal 1

Suppose the flywheel of mass m rotates by α radians per meter of relative

F = (mα2 ) (v̇2 − v̇1 )

(Assumes mass of gears, housing etc is negligible.)

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The Ideal Inerter

We define the Ideal Inerter to be a mechanical one-port device such

We can assume its mass is small.

M.C. Smith, Synthesis of Mechanical Networks: The Inerter,

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A new correspondence for network synthesis

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Rack and pinion inerter

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Damper-inerter series arrangement

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Alternative Realisation of the Inerter

screw nut flywheel

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Ballscrew inerter made at Cambridge University Engineering Department

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Electrical equivalent of quarter car model

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Definition. A function Z(s) is defined to be positive-real if one of the

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Definition. A network is passive if for all admissible v, i which are square

Proposition. Consider a one-port electrical network for which the impedance

R.W. Newcomb, Linear Multiport Synthesis, McGraw-Hill, 1966.

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O. Brune showed that any (ratio-

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Foster preamble for a positive-real Z(s)

Can always reduce a positive-real Z(s) to a minimum function.

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The Brune cycle

Z(s) Z1 (s) (negative inductor!)

Z1 (s) is positive-real. Let Y1 (s) = 1/Z1 (s). Therefore, we can write