Architectural

Issues in SISO
Control

 Introduction
Internal Model Principle
Feed Forward Control
Cascade Control
Summary
References

To

adjust
the
control
system
architecture
To
achieve
given
performance
objectives
Prime examples of
changes
Feed forward
Cascade control

architectural

Signals of interest
Output of a linear dynamic system
Having zero input certain specific initial
conditions.
Example of such a signal is a constant
The generalization of differential equation

Laplace transform of the disturbance:

where d(s) is the disturbance generating polynomial

defined by

Example :-A disturbance takes the following form

Then the generating polynomial is given by

K1, K2 and K3 are related to the initial state xd(0) in
the state space model

Disturbance Entry Points

Dg(s)

U(S)

R(S)
C(S)

Y(S)
Go1(S)

Go2(S)

For output disturbance -Go(s) =Go1(s)

For input disturbance - Go(s) =Go2(s)

Effect

of disturbance vanishes when

Dg(t) -> 0 as t ->
d(s) is a factor of the numerator of S0(s)Go2(s)
A

sufficient condition for steady state disturbance

compensation is that the generating polynomial be
included as part of the controller denominator. This
is known as the Internal Model Principle (IMP).

R(s)

E(s)
H(s)

C(s
)

Go(s)

Y(s)

To use IMP for Reference

Tracking
Set H(s) = 1 (Reference feed forward
transfer function)
Include reference generating polynomial in
the denominator of C(s)G0(s)
So(i) = 0 where i = 1, . . .n are the poles of
the reference generating polynomial
To(s) = 1
E(s) = 0 indicates as t e(t) = 0

To achieve Robust TrackingThe

reference generating polynomial must

be in the denominator of C(s)G0(s) i.e. IMP has
to be satisfied for the reference
When the reference and the disturbance
generating polynomial share some roots, then
these common roots need only be included
once in the denominator of C(s)
IMP applicationPWM inverters
Active filters
UPS system

Use of the IMP

Provides

complete
disturbance
compensation and reference tracking in
steady state for certain classes of signals
Leaves

unanswered the issue of transient

performance (how the system responds
during the initial phase following a change in
the disturbance or reference signal)

Essential idea of reference feed forward To use H(s) to invert T0(s) at certain key
frequencies i.e. so that H(s)T0(s) = 1 at the
poles of the reference model
E(s) = R(s) Y (s) = [1 H(s)To(s)]R(s)

Yd(s) = So(s)Go2(s)[1 + Go1Gf (s)]Dg(s)

Ud(s) = Suo(s)[Go2(s) + Gf (s)]Dg(s)
Features
Feed forward block transfer function Gf(s) must be
stable and proper, since it acts in open loop.
Gf(s)= -[1/Go1(s)]
Usually G01(s) will have a low pass characteristic,
Gf(s) - high pass characteristic.

Core Idea To feedback intermediate variables that lie

between the disturbance injection point and
the output. This gives rise to cascade
control.

Main features of cascade control

are

Cascade control is a feedback strategy.

A second measurement of a process variable is

required.

Measurement noise in the secondary loop must be

considered in the design, since it may limit the
achievable bandwidth in this loop.

Well proven technology when two or more system

feed sequentially into each other.

 Internal model principle :Compensation for classes of references and

disturbances
Feed forward :Effective technique for improving responses to
set point changes
Cascade control :Well proven technique applicable when two or
more systems feed sequentially into each other

CONTROL SYSTEM DESIGN Graham C.

Goodwin, Stefan F. Graebe, Mario E. Salgado