Robust Control (Unit CY4A2 )

Lecturer: Dr. V.M. Becerra, Cybernetics 162. E-mail: v.m.becerra@reading.ac.uk Contents Introduction to robust control. Loop shaping. Weighted sensivitity. Multivariable systems. General control problem formulation. Representing uncertainty. Robustness. Robust performance. Robust stability. Structured singular value. H control design. Lecture notes, etc http://www.rdg.ac.uk/shs99vmb/notes Recommended books Skogestad S. and Postlethwaite I. (1996). Multivariable Feedback Control. Wiley. Burl J.B. (2000). Linear Optimal Control. Addison-Wesley. Zhou K. Doyle J.C. and Glover K. (1996). Robust and Optimal Control. PrenticeHall. Maciejowski J.M. (1989) Multivariable Feedback Design. Addison Wesley. Morari M. and Zariou E. (1989) Robust Process Control. Prentice Hall. Assessment Exam (100%).
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modied January 2008

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Lecture 1 What is robust control?

It is the analysis and design of control systems in the presence of uncertainty.

Typical control design process

Obtain a mathematical model of the system Use a control design method together with the system model to come up with a controller with certain parameters and structure. Simulate the closed loop system to verify that specications are met. Implement the controller in the real system and tweak the controller parameters if necessary.
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The quality of the model and the quality of the design determines success using this approach. However, models are never perfect and often inaccurate. This is why the study of robust control is important.

Types of Uncertainty
Signal uncertainty. For example: unknown disturbances, measurement noise.

Model uncertainty. For example: unknown parameters, unmodelled high frequency dynamics, ignored nonlinearities. Uncertainty cannot be avoided, but it can be managed.

Our goals
1. Identify and quantify uncertainty

2. Analyse the impact of uncertainty on control system performance (Analyse the robustness of the control system)

3. Design control systems that provide good performance in the presence of uncertainty (Design robust control systems)

Feedback control
One degree of freedom controller Consider the structure shown in Figure 1.1.
d
.. .. .. . .

Gd r
........ ......... .. . .. . ... . .. . . ... . . .... . . .. ... ... ........ . .. .. .. .. ..

... .. ... ....

... .. ... ....

.. . .. . . ........ ......... .. . .. . .... .. . . .... . .... .. . ......... .........

... .. ... ....

ym

......... ......... .. . .. . . . . .... . . . .... .. . .. .. ........ ... .... . . . . .. .. .

+ n

Figure 1.1

where: K is the controller G is the plant ym is the measured output y is the plant output n is the measurement noise d is a disturbance Gd represents the disturbance dynamics Then, the input to the plant is: u = K(s)(r y n) (1)

The objective is to manipulate u (design K) such that the control error e remains small in spite of disturbances d. The control error is dened as e = y r, where r is the setpoint for the output.
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Closed loop transfer functions The plant model can be written as follows: y = G(s)u + Gd(s)d Substitution of the equation for u gives: y = GK(r y n) + Gdd or, y = (I + GK)1GKr + (I + GK)1Gdd (I + GK)1GKn (4) Or, simply: y = T r + SGdd + T n (5) (3) (2)

where S = (I + GK)1 is the sensitivity function, and T = (I + GK)1GK (7) (6)

is the complementary sensitivity function. The term complementary follows from the identity: S+T =I (8)

If we dene L = GK as the loop transfer function, then it is possible to write S = (I + L)1 and T = (I + L)1L.

Why feedback? If there were no disturbances (d = 0), a perfect feedforward controller could be obtained by removing the feedback signal and using the controller: K(s) = G1(s) (9)

We assume that it is possible to obtain such an inverse and that plant and controller are both stable. In this case: y = r. However, because of the presence of:  Signal uncertainty (unknown d)  Model uncertainty (unknown G)  Unstable plants it is usually necessary to use feedback.
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Closed loop stability

Stability is one of the main issues in control design. Two methods commonly used to determine closed loop stability are:

Evaluate the poles of the closed loop system (1 + L(s) = 0).

Plot the frequency response of L(s) in the complex plane and use Nyquists stability criterion.

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Evaluating performance
Time domain performance (step response)
1.8

1.6

y(t)

1.4

1.2 r(t) 1

0.8

0.6

0.4

0.2

0.2

10

20

30

40

50

60

70

80

Rise time Settling time Overshoot Decay ratio Steadystate oset.

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Frequency domain performance

Gain and phase margins GM = 1/|L(j180)| P M = L(jc) + 180

Bode Diagrams Gm=7.9588 dB (at 0.41231 rad/sec), Pm=48.448 deg. (at 0.20372 rad/sec)
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(10) (11)

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(6s+3) G(s) = 50 s 2 15 s + 1 +

Phase (deg); Magnitude (dB)

20

30

40 0 50 100 150 200 250 300 2 10

10

10

10

Frequency (rad/sec)

Typically, we require GM > 2 and P M > 30

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 Maximum peak criteria MS = max |S(j)|

(12) (13)

MT = max |T (j)|

Typically, it is required that MS < 2 (6 dB) and MT < 1.25 (2 dB).

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Bandwidth and crossover frequency

The concept of bandwidth is important in understanding the benets and tradeos involved with feedback. The closed loop bandwidth, B , is the fre quency where |S(j)| rst crosses 1/ 2 = 0.707 ( 3 dB) from below. Bandwidth may be loosely dened as the frequency range over which control is benecial for performance. Crossover frequency, wc, is dened as the frequency where |L(j)| rst crosses 1 from above.

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Controller Design
One of the most common design approaches in classical control is Loop Shaping

Loop shaping
The main object in Loop Shaping design is the loop transfer function L(s) = G(s)K(s) Starting with the bode plot of G(s), the effect of a given controller K(s) on the bode plot of L(s) can easily be seen. The gain and phase of L(s) can be shaped over dierent frequencies by the choice of the controller. The trick here is to understand the relationship between the shape of L(s) and the performance requirements in the time and frequency domains.
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Notice that:

e = y r = Sr + SGdd T n where S = 1/(1 + L) and T = L/(1 + L). The following tradeos exist:

(14)

Good command following L large. Good disturbance rejection L large Good noise attenuation L small. Small input u K, L small. Nominal stability (stable plant) L small Robust stability (stable plant) L small
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Fortunately, these objectives are in dierent frequency ranges. We can meet most of these objectives with a large gain (|L| > 1) for low frequencies (below crossover), and a small gain (|L| < 1) at high frequencies (above crossover).

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