1.

Introduction
1.1 Control System Representations
Exercise 1.1
1.2 System Stability
Exercises 1.2 , 1.3
1
Robustness is of crucial importance in control system design.
<Real World>
<Virtual World>
reference
disturbance
reference
disturbance
Plant
Plant
input input
parameter variation
unknown dynamics

Plant
(mathematical model)
measurement
control
Design Procedure
measurement
noise
controller
measurement
output
control
input
noise
measurement
output
input
controller
controller
Disturbance and noise are not known exactly. y
Plant dynamics are not known exactly. unmodelled dynamics
Plant dynamics may change. parameter variation
In control system design,
R b t C t l
2
In control system design,
those factors must be considered.
Robust Control
Single-Input Single-Output case:
Stability Margin (i.e., gain margin and phase margin)
works well for robustness.
Multi-Input Multi-Output case:
Linear Quadratic Gaussian (LQG) method has poor robustness.
Pioneering works in H

optimal control theory:

G. Zames : Feedback and Optimal Sensitivity, IEEE A.C., vol.26,
301-320, 1981
G. Zames and B.A. Francis : Feedback, Minimax Sensitivity, and
O ti l R b t IEEE A C l 28 585 600 1983 Optimal Robustness, IEEE A.C., vol.28, 585-600, 1983
M Green and D Limebeer: Linear Robust Control Prentice Hall 1995 M.Green and D.Limebeer: Linear Robust Control, Prentice Hall, 1995
K.Zhou: Essentials of Robust Control, Prentice Hall, 1998
D WG PH P tk d M M K t ti R b t C t l D i
3
D.-W.Gu,P.Hr.Petkov, and M.M.Konstantinov: Robust Control Design
with MATLAB, Springer, 2005
1 1 Control System Representations 1.1 Control System Representations
Linear, time-invariant, continuous-time control system y
( ) ( ) ( )
x t Ax t Bu t = +
(1 1)
State space model
( ) ( ) ( )
y t Cx t Du t = +
(1.1)
where
( )
n
t R th t t t ( )
m
u t R e
th i t t
( )
n
x t R e : the state vector ( )
u t R e
: the input vector
( )
p
y t R e : the output vector
T f f ti t i Transfer function matrix
( ) ( )
1
G s C sI A B D

= +
(1.2)
In a short form, the state space model and its transfer function is given by
( )
A B
G s
(
=
(
(1.3)
4
( )
G s
C D
(

( )
( ) ( )
1 1 2 2
1 2
,
A B A B
G s G s
C D C D
( (
= =
( (

( ) ( )
1 2
1 1 2 2
C D C D
( (

1) Additive system
1 1
0 A B
(
( )
1
G s
( )
G
+
+
( ) ( )
1 1
1 2 2 2
1 2 1 2
0
0
A B
G s G s A B
C C D D
(
(
+ =
(
( +

( )
2
G s
(1.4)
2) Cascaded system
1 1 2 1 2 2 2
0 A BC BD A B
( (
( (
( )
1
G s ( )
2
G s
( ) ( )
1 1 2 1 2 2 2
1 2 2 2 1 2 1 1 2
1 1 2 1 2 1 2 1 1 2
0 G s G s A B BC A BD
C DC DD DC C DD
( (
= =
( (
( (

(1.5)
A B
(
( )
A B
G s
C D
(
=
(

3) Inverse system
1 1
A BD C BD

(
( )
1
G s

( )
G s
u
y
y
u
T T
A C (
( )
1 1
1
1 1
A BD C BD
G s
D C D

(
=
(

If D is nonsingular,
(1.6)
5
4) Conjugate system
( ) ( )
~
T T
T
T T
A C
G s G s
B D
(
=
(

(1.7)
To prove (1.4), consider the following block diagram.
( )
1
G s
+
+
u y
1
y
1 1 1 1 2 2 2 2
1 2
1 1 1 1 2 2 2 2
,
x Ax Bu x A x Bu
G G
y C x Du y C x Du
= + = +


= + = +


( )
2
G s
+
2
y
1 1 1 1 2 2 2 2
y y

0 A B
( ( ( (

| | ( )
1 1 1 1
2 2 2 2
1
0
0
x A x B
u
x A x B
x
y y y C C D D u
( ( ( (
= +
( ( ( (

(
= + = + +
(

(1.4)
| | ( )
1 2 1 2 1 2
2
y y y C C D D u
x
= + = + +
(

Exercise 1 1 Prove (1 5) to (1 7) Exercise 1.1 Prove (1.5) to (1.7).
6
1 2 System Stability 1.2 System Stability
Bounded input bounded output (BIBO) stability

Bounded-input-bounded-output (BIBO) stability

Definition 1 1

Definition 1.1
A transfer function matrix G(s) is called BIBO stable
if G(s) generates bounded output y(t) for any bounded inputs u(t).
( )
G s
( )
u t ( )
y t
( )
G s
Lemma 1.2
G(s) is BIBO stable All the poles of G(s) are in the open-left-half
complex plane, i.e., with negative real parts.
7
Asymptotic stability
Definition 1.3
The state-space model (1.1) is called asymptotically stable
if for an identically zero input u(t)=0 the system state x(t) will if, for an identically zero input u(t)=0, the system state x(t) will
converge to zero from any initial states x(0).
( )
0 x
( ) ( ) ( )
( ) ( ) ( )
x t Ax t Bu t
y t Cx t Du t
= +
= +

( )
0 u t
( )
y t
( ) ( ) ( )
y t Cx t Du t = +
( ) ( )
0
At
x t e x =
( ) ( )
Lemma 1.4
(1 1) i t ti ll t bl (1.1) is asymptotically stable
All the eigenvalues of A are in the open left half complex plane
8
All the eigenvalues of A are in the open-left-half complex plane.
Lemma 1.5
The asymptotic stability of a system implies
that the system is also BIBO stable, but not vice versa.
If [A,B,C,D] is of minimal realization,
the BIBO stability implies the asymptotic stability.
Remark 1.6
( ) { } { }
poles of eigenvalues of G s A c In general,
( ) { } { }
l f i l f G A
In the minimal realization, ( ) { } { }
poles of eigenvalues of G s A =
Exercise 1.2
(1) Show an example of a state space model [A,B,C,D] which
is not asymptotically stable, but its transfer function G(s) is
BIBO stable.
(2) Obtain a minimal realization of [A,B,C,D] shown in (1)
d h k th t ti t bilit f th i i l li ti
9
and check the asymptotic stability of the minimal realization.
Internal stability
Definition 1.7
An interconnected system is internally stable if the subsystems of all
input-output pairs are asymptotically stable.
r
e
d
+
input output pairs are asymptotically stable.
( )
K s
( )
G s
r
e u y
+
-
+
+
( ) ( )
,
K K
K K
A B A B
G s K s
C D C D
( (
= =
( (

: minimal realizations
Lemma 1.8
The above interconnected system of G(s) and K(s) is internally stable
if and only if the transfer function matrix M(s) from [r d] to [y u] is BIBO
K K
if and only if the transfer function matrix M(s) from [r d] to [y u] is BIBO
stable, where
( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
1 1
G s K s I G s K s G s I K s G s

(
+ +
(
(1 8)
10
( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
1 1
M s
K s I G s K s K s G s I K s G s

(
=
(
+ +

(1.8)
Remark 1.9
is BIBO stable ( )
M s
( )

M s
is BIBO stable
where
( )
( )
( )
1

I G s
M s
K s I

(
=
(

(1.9)
( )
K s I

Exercise 1.3
(1) Prove that M(s) in (1.8) is the transfer function matrix from [r d] to [y u].
(2) Prove the remark 1.9.
( )

Hint: is the transfer function from [r d] to [-y+r u+d].

( )
M s
11