Prof - Christenson July17 APSS2010

Overview
Theory of Control: I
Introduction to structural control

Control theory
Asia
AsiaPacific Summer School
on Smart Structures Technology
9Basic feedback control

9Optimal control state feedback control
9Observers and LQG controllers
Richard Christenson
University of Connecticut
Advanced Hazards Mitigation Lab

Department of Civil & Environmental Engineering

Types of Structural Control
Passive Control Systems
Active Control Systems
Passive Device
Structure
Excitation
Response
m
Passive Damper
Base Isolation
Actuators
Tuned Mass Damper

Response
Sensor
Structure
Excitation
Active Bracing
3
Sensor
Active Mass Damper

Active Control Systems
Hybrid Control Systems

Passive Device
Excitation
Structure
Response
Structure
Excitation
Response
Sensor
Actuators
feedback
feedforward
Actuators
feedback
feedforward
Actuator
Sensors
Controller
Sensors
Sensors
Controller
Sensors
Active Base Isolation


Semiactive Control Systems

Structure
Excitation
Functionally Upgraded Passive Systems
Response
Structure
Excitation
Response
Passive Device
Actuators
feedforward
feedback
feedforward
Passive Device
feedback
Actuators
Sensors
Controller
Sensors

Sensors

Structure
Sensors
1. Reduce sensitivity to variations

2. Reduce sensitivity to output disturbance
3. Ability to control system bandwidth
4. Stabilization of an unstable system
5. Control system transient response
feedback
Controller
Controller
Sensors

Introduction to Structural Control

Example: Filling a bathtub with water*
Controlling the temperature of fluid in a tank
Openloop control
9In openloop control the command signal alone is
selected to achieve the desired response
r(t)
reference
input
Controller
G(s)
u(t)
control
input
Plant
H(s)
*taken from Linear Control Systems, (Rohrs

(Rohrs,, et al.)

y(t)
output

Introduction to theory behind automatic

control systems closedloop control
Control is used primarily for:
Response
Actuators
feedforward
Sensors
Our focus today

today
Excitation
Controller
Segway


Example: Filling a bathtub with water
Openloop control
9Open hot water tap specified amount
9Open cold water tap specified amount
9If you have done this many time before, you might
know rather well the necessary settings
9However, a number of factors might affect the
control of the output

Closedloop control
9In closedloop control, feedback measurements
are included to achieve the desired response
u(t)
control
input
r(t)
reference
input
Plant
H(s)
y(t)
output
Controller
G(s)


Closedloop control
9Use of the state of the output is termed feedback
9More measurements (temp. of each faucet, rate
of change of temp.) can achieve better results
9Closedloop may be more complex than openloop,
but can provide better performance
9Compromise between stability and performance


Take the human out of the closedloop control
Automatic closedloop control
9Sensor to measure the required variables
9Actuator to adjust control valves
9Controller to interpret sensors and send control
signal (which would then be amplified) to actuator


Closedloop control
9In closedloop control feedback measurements are

included to achieve the desired response
9Feel the water at several intervals while the tub is
filling
9If water is not at right temperature, adjust hot or
cold water faucets
9In this manner, the system output affects the control
of the system

Closedloop control
9Compromise between stability and performance
Controlling only hot water (cold predetermined
level) by turning fully on or fully off;
Our slow response time with the dramatic
response may cause oscillations in temperature
Common causes of instability in automatic
control systems: (1) delay; and (2) high gain

Modeling the system is a crucial step in the
design of a controller
The quality of the controller is linked to the
quality of the model used in the control design
Since no system can be perfectly modeled,
care must be taken in designing the controller
9Parameter inaccuracies
9Unmodeled dynamics
9Nonlinearities
Overview
Closed Loop Control

General form of the closedloop control system

Control theory
u(t)
control
input

r(t)
reference
input
Plant
H(s)
y(t)
output
Controller
G(s)
Feedback control can take many forms


Closed Loop Control
Closed Loop Control
Lets begin with an example examining the

effect of control gains in the forward path:
Lets begin with an example examining the

effect of control gains in the forward path:
Close loop system
Hcl(s)
r(t)
reference
input
+-
e(t)
error
Controller
G(s)
u(t)
control
input
y(t)
output
Plant
H(s)
When G(s) = K, this is called a proportional

controller with unity gain feedback
r(t)
reference
input
+-
e(t)
error
H(s)
y(t)
output

Closed Loop Control

r(t)
+-
e(t)
Closed Loop Control

u(t)
H(s)
y(t)
The goal is to choose the control gain (K) to

stabilize the system and improve response time
Using the block diagram, we can write
Y (s ) = H (s )U (s )
Y (s ) = H (s )K [R (s ) Y (s )]
H cl (s ) =
u(t)
control
input
When G(s) = K, this is called a proportional

controller with unity gain feedback


Consider a simple example of a dynamic system

In the Laplace domain, the transfer function of the
plant is
H (s ) =
1
s (s + )
Y (s ) = H (s )KE (s )
Y (s ) =
KH (s )
[1 + KH (s )]
Y (s )
KH (s )
=
R(s ) [1 + KH (s )]
R (s )
9 Simple model of an electric motor or hydraulic actuator with the

command/voltage as the input and the position/disp
position/disp.. as the output
9 Note that this system is marginally stable because one pole is at the origin
Closed Loop Control

The close loop system is:
H cl (s ) =
tao
K =
num
den
KH (s )
[1 + KH (s )]
= 1;
1;
= K;
= [1 tao K];
Closed Loop Control

Lets look at the closed loop poles
K
s 2 + s + K
H cl (s ) =
overshoot uncontrolled system H(s)

K=10
sys = tf(num,den);
K=1
This system can equivalently be considered in

state space
Y (s )
1
H (s ) =
U (s )
s (s + )
Y (s )(s + s ) = U (s )
K=10
K=10
K=1
y&&(t ) + y& (t ) = u(t )
K=0.1
K=0.1

y&&(t ) = y& (t ) + u(t )

Closed Loop Control

state space y&&(t ) = y& (t ) + u(t )

4K > 2
Closed Loop Control
We can use the pole placement approach to

assign K values to achieve the specific behavior
y (t )
y (t ) = [1 0]
+ [0]u(t )
y& (t )
9The system is underdamped when

Closed Loop Control
y& (t ) 0 1 y (t ) 0
y&&(t ) = 0 y& (t ) + 1u(t )

2 4K <
K=0.1

K=1
Note:
9The system is stable when
improved response time
[y,t]=step(sys,t);
plot(t,y)
K
2 4K
s 2 + s + K has poles at p1,2 =
2
z(t ) = Az(t ) + Bu(t )

y (t ) = Cz(t ) + Du(t )
0 1
A=
Closed Loop Control

state space
0 1
A=
0 0 1 1
det (I A ) =
0 0 0 +
= ( + ) ( 1)(0) = 2 +
Poles of the transfer function are equal to the

eigenvalues of the state space A matrix
Closed Loop Control
Closed Loop Control
Lets look at the poles and the step response of

a second order differential equation
Assuming the system is underdamped

s = n jn 1 2
2
2
y&&(t ) + 2 n y& (t ) + n y (t ) = n r (t )
real
The Laplace Transform (zero IC) is
imaginary
Magnitude:
Y (s )
n
=
R(s ) s 2 + 2 n s + n 2
Consider the poles of the system
s = n
1 n
real
n 1
Y (s ) =
imaginary
n
=
n
y (t ) = 1

1
1 2
e n t sin n 1 2 t +
1 2
= arctan


Closed Loop Control

The peak response occurs at t =
2
1
9 Note: overshoot is only a function of damping
The settling time (defined as time required for

response to remain within 5% of final value) is
n 1 2
Closed Loop Control
The peak value of y is then y (tmax ) = 1 + e

1
s
The step response can be determined as
And the overshoot is
n
R (s )
2
s + 2 n s + n
2
To a step input R(s ) =
sin( ) =
Consider the response of the system
Angle:
Closed Loop Control
Assuming the system is underdamped

s = n jn 1
2n + n 2n
= n

Closed Loop Control
1 2
(n )2 + n 2 (1 2 )

=sin
(n )2 + (n
n 1 2
2
1
e nt = 0.05
n t = 3
ts =
9 Note: increasing wn decreases the rise time

Closed Loop Control

Lets look at the poles and the step response
overshoot = e
settling time = t s =
=
ma
g=
2
1
Theory of Control: II
Asia
AsiaPacific Summer School
on Smart Structures Technology
Richard Christenson
University of Connecticut
Optimal poles move away from origin at desired damping
Overview
Control theory

Optimal Control
Modern control theory uses the approach that
an optimal controller can be obtained for a plant
taking the form
w(t)
excitation
u(t)
control
v(t)
Plant
z&(t ) = Az(t ) + Bu (t ) + Ew (t )
y (t ) = Cz(t ) + Du(t ) + Fv (t )
y(t)
output
Controller
G(s)
State Feedback Control

Assume that all states are measured and a full
state feedback control law takes the form
u(t ) = Kz(t )
The closed loop dynamics are given by

z&(t ) = (A BK )z(t ) = Acl z(t )
The poles of this system may be placed

arbitrarily if the system is controllable
However, optimal placement is possible with a
properly chosen cost function


Consider the Linear Quadratic Regulator (LQR)
We seek a state feedback controller (K) that
minimizes the cost function
tf
J = ( zT Qz +uT Ru )dt
0
Where Q is positive semidefinate, R is positive

definite, and subject to
z& = Az + Bu
z(0) = z0

The solution to the LQR problem is given by
u(t ) = Kz(t )
Where the control gain matrix K is given by

K = R 1BT P
Where P is the Riccati matrix which is goverened

by the Riccati equation
P& (t ) = AT P (t ) + P (t )A + R P (t )BR 1BT P , P (t f ) = 0
Lets consider an example of a sdof building with

active bracing
wn = 1*2*pi; % rad/sec
xsi = 5/100;
Active Bracing
0 = AT P (t ) + P (t )A + R P (t )BR 1BT P
We can use MATLAB to readily obtain this

solution
The matrices Q and R provide the mechanisms
to design an effective controller
% State Space System

% dx = Ac*x + Bc*u + Ec*w
% y = Cc*x + Dc*u + Fc*w
Ac = [0 1;-inv(M)*K -inv(M)*C];
Bc = [0;1];
Ec = [0;inv(M)*1];
Cc = [eye(2);-inv(M)*K -inv(M)*C];
Dc = [1];
Fc = [0];

Plot the uncontrolled systems response due to
Kobe earthquake [w(t)]
sys = ss(Ac,Ec,Cc,Fc);
t = linspace(0,30,1000);
load kobe
w = interp1(k(1,:),k(2,:),t);
y = lsim(sys,w,t);
figure(3);
subplot(311);plot(t,y(:,1),'g');

Plot the uncontrolled systems response due to
Kobe earthquake [w(t)]
% damping 5%
M = 100;
K = M*wn^2;
C = 2*xsi*wn*M;


As tf goes to infinity, we see that P becomes

constant and can be determined by solving the
algebraic Riccati equation (ARE)

Sensor
sys = ss(Ac,Ec,Cc,Fc);
t = linspace(0,30,1000);
load kobe
w = interp1(k(1,:),k(2,:),t);
y = lsim(sys,w,t);
figure(3);

Design an LQR controller to weight displacement
and velocity equally
Q = diag([1 1]);
R = 1e-2;
Klqr = lqr(Ac,Bc,Q,R,[]);
sys = ss(Ac-Bc*Klqr,Ec,Cc-Dc*Klqr,Fc);
y = lsim(sys,w,t);
figure(3);
subplot(311);hold on;plot(t,y(:,1),'b');

Design an LQR controller to weight displacement

t
and velocity equally
f
tf
Lets look at the poles
Q displacement weighting
Q velocity weighting
R decreases
Q = diag([1 1]);
R = 1e-2;
Klqr = lqr(Ac,Bc,Q,R,[]);
R decreases
sys = ss(Ac-Bc*Klqr,Ec,Cc-Dc*Klqr,Fc);
y = lsim(sys,w,t);
figure(3);


State Observers
State Observers
In practice, it is not feasible or practical to

measure all of the states of the system
Thus, feedback control design often requires
that one estimate the state variables
w(t)
excitation
u(t)
control
An observer is a dynamic system with inputs u

(control input) and y (measured responses), and
output that estimates the state vector (called
xhat)
Observer (linear, continuous time) category:
v(t)
Plant
z&(t ) = Az(t ) + Bu (t ) + Ew (t )
y (t ) = Cz(t ) + Du(t ) + Fv (t )
9Open loop observer

9Full order observer
9Kalman (Bucy) filter
y(t)
output
Controller
G(s)

Open Loop Observers
State Observers
x (t ) x (t ) = 0
The objective is: lim
t
Observer (linear, continuous time) category:
Full order observer Luenberger observer
9 Linear invariant system: x& (t ) = Ax(t ) + Bu(t ) y (t ) = Cx(t ) x(t 0 ) = x0

9 Auxiliary dynamical system:
x& (t ) = Ax (t ) + Bu(t )
9 Estimation error: e(t ) x(t ) x (t )
9 Linear invariant system: x& (t ) = Ax(t ) + Bu(t ) y (t ) = Cx(t ) x(t 0 ) = x0

9 Auxiliary dynamical system: x& (t ) = Ax (t ) + Bu(t ) + L(y (t ) Cx (t ))
Observer feedback
9 Estimation error: e(t ) x(t ) x (t )
e&(t ) = Ax (t ) + Bu(t ) (Ax (t ) + Bu(t )) = Ae(t )
t t0
9 If A is stable, then e(t) approaches zero

9 Drawbacks:
9Unbounded error for unstable state matrix
9Fails in the presence of modeling errors and disturbances
e&(t ) = (A LC )e(t )
t t0
9 If (ALC) is stable, then e(t) approaches zero

9 Drawbacks:
9 Still fails in the presence of modeling errors and disturbances
State Observers
State Observers
Stochastic state observer, KalmanBucy filter

9 Linear invariant system:x& (t ) = Ax(t ) + Bu(t ) + w (t )
Process noise with
covariance Q(t)
y (t ) = Cx(t ) + v (t )
Disturbance with
covariance R(t)
Both noise terms are assumed white, Gaussian and mutually independant
9 Auxiliary dynamical system: x& (t ) = Ax (t ) + Bu(t ) + K (y (t ) Cx (t ))

Riccati equation:
P& (t ) = AP (t ) + P (t )AT + Q(t ) K (t )R(t )K T (t )
Kalman Gain:
K (t ) = P (t )C T (t )R 1(t )

The Kalman filter provides the best estimate of

the states based on current available noisy
information
The solution P(t) to the associated differential
Riccati equation (DRE) is also the covariance of
estimation error
If only the steadystate behavior is of interest,
the time derivative is eliminated in the DRE and
and results in an algebraic Riccati equation (ARE)
LQG Control
Kalman filter is often known as linear quadratic
estimation (LQE)
When we combine optimal state feedback with
estimator design, we realize a linear quadratic
Gaussian (LQG) controller
z&(t ) = Az(t ) + Bu(t ) + L(y Cz )
u(t ) = Kz(t )
LQG Control
The closed loop system is thus
w(t)
excitation
u(t)
control
v(t)
Plant
z&(t ) = Az(t ) + Bu (t ) + Ew (t )
y (t ) = Cz(t ) + Du(t ) + Fv (t )
y(t)
output
Controller
z&(t ) = Az(t ) + Bu(t ) + L(y Cz )

u(t ) = Kz(t )
z&(t ) = Az(t ) + Bu(t ) + L(y Cz ) = (A LC BK )z(t ) + Ly (t )

z&(t ) = A z(t ) + B y (t )
e
u(t ) = Kz(t ) = Ce z(t )


LQG Control
The closed loop system is thus
z&(t ) = Az(t ) + BCe z(t ) + Ew (t )

y (t ) = Cz(t ) + DCe z(t )
z&(t ) = A z(t ) + B y (t )
e
u(t ) = Kz(t ) = Ce z(t )

z&(t ) A
z&(t ) = B C
z(t ) E
+
w (t )
Ae + Be DCe z(t ) 0
z(t )
y (t ) = [C DCe ]

z(t )
BCe

Design an LQG controller
Eww = 0.1;
Evv = 4e-5;
Lgain
= lqe(Ac,Ec,Cc(3,:),Eww,Evv);
Ak
Bk
Ck
Dk
=
=
=
=
Ac-Bc*Klqr-Lgain*Cc(3,:);
Lgain;
-Klqr;
0;
Acl = [Ac Bc*Ck;Bk*Cc(3,:)

Ak+Bk*Dc(3,:)*Ck];
Bcl = [Ec;zeros(2,1)];
Ccl = [Cc Dc*Ck];
Dcl = zeros(3,1);
sys = ss(Acl,Bcl,Ccl,Dcl);
y = lsim(sys,w,t);

Design an LQG controller
States (actual blue; estimated green)

Response (lqr blue; lqg red)

Prof - Christenson July17 APSS2010

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Overview

Introduction to structural control

9Basic feedback control

Advanced Hazards Mitigation Lab

Advanced Hazards Mitigation Lab

Types of Structural Control

Types of Structural Control

Passive Control Systems

Active Control Systems

Tuned Mass Damper

Advanced Hazards Mitigation Lab

Active Mass Damper

Advanced Hazards Mitigation Lab

Types of Structural Control

Types of Structural Control

Active Control Systems

Hybrid Control Systems

Active Base Isolation

Advanced Hazards Mitigation Lab

Types of Structural Control

Types of Structural Control

Semiactive Control Systems

Functionally Upgraded Passive Systems

Advanced Hazards Mitigation Lab

Types of Structural Control

1. Reduce sensitivity to variations

Advanced Hazards Mitigation Lab

Introduction to Structural Control

*taken from Linear Control Systems, (Rohrs

Advanced Hazards Mitigation Lab

Advanced Hazards Mitigation Lab

Introduction to theory behind automatic

Introduction to Structural Control

Our focus today

Advanced Hazards Mitigation Lab

Introduction to Structural Control

Introduction to Structural Control

Advanced Hazards Mitigation Lab

Introduction to Structural Control

Advanced Hazards Mitigation Lab

Introduction to Structural Control

Advanced Hazards Mitigation Lab

Introduction to Structural Control

9In closedloop control feedback measurements are

Introduction to Structural Control

Introduction to Structural Control

Closed Loop Control

Introduction to structural control

9Basic feedback control

Feedback control can take many forms

Advanced Hazards Mitigation Lab

Closed Loop Control

Closed Loop Control

Lets begin with an example examining the

Lets begin with an example examining the

When G(s) = K, this is called a proportional

Advanced Hazards Mitigation Lab

Closed Loop Control

Closed Loop Control

The goal is to choose the control gain (K) to

When G(s) = K, this is called a proportional

Advanced Hazards Mitigation Lab

Advanced Hazards Mitigation Lab