ECE 694 Control and Optimization for the Smart Grid

Assignment 3: State Feedback Controller Design for the SMIB

Due: Wednesday, May4th Due: Friday, May 9th

Problem 2
Pole-Placement Design
The purpose of the pole-placement based full state feedback controller, u = Kx, is to drive the state variables to zero when the states have been perturbed. The MATLAB function K=place(A, B, p) can be used to design the controller gain matrix K, where (A, B) are the state space matrices of the reduced order linear model of the SMIB, and p is a row vector containing the desired closed-loop poles. You will design a pole placement based full state feedback controller for the SMIB system.

Questions
Design a pole placement based full state feedback controller for the linearized reduced order model of the SMIB. Use the (A, B, C) state space matrices of the reduced order linear model of the SMIB, that you derived in Assignment 2. Develop a simulation for the closed-loop system and test the pole placement based controller that you have designed. Choose appropriate locations for the closed loop poles such that the response is as fast as possible, but with an overshoot of less than 20 percent. Also the control inputs EF D and uT should not exceed 0.5 p.u. You may choose the dominant closed loop poles to have real parts between -0.5 to -5. It is not necessary that the dominant poles, or the remaining poles be complex conjugates. All the poles can be chosen to lie on the real axis as well with zero imaginary parts. For the reduced order linear model use the following initial condition: D T = [0.02, 0.01, 0.01, 0, 0]T . Show the output response i.e. plots of o x0 = [Eq0 , 0 , 0 , Tm0 , GV 0 ] the generator terminal voltage Vt , rotor angle , and u frequency , for the pole placement based b full state feedback controller applied to the reduced order linear model. Also plot the control inputs l EF D and uT , and comment on your results. e Test the pole placement based full state feedback controller that you designed above on the reduced c l order nonlinear model of the SMIB. If necessary change the locations of the desired closed loop poles i and thus tune the control gain vector K, to get a satisfactory performance. You might have to c shift some poles far away from the imaginary axis, without changing the location of the dominant k poles to a great extent. For the reduced order nonlinear model use the following initial condition: t o x0 = [Eq0 , 0 , 0 , Tm0 , GV 0 ]T = [1.2, 1, 1, 0, 0]T . Show plots of the generator terminal voltage Vt , rotor angle , and frequency , for the pole placement based e full state feedback controller applied to the d reduced order nonlinear model. i Test the pole-placement controller that you designed above on the truth model of the SMIB. If necessary . change the locations of the desired closed loop poles and thus tune the control gain vector K, to get a satisfactory performance. You may choose the dominant closed loop poles to have real parts between -5 to -10 to get satisfactory performance. Also make sure that the damping factor of the dominant poles is high and lies between 0.95 to 1. In other words make sure that the imaginary part of the dominant pole is negligibly small compared to its real part. Also make sure that the inputs stay within limits. To implement the pole-placement based full state feedback controller on the truth model, express the ctitious state Eq of the reduced order nonlinear model as a function of the state variables of the truth model as e12 e13 e14 IF + cos( ) + sin( ) (1) Eq = e11 e11 e11 Page 1 of 3
t -

ECE 694 Assignment 3

Problem Sets

where e11 = 3.2551, e12 = 2.2551, e13 = 0.0233, e14 = 1.5500. For the truth model use the following initial condition: x0 = [Id0 , IF 0 , ID0 , Iq0 , IQ0 , 0 , 0 , Tm0 , GV 0 ]T = [0.9185, 1.6315, 0, 0.4047, 0, 1, 1, 0, 0]T . Show plots of the generator terminal voltage Vt , rotor angle , and frequency , for the pole-placement based full state feedback controller applied to the truth model. Also plot the control inputs VF and uT , and comment on your results.

Problem 2
LQR Design
You will now design a LQR for the SMIB system. Use the (A, B, C) state space matrices of the reduced order linear model of the SMIB for the LQR design. The reduced order linear model of the SMIB was derived in Assignment 2, by doing Taylor series linearization of the reduced order nonlinear model about the nominal operating condition. Note: Refer to Assignment 1 for the reduced order nonlinear model equations and the operating condition. Let us assume that we have sensors to measure all the states and we use a full state feedback controller (regulator) of the form u = Kx (2)

that seeks to drive the states to zero. Since, the reduced order linear model of the SMIB is MIMO with 2 inputs and 5 states, LQR controller design entails nding the 2 5 gain vector K. This can be done by directly using the lqr command in MATLAB. For this, letting

J=
0

(xT Qx + uT Ru) dt

(3)

we seek to nd the gain vector K to minimize the cost function J. Minimization of J results in steering x(t) to zero with as little control energy and state deviations as possible, with the balance between control energy and state deviations specied via the Q and R matrices. Here, assume the 5 5 Q matrix is diagonal with diagonal elements qi 0 (each providing a weight for a dierent element of the deviation of the state) and the 2 2 R matrix is diagonal with diagonal elements ri > 0 (each providing a weight for the deviation of the two control inputs). The values for Q and R are used as design parameters. A methodology to tune the Q and R matrices is given as follows: If all the qi = 0, then the excursions of the states are high while the control input tries to force the state to zero. High values of qi relative to ri mean that you are willing to use lots of control energy to keep state deviations small while driving it to zero. Clearly, you cannot pick ri = 0 as this results in allowing innite control energy to force the state to zero, typically then very fast. Finding the gain K to minimize J involves solving the Riccati equation AT P + P A P BR1 B T P + Q = 0, where K = R1 B T P . We use the Matlab lqr command to directly solve for the gain vector K given A, B, Q, and R.

Questions
Design a LQR for the linearized reduced order model of the SMIB to regulate all the state variables to the origin i.e. stabilization of the operating condition. Use the (A, B, C) state space matrices of the reduced order linear model of the SMIB, that were derived in Assignment 2. Develop a simulation for the closed-loop system and test the LQR that you have designed. Find values of Q and R, and the controller gain matrix K, that result in as fast of a response as possible but with an overshoot of less than 20 percent. Also the control inputs EF D and uT should not exceed 0.5 p.u. For the reduced order linear model use the following initial condition: x0 = [Eq0 , 0 , 0 , Tm0 , GV 0 ]T = [0.02, 0.01, 0.01, 0, 0]T . Show the output response i.e. plots of the generator terminal voltage Vt , rotor angle , and frequency , for the LQR applied to the reduced order linear model. Also plot the control inputs EF D and uT , and comment on your results. Page 2 of 3

ECE 694 Assignment 3

Problem Sets

Test the LQR that you designed above on the reduced order nonlinear model of the SMIB. If necessary re-tune the Q and R matrices and thus the control gain vector K, to get a satisfactory performance. For the reduced order nonlinear model use the following initial condition: x0 = [Eq0 , 0 , 0 , Tm0 , GV 0 ]T = [1.2, 1, 1, 0, 0]T . Show plots of the generator terminal voltage Vt , rotor angle , and frequency , for the LQR applied to the reduced order nonlinear model. Plot the control inputs EF D and uT , and comment on your results. Test the LQR that you designed above on the truth model of the SMIB. If necessary re-tune the Q and R matrices and thus the control gain vector K, to get a satisfactory performance. Make sure that the inputs stay within limits. To implement the LQR based full state feedback controller on the truth model express the ctitious state Eq of the reduced order nonlinear model as a function of the state variables of the truth model as Eq = e12 e13 e14 IF + cos( ) + sin( ) e11 e11 e11 (4)

where e11 = 3.2551, e12 = 2.2551, e13 = 0.0233, e14 = 1.5500. For the truth model use the following initial condition: x0 = [Id0 , IF 0 , ID0 , Iq0 , IQ0 , 0 , 0 , Tm0 , GV 0 ]T = [0.9185, 1.6315, 0, 0.4047, 0, 1, 1, 0, 0]T . Show plots of the generator terminal voltage Vt , rotor angle , and frequency , for the LQR applied to the truth model. Also plot the control inputs VF and uT , and comment on your results.

Page 3 of 3