Analysis and Design of Linear Control Systems, 03rd.

19th June, 3rd Lecture

Analysis and Design of Linear Control System Part2Spring, 2012 Instructor: Prof. Masayuki Fujita (S5-305)
Lecture Time and Place: Tuesday, 10:4512:15, S224 Schedule: 19th, June, 3rd, 10th, 24th, 31st, July No class: 26th, June TA: Tatsuya Ibuki, Yasuaki Wasa (S5-302)

11 Frequency Domain Design

11.4 Feedback Design via Loop Shaping (9.4 Bodes Relations and Minimum Phase Systems) Keyword : Loop Shaping Bodes Relations 11.5 Fundamental Limitations Keyword : Right Half-Plane Poles and Zeros Gain Crossover Frequency Inequality

11.4 Feedback Design via Loop Shaping d Loop transfer function

r

11.4 Feedback Design via Loop Shaping

y

C ( s)
1

P(s)

Loop transfer function

L( s) = P( s )C ( s)
Sensitivity
1 S (s) = 1+ L Load disturbance
G yd = PS
(11.8)

L( s) = P( s )C ( s)
Fig. 11.1

d e

Complementary Sensitivity L T (s) = 1+ L Robust stability

dP =S (12.11) P

C ( s)
1

P(s)

dG yd G yd

< 1/ T

Fig. 11.1

(12.6)

Tracking dG yr dP =S G yr P

Measurement noise dGun dP =T (12.15) (12.13) Gun P PC 1 + =1 Trade off S + T = 1 + PC 1 + PC

Loop shaping Choosing a compensator C ( j ) that gives a loop transfer function L( j ) with a desired shape improve not only stability (Nyquist) but also performance and robustness

Loop Shaping At low frequencies 1 1 1 1 = 1 S ( j ) = < L( j ) > 101 1 + L 1 L 100 1 + L( j ) 101 Feedback Loop Gain Performance Load disturbances will be attenuated by a factor of 100
Load Disturbance Attenuation

Loop Shaping At high frequencies

L( j ) < 0.01 Loop Gain
T ( j ) = L ( j ) 1 < 0.01 1 + L( j ) 99
L L 1 = 1 + L 1 L 99

L ( j )

L ( j ) S ( j )
High-frequency Measurement Noise
Fig. 11.8
Fig. 11.8

T ( j )

(a) Frequency response ( L( j ) )(b) Frequency esponse ( S ( j ) )

(a) Frequency response ( L( j ) ) (b) Frequency response (T ( j ) )

Analysis and Design of Linear Control Systems, 03rd.

Loop Shaping Bodes Relations (9.4) the phase is uniquely given by the shape of the gain curve (minimum phase systems)
arg G ( j0 )

ngc

gc

L( j )

Bodes Relations (9.4) + m = ngc 2

ngc = 2 +

2 m

gc
ngc

gm

L( j )

d log G ( j ) [rad] 2 d log (9.8)

L( j )
Fig. 11.8

m : phase margin ( m = 30 90) ngc : slope of the gain curve at gain crossover gc
ngc = 1 m = / 2 (90) ngc = 2 m = 0 (0)
5 ngc 1 3

(11.11)

pc

L( j )
Fig. 11.8

at gain crossover frequency gc

+ m =

g m : gain margin ( g m = 2 5)

ngc

ngc : slope of the gain curve at

gain crossover frequency gc

the slope of the gain curve at gain crossover gc cannot be too steep

Loop Shaping

Load Disturbance Attenuation

L ( j )

Sensitivity Function S ( j )

Complementary Sensitivity Function T ( j )

M T < 1.25 (2 [dB])
T ( j )

gc

Bodes Relations

MS < 2

S ( j )

High-frequency Measurement Noise

Fig. 11.8

-3 bS

bT 3[dB]

A
S +T = 1 PC + =1 1 + PC 1 + PC
MS < 2

(a) Frequency response ( L( s ) ) Gain Margin g m = 1 / L(i pc ) (2 5) Phase Margin m = + arg L(i gc ) (30 60) Stability Margin sm = 1 / M S (0.5 0.8)

Maximum Peak Magnitude of S Maximum Peak Magnitude of T

M T < 1.25

Loop Shaping

11.5 Fundamental Limitations

M T < 1.25
L
T
- 3[dB]

[Ex. 11.9] Balance system (6.3)

MS < 2

S bS

gc

bT
Fig. 6.2 (a) Segway

Important Relations Exercise

gm

1 MS 2 arcsin 2M M S 1 m S

gm 1 +

1 MT

1 m 2 arcsin 2M T

1 MS 1 MT

Equations of motion && = c p & ml cos & ml sin & 2 + F (M + m ) & p && ml cos & & = & + mgl sin J + ml 2 p

(b) Cart-pendulum system

(6.4)

Analysis and Design of Linear Control Systems, 03rd.

[Ex. 11.9] Balance system (6.3)

from F to

Effect of RHP Poles

P( s) = y(s) 1 = u (s) s 1
s 1 s

C (s)

P( s)

ml ( M t J t m 2 l 2 ) s 2 + mglM t from F to p J t s 2 + mgl H pF = 2 s ( ( M t J t m 2 l 2 ) s 2 + mglM t ) H F =

Fig. 6.2 (b)

u ( s ) = C ( s )(r ( s ) y ( s ))
C ( s) =
1

Im
0

Re

y (t )

poles: 0, 0, mglMt / M t J t m2l 2 zeros:

* M t = M + m J t = J + ml 2

1 s y ( s) = r (s) + y0 s +1 ( s + 1)( s 1)

mgl / J t

)}

y0 : initial value
Im

Unstable

1.5
1

y0 = 0.01

Pole : 1, 1
Re

y0 = 0
0

H pF :

RHP pole p = 2 . 68 RHP zero z = 2 . 09

Pole Zero

Zero: 0

0.5
0

Step response

Effect of RHP Zeros

Im

Gain Crossover Frequency Inequality Re Factor the process transfer function as

as + 1 G(s) = ( s + 1)(2 s + 1)
Pole : 1, 0.5 Zero:
1 a
1.5

0.5

P( s ) = Pmp ( s ) Pap ( s )
Pmp : minimum phase part
Pap : all-pass system (nonminimum phase part s.t. Pap ( j ) = 1

(11.13)

arg Pap : negative)

a=5

a Small

No Effect

1
0.5 0

RHP poles, zeros and time delay Ex. )

a Large Overshoot
a < 0 Unstable

a = 0.1 a = 2

P(s) =

1 s 1+ s 1 s = 2 s + s +1 s + s +1 1+ s
2

minimum phase part all-pass system

Inverse Response
0
2 4

Pmp
8 10

Pap

1 j Pap ( j ) = = 1 + j

12 + ( ) 2 12 + 2

=1

Derivation of the Gain Crossover Frequency Inequality Ex. )

P(s) =

1 s 1+ s 1 s = s + s +1 s2 + s +1 1+ s
2

Phase of L( j gc )

arg L ( j gc )

* L = PC = Pmp Pap C

minimum phase part all-pass system

= arg Pap ( j gc ) + arg Pmp ( j gc ) + arg C ( j gc ) + m

Slope of L( j gc ) at gc d log L ( j ) n gc = d log =
= d log
(11.14)

Pmp
Pap
P = Pmp

Pap

arg Pmp
arg Pap

gc
m
= gc

ngc

L ( j )

gc

arg P = ??
-270

d log Pmp ( j )C ( j )

arg L( j )

* Pap ( j ) = 1

Analysis and Design of Linear Control Systems, 03rd.

Derivation of the Gain Crossover Frequency Inequality Bodes Relations

arg G ( j0 )

arg (Pmp ( j gc )C ( j gc ) )

d log G ( j ) 2 d log

Gain Crossover Frequency Inequality Gain Crossover Frequency Inequality

(9.8)

holds for minimum phase systems

arg Pap ( j gc ) m + n gc

=: l

(11.15)

d log Pmp ( j gc )C ( j gc ) d log gc 2

2

gc m

ngc

L( j )

= n gc

arg L( j )

The phase lag of the nonminimum phase component must not be too large at the cross over frequency! Nonminimum phase components may only have a phase-lag of at most 45 90 at the gain cross over frequency! L( j ) n
gc

: slope at

gc

Combining it with (11.14) arg Pap ( j gc ) + arg Pmp ( j gc ) + arg C ( j gc ) + m

arg (Pmp ( j gc )C ( j gc ) ) n gc

gc : gain crossover freq.

(11.14)

arg Pmp

arg L( j )

arg Pap ( j gc ) m + n gc

=: l

m : required phase
margin

arg P

arg Pap

(11.15)

Gain Crossover Frequency Inequality Gain Crossover Frequency Inequality

19th June, 3rd Lecture

2 =: l

arg Pap ( j gc ) m + n gc

11 Frequency Domain Design

(11.15)

allowable phase lag of Pap at gc : l m = 30 60 for high robustness 30 required phase margin : m = 60 arg Pmp gc n = 1 slope: gc 90 l = 30 gc arg Pap for lower robustness arg P required phase margin : m = 45 slope : n gc = 1 / 2 l = 90

11.4 Feedback Design via Loop Shaping (9.4 Bodes Relations and Minimum Phase Systems) Keyword : Loop Shaping Bodes Relations 11.5 Fundamental Limitations Keyword : Right Half-Plane Poles and Zeros Gain Crossover Frequency Inequality

No class: 26th June

3rd July, 4th Lecture
11 Frequency Domain Design
11.5 Fundamental Limitations Keyword : Right Half-Plane Poles and Zeros Gain Crossover Frequency Inequality