)(Self Tuning Regulators

1385

 )(Self-Tuning Regulators
) (STR


9
9
9
9
9
9

2 :
:
: )(RLS
:
:
.

: Certainty Equivalence Principle 9

.

B/A

T/R

uc

S/R

Ru = Tu c Sy

:
Diophantine Equation
Or
Bezout Identity
Or
Aryabhatta Equation

AR + BS = Ac

A (q ) = q n + a1q n 1 + " + an
B (q ) = b0q n + b1q n 1 + " + b n

R (q ) = r0q n 1 + r1q n 2 + " + rn 1

S (q ) = s 0q n 1 + s1q n 2 + " + s n 1

2n-1

Ac

 B(q) A(q) :1
.

: :2
an
a
n 1
#

a1
E = 1

0
#

0
0

0
an

a1
1
0
#
0

"
"

0
0
#
an
an 1
#

bn
0
b n 1 b n
# b n 1
b1
b0
0

#
b1
b0

0
#

a1
1

"
"

0
0
#

bn
b n 1

b1
b 0

2nx2n Matrix
Is non-singular
If and only if
A, B are coprime

 :3

Ac = 0q 2 n 1 + 1q 2 n 2 + " + 2 n 1
rn 1 2 n 1
r

n 2 2n 2
# #

E 0 =
s n 1

s n 2

# #

s 0 0

rn 1
r
n 2
#

r
0 =E
s n 1

s n 2
#

s 0

2 n 1

2n 2
#

:
v

uc
Ru = Tu c Sy

TRACKING

u
B/A

BT
BR
y=
uc +
v
AR + BS
AR + BS
AT
BS
u=
uc
v
AR + BS
AR + BS
STABILITY

A*(q1) =qnA(q)
A*(q1)y (t ) =B*(q1)[u(t d0)+v (t d0)]
Where,
1

A (q ) =1+aq
+"+aq
n
1
*

B (q ) =b0 +bq
+"+bmq
1
*

d0 =n m

(Model Following)
: 9
Am y m (t ) = Bmuc (t )
BT
BT Bm

=
=
Perfect Model-Following
AR + BS Ac Am

. Ac BT - 9

B = B +B
where,
B + = Monic Stable Polynomial with well damped roots
B = Unstable or poorly damped roots
Let,
B m = B B m'
And,
Ac = Ao A m B '
Diaphontine Equation R = R ' B +
A R ' + B S = A o A m = A c'

T = A o B m'


9 )-( )-(
:
deg S deg R
degT deg R

R0

S0

:
R = R 0 + QB ,

S = S 0 QA

Minimum Degree Solution

Max(degS)=n-1

deg Ac 2deg A 1
deg Am deg Bm deg A deg B = d0
Causality
Conditions


9:
9 B m , and Ao :
9 :

MDPP

A, B

Am ,

deg A m = deg A

deg B m = deg B
deg Ao = deg A deg B + 1
'B m = B B m

 9 :1 B = B + B
9 :2

AR +B S =AoAm R , S degS <degA

'

'

9 :3
+

R =R B

'
m

T = Ao B

'

Ru = Tu c S y


'

Ac = Ao A m B

:
n-1 .
2n-1 .

.

)(Indirect Self-Tuning Regulators

A , B

) (STR

Am , B m , Ao

RLS

R , S ,T

Ru =Tuc Sy

RLS
A (q ) y (t ) = B (q )u (t ),

A , B Unknown, deg A = n , deg B = m

y (t ) = a1y (t 1) "an y (t n) +bu

1 (t + m n 1) +"+ bmu (t m) Unknown Parameters

y (t ) = T (t 1)
RLS

.

 :
:

.
=

)max(n,m-d0

m+n-1

) N = n + m + 1 + max(n , m + d 0

=n+m-1

 STR

9:
9 :1
9 :2
9 :3

A m , B m , and Ao

RLS
MDPP S , R ,T

=Tu
Sy
Ru
c

(Direct Self-Tuning Regulators)

Am , B m , A o ,d 0

(STR )

RLS

R , S ,T

uc

Ru =Tuc Sy

 :
:
) A (q ) y (t ) = B (q )u (t

:
) A m y m (t ) = B m u c (t

:
AR ' + B S = Ao A m
) Ao A m y (t ) = AR ' y (t ) + B Sy (t
) =R ' Bu (t ) + B Sy (t
) =R ' B + B u (t ) + B Sy (t
)) =RB u (t ) + B Sy (t ) = B (Ru (t ) + Sy (t


d eg A o = d eg A d eg B 1, an d B

= co n stan t= b 0

A o A m y (t ) = b 0 ( R u (t ) + S y (t ))
= R u (t ) + Sy (t )
A ll zeo rs can celled : B m = q d 0 A m (1) is a g o o d ch o ice. L et
y

= [ r0 r1 " rl s 0 " s l ]
(t ) = [u (t ) " u (t l )

(t ) " y (t l )]

(t ) = A o* (q 1 ) A m* (q 1 ) y (t ) = T (t d 0 )

:
y (t ) =

1
( Ru (t ) + Sy (t )) = R *u f (t d 0 ) + S * y f (t d 0 )
Ao A m

where ,
u f (t ) =

1
u (t )
*
1
1
*
A o (q ) A m (q )

y f (t ) =

1
y (t )
*
*
1
1
A o (q ) A m (q )

and,

d 0 = deg A deg B , deg R = deg S = deg( A o A m ) d 0 = l

y (t ) = T (t d 0 )

=[r0 r1 " rl s 0 " s l ]

(t ) = [u f (t ) "u f (t l )

(t ) " y f (t l )]

 STR

9:
9 :1
9 :2

A m , B m , Ao , and d 0

y (t ) = R uf (t d 0 ) + S y f (t d 0 ) and RLS
*

))R*u =T *uc S*y , (T * = Ao*Am (1

:1 .
:2 .
:3 R . r0 0
.
:4 .

NMP Systems

: 9

AoAm y (t ) = B(Ru(t ) +Sy (t )), degR = degS = deg(AoAm ) degB

Let ,
S = BS , R = BR
1
(Ru(t ) +Sy (t )) = R*uf (t d0) +S *yf (t d0)
y (t ) =
AoAm

 STR

9:
9 :1

A m , B m , Ao , and d 0

y (t ) = R *u f (t d 0 ) + S * y f (t d 0 ) and RLS

9 :2 R . S R . S
9 :3

) 'R*u =T *uc S*y , (T * = Ao*Bm

 :1 .
:2 .
:3 :
'BBm
= ) ym (t
) uc (t
Am
Let ,e = y ym
B
= ) e(t
)(Ru(t ) +Sy (t ) Tuc (t )) = R*uf (t d0) +S *yf (t d0) T *ucf (t d0
AoAm

 STR

9:

A m , Ao

9 :1

Ay (t ) = Bu (t ) and RLS

9 :2 R . S R S
.
9 Am (1) :3
)

)B(1

= Ru =Tuc Sy , (T =toAo ,to

. 2 :1
: :2
Let,e =y ym
B
*
*
e(t) =

+
(Ru(t)+Sy(t)t0uc (t)) =B*(Ru
(
t
d
)
S
yf (t d0)t0ucf (t d0))
0
f
AoAm


9
9
9
9



Internal Model Principle

:
-

:
Process Control

Ad v = e

e
1
Ad

B
A

 :
BT
BR
=y
uc +
e
AR + BS
) Ad (AR + BS
AT
BS
uc
e
AR + BS
) Ad (AR + BS

=u

9 Ad
!
9 : R = R 'Ad
.


L e t,

,S

A R

0
c

+ B S

= A

+ B X S

= X A

0
c

If,
R = X R
S = X S

0
0

+Y B
Y A

T hen,
A X R

0
c

A ( R Y B ) + B (S + Y A ) = X A
A R A Y B + B S + B Y A = X A

A R + B S = X A

0
c
0
c

0
c

R, S

+Y B

R Ad = X R
'

'

R ,Y

 :
L e t, D is tu rb a n c e = S te p , T h e n
Ad = q 1
R = (q 1) R

'

A d d e d C -L P o le ,
X A c0 = ( q + x
(q 1) R

) A c0

= (q + x

)R

+ y 0B

q = 1

L e t,

(1 + x
y

'

)R

+ y 0B = 0

(1 + x 0 )
B (1 )

:
(1+ x 0 )R 0
R = (q + x 0 )R +
B
B (1)

x
R
+
(1
)
0
S = (q + x 0 )S 0 +
A
B (1)


9 .
9 : .
:

) Ay (t ) = Bu (t ) + Bv (t

)B(1
.

Ad v = e
)) Ad Ay (t ) = Ad B (u (t ) + v (t

) Ay f (t ) = Bu f (t ) + Be (t
9 .
. .
- .

 : -

 STR
Process: A(q )y (t ) = B (q )(u (t ) +v (t )), d = deg A deg B
Desired Responce: Am (q )y (t ) = Am (1)uc (t d ), deg Am d
Design Equation: AR + BS = B +Ao Am , B = b0B +
Integral Action:

R = R 'B + = R1'B + (q 1) = R1'B +

AR1' +b0S = Ao Am
Ao Am y (t ) = AR1'y (t ) +b0Sy (t )
=BR1'u (t ) +b0R 'v (t )
......A0* (q 1)Am* (q 1)y (t +d ) = b0[R '* (q 1)(q 1)u (t ) + S * (q 1)y (t )]

Note That,
b0S (1) = A (1)A (1) = Ao (1)Am (1)
*

*
o

*
m

Let,
b0S *(q 1) = Ao (1)Am (1) + (1q1)S '*(q1)
= Ao (1)Am (1) +S '*(q 1)*

A (q )A (q )y(t +d)A0(1)Am(1)y(t )
*
0

*
m

=b0[R'*(q1)*(q1)u(t )+S'*(q1)*y(t )]
=R*(q1)*(q1)u(t )+S*(q1)*y(t )

A0(1)Am(1)
y(t +d) * 1 * 1 y(t ) =R*(q1)uf (t )+S*(q1)yf (t ) (*)
A0(q )Am(q )

1q1
u(t )
* 1 * 1
A0(q )Am(q )

1q1
y(t )
* 1 * 1
A0(q )Am(q )

:
R * (q 1 )* (q 1 )u (t ) + S * (q 1 )* y (t ) + A0 (1)Am (1) y (t ) = A0* (q 1 )Am* (q 1 )u (t )

Integrator Windup

Ao* (q 1 )[u (t ) A m (1)u c (t )] = A 0 (1)A m (1) y (t ) S * (q 1 )* y (t ) [ R * (q 1 )* (q 1 ) Ao* (q 1 )]u (t )
u (t ) = satu (t )

(**)

STR

9 :1 )*( .
9 :2 1
)**( .

 Case Studies

9
9
9
9
9

TANK LEVEL CONTROL SYSTEM

Setpoint & Plant Output

Identification model parameters

40
Plant output
setpoint

50

1.1
te ta 1

T a n k L e v e l(c m )

60

40

30

30

0.9

20

0.8

S
T
R

20
10

100

200

300

400

500

600

700

800

900

1000

100

200

300

400

500

600

700

800

900

1000
0

Control Signal
-10
0.1
te ta 2

in le t v a lv e p o s itio n

100

50

100

200

300

400 500 600

time (seconds)

700

800

900

1000

-20

0.05

-30

100

200

300

400 500 600

time(seconds)

700

800

900

1000

-40

100

200

300

400 500 600

time(seconds)

700

800

900

1000

TANK LEVEL CONTROL SYSTEM

250 10
Setpoint & Plant Output

Identification model parameters landa=0.99 Ts=1sec

Controller parameters Am=[1 -0.92]

1.1
Plant output
setpoint

40

30
20
10

S
T
R

1
teta1

T an k L evel(cm )

50

4
0.9

3
2

0.8

1
Control Signal
0
-1

0.1
teta2

in let valve p o sitio n

100

50

50

100

150

200 250 300

time (seconds)

350

400

450

500

-2
0.05

-3
0

50

100

150

200 250 300

time(seconds)

350

400

450

500

-4

50

100

150

200 250 300

time(seconds)

350

400

450

500

TANK LEVEL CONTROL SYSTEM

250 10
Setpoint & Plant Output

Identification model parameters landa=0.99 Ts=1sec

Plant output
setpoint

40

te ta 1

T an k L evel(cm )

50

30

20

Controller parameters Am=[1 -0.92]

1.3

1.2

1.1

S
T
R

0.9

1
Control Signal

0.03

0
-1

0.02
te ta 2

in let valve p o sitio n

100

50

50

100

150

200 250 300

time (seconds)

350

400

450

500

-2
0.01

-3
0

50

100

150

200 250 300

time(seconds)

350

400

450

500

-4

50

100

150

200
250 300
time(seconds)

350

400

450

500

TANK LEVEL CONTROL SYSTEM

Setpoint & Plant Output

Identification model parameters landa=0.9999 Ts=1sec

Controller parameters S,T & R

1.05
Plant output
setpoint

50
40

0.95

0.9

30

0.85

20

0.8

S1
S0

1
te ta 1

T a n k L e v e l(c m )

60

0.1
T
0.05

Control Signal

0.1
0

0.08
te ta 2

in le t v a lv e p o s itio n

100

50

0.06

0.04

0.02
0

100

200

300

400 500 600

time (seconds)

700

800

900

1000

R1
R0

-1
0

100

200

300

400 500 600

time(seconds)

700

800

900

1000

100

200

300

400 500 600

time(seconds)

700

800

900

1000

TANK LEVEL CONTROL SYSTEM

350 10
T
an
kL
evel(cm
)

Se tpoint & Pla nt Output

Pla nt output
se tpoint

50
40
30
20

in
letvalvep
o
sitio
n

Control Signa l
100

50

100

200

300
400
time (se conds)

500

600

700

TANK LEVEL CONTROL SYSTEM

10 350
T
a
n
kL
e
v
e
l(c
m
)

Se tpoint & Pla nt Output

60

Pla nt output
se tpoint

50
40
30
20

in
le
tv
a
lv
ep
o
s
itio
n

Control Signa l
100

50

100

200

300
400
time (se conds)

500

600

700

PRESSURE CONTROL SYSTEM

o
p
ii
ii

PRESSURE CONTROL SYSTEM

o
p
ii
ii

PRESSURE CONTROL SYSTEM

PRESSURE CONTROL SYSTEM

FLOW CONTROL SYSTEM

FLOW CONTROL SYSTEM

TEMPERATURE CONTROL SYSTEM

TEMPERATURE CONTROL SYSTEM



Take off
: BOOSTER

Lift

 9 :
9 ) ( :
)(No Roll Missile

9 :

 9 ) ( :

K
=
) s (s + p

 9 :
.

 9

:
3
2

39.44s +141.2
s 2 + 4.301s + 203.2

= ) G (s

 9
:

 9 :STR .6


9
9
9
9
9
9

STR :