5.

2 NORMS OF SISO LTI SYSTEMS

105

1:6 1:4 1:2 1 0:8 0:6 0:4 0:2 0

; Y HH
(b)

kH13 kpk step

= 1 40
: kH13 kpk step

(a)

= 1 36
:

@ I @ I
s13

s13

(b)

()
t

(a)

()
t

;0 2
:

t The step responses of the transfer functions in (5.17) and (5.18). (b) (a) Note that 13 pk step = 1.36, and 13 pk step = 1.40.
Figure 5.8
kH k kH k

10

10
kH13 k

(a)

1 = 1 47
:

kH13 k

(b)

1 = 3 72
:

Hj

0:1
(a)

jH13

( )

j! j

;
10

jH13

(b)

( )

j! j

! Figure 5.9 The magnitudes of the transfer functions in (5.17) and (5.18). (a) (b) Note that kH13 k1 = 1.47, and kH13 k1 = 3.72.

0:01 0:1

100

7.2 INTERNAL STABILITY

1:8 1:6 1:4 1:2 1 0:8 0:6 0:4 0:2 0 ;0:20 20
(a) 13 ( )

151

;s

10 0
(b) 13 ( )

@s I
1 2

;10 ;20
5 0 1 2

;s I @ s
t
3

(b) 23 ( )

(a) 23 ( )

1:8 1:6 1:4 1:2 1 0:8 0:6 0:4 0:2 0 ;0:20

;0:3

(a)

20 10

(b)
= 1:3 =1

=0

s13 (t)

H Y H Y H H Y H H
1

s23 (t)

= 0:5 =1 = 1:3

;10 ;20
0 1

@ I @ I @ @ I @ @
2

= 0:5 =0 = 0:3

(d) (c) (a) shows the closed-loop step responses from r to yp for the standard example with the two controllers K (a) and K (b) . (b) shows the step responses from r to u. In (c) and (d) the step responses corresponding to ve di erent values of are shown. Each of these step responses is achieved by some controller.
Figure 7.2

7.2.1

A Motivating Example

This controller yields the closed-loop I/O transfer function 33 + 36 33 + 36 ( ) = 3 + 10 2 + 33 + 36 = ( + 3)2 ( + 4) which is a stable lowpass lter. Thus, we will have p provided the reference signal does not change too rapidly the controller yields good tracking of slowly
T s s s s s s s s y r r K

Consider our standard example SASS 1-DOF control system described in section 2.4, with the controller + 33 ( ) = 36 10 ;
K s s s :

240

CHAPTER 10 ROBUSTNESS SPECIFICATIONS VIA GAIN BOUNDS

where Hz ~w ~ is some entry or submatrix of H (c.f. robust stability, which involves the gain bound kHz ~w ~ k1 < 1). Throughout this section, we will consider the robustness speci cation that is formed from the perturbed plant set P and the RMS gain bound speci cation kHz~w (10.75) ~ k1 1: We will refer to this robust performance speci cation as Drob perf . We will also assume that the perturbed plant set P is described by a perturbation feedback form for which the maximum RMS gain of the feedback perturbations is one, i.e., M = 1 in (10.54). The inner approximation of Drob perf is

Hz ~w ~ Hz ~p Hqw ~ Hqp

Like the inner approximation (10.57{10.60) of the robust stability speci cation Drob stab, we can interpret (10.76) as limiting the size of Hz~p, Hqw ~ , and Hqp . Let us show that (10.76) implies that the speci cation (10.75) holds robustly, i.e., ;1 ~ k1 1 for all 2 : kHz~w (10.77) ~p (I ; Hqp ) Hqw ~ + Hz Assume that (10.76) holds, so that for any signals w ~ and p we have z ~ ~ < w (10.78) where

< 1:

(10.76)

rms

rms

Since k k1 1, we have

The inequality (10.78) can be rewritten 2 2 kz ~k2 ~ k2 (10.79) rms + kq krms < kw rms + kpkrms : Now assume that p = q, where 2 , so that these signals correspond to closed-loop behavior of the perturbed system, i.e., ;1 ~ w: z ~ = Hz ~ (10.80) ~w ~ + Hz ~p (I ; Hqp ) Hqw

z ~ Hz ~w ~ Hz ~p q = Hq w ~ Hqp

w ~ p :

From (10.79{10.81) we conclude that

kpkrms kqkrms: kz ~krms =

(10.81)
rms

;1 ~ w ~ Hz ~w ~p (I ; Hqp ) Hqw ~ + Hz kw ~krms:

11.1 I/O SPECIFICATIONS

251

1:6 1:4 1:2 1 0:8 0:6 0:4 0:2 0

(a) 13

; Is @

(c) 13

(b) 13

;0 2
:

The step responses from the reference input, r, to plant output, yp , for the closed-loop transfer matrices H (a) , H (b) , and H (c) .
Figure 11.2

10

2 1:5 9 1 8 0: 5 0 5 7

;0 5
:

;1 ;1
Figure 11.3

;0 5
:

0:5

1:5

Level curves of the step response settling time, from the reference r to yp , given by (11.1).