Professional Documents
Culture Documents
Control System Design
Control System Design
Outline
MIMO Systems
Outline
MIMO Systems
Transfer Matrices, Poles and Zeros
Outline
MIMO Systems
Transfer Matrices, Poles and Zeros
Stability
Outline
MIMO Systems
Transfer Matrices, Poles and Zeros
Stability
Interaction, Decoupling and Diagonal Dominance
Outline
MIMO Systems
Transfer Matrices, Poles and Zeros
Stability
Interaction, Decoupling and Diagonal Dominance
Sensitivities, Performance and Robustness
Outline
MIMO Systems
Transfer Matrices, Poles and Zeros
Stability
Interaction, Decoupling and Diagonal Dominance
Sensitivities, Performance and Robustness
MIMO IMC Control
Outline
MIMO Systems
Transfer Matrices, Poles and Zeros
Stability
Interaction, Decoupling and Diagonal Dominance
Sensitivities, Performance and Robustness
MIMO IMC Control
MIMO Systems
Up to now we have assumed that a control problem can be
reduced to controlling a single control variable with a
single manipulated variable. The two are assumed to be
related via some simple (linear) dynamics, for example, a
transfer function
Y(s) = G(s)U(s),
where Y, G, U : C 7 C.
MIMO Systems
Up to now we have assumed that a control problem can be
reduced to controlling a single control variable with a
single manipulated variable. The two are assumed to be
related via some simple (linear) dynamics, for example, a
transfer function
Y(s) = G(s)U(s),
where Y, G, U : C 7 C.
MIMO Systems
Up to now we have assumed that a control problem can be
reduced to controlling a single control variable with a
single manipulated variable. The two are assumed to be
related via some simple (linear) dynamics, for example, a
transfer function
Y(s) = G(s)U(s),
where Y, G, U : C 7 C.
Raffinate
Bacteria population
Oxygen flow
1
Blower
Air
Ore leaching
Raffinate pond
3
Fe oxidation
Metallic Cu extraction
PLS pond
Transfer Matrices
When a MIMO system can be represented by a LTI model,
we can use an external representation that extends the idea
of a transfer function: a transfer matrix function
U (s)
G (s) G12 (s) G1p
Y (s)
1
11
.. ..
..
..
.. =
..
.
.
.
.
.
.
Yq (s)
Gqp
Up (s)
Transfer Matrices
When a MIMO system can be represented by a LTI model,
we can use an external representation that extends the idea
of a transfer function: a transfer matrix function
U (s)
G (s) G12 (s) G1p
Y (s)
1
11
.. ..
..
..
.. =
..
.
.
.
.
.
.
Yq (s)
Gqp
Up (s)
G(s) =
3.71
62s+1
4.7(11 )
(30s+1)(90s+1)
3.7(12 )
(23s+1)(62s+1)
4.72
90s+1
G(s) =
3.71
62s+1
3.7(12 )
(23s+1)(62s+1)
4.7(11 )
(30s+1)(90s+1)
4.72
90s+1
p2 = 1/23,
p3 = 1/30,
p4 = 1/90.
G(s) =
3.71
62s+1
3.7(12 )
(23s+1)(62s+1)
4.7(11 )
(30s+1)(90s+1)
4.72
90s+1
p2 = 1/23,
p3 = 1/30,
p4 = 1/90.
3.7(1 2 )
(23s+1)(62s+1)
3.7 1
62s+1
4.7(1 1 )
(30s+1)(90s+1)
4.7 2
90s+1
4.7
3.7
(62s + 1) (90s + 1)
3.7 4.7
=
(62s + 1)(90s + 1)
1 2
(1 1 )(1 2 )
(30s + 1)(23s + 1)
3.7(1 2 )
(23s+1)(62s+1)
3.7 1
62s+1
4.7(1 1 )
(30s+1)(90s+1)
4.7 2
90s+1
4.7
3.7
(62s + 1) (90s + 1)
3.7 4.7
=
(62s + 1)(90s + 1)
1 2
(1 1 )(1 2 )
(30s + 1)(23s + 1)
G(s) =
1
(s+1)
1
2(s+1)(s+2)
4
(s+1)(s+2)
2
(s+1)
2)2
(s + 1)2
2
2
1
2 (s + 2) 1
=
1
=
2
2
(s + 1)
(s + 2)
(s + 1)2 (s + 2)2
2(s + 3)(s + 1)
=
=.
2
2
(s + 1) (s + 2)
2(s +
1)2 (s
G(s) =
1
(s+1)
1
2(s+1)(s+2)
4
(s+1)(s+2)
2
(s+1)
2)2
(s + 1)2
2
2
1
2 (s + 2) 1
=
1
=
2
2
(s + 1)
(s + 2)
(s + 1)2 (s + 2)2
2(s + 3)
=
.
2
(s + 1)(s + 2)
2(s +
1)2 (s
G(s) =
1
(s+1)
1
2(s+1)(s+2)
4
(s+1)(s+2)
2
(s+1)
4
+
2)2
(s + 1)2
2
2
1
2 (s + 2) 1
=
1
=
2
2
(s + 1)
(s + 2)
(s + 1)2 (s + 2)2
2(s + 3)
=
.
2
(s + 1)(s + 2)
2(s +
1)2 (s
G(s) =
4
(s+1)(s+2)
2
(s+1)
1
(s+1)
1
2(s+1)(s+2)
2(s + 3)
(s + 1)(s +
2)2
Stability
Instability
0
s-plane
(a) Continuous-time
Stability
Instability
Instability
Stability
0
s-plane
(c) Continuous-time
z-plane
(d) Discrete-time
where
(1 1 )(1 2 )
1 2
U (s)
G (s) G12 (s)
Y (s)
1
1 = 11
Y2 (s)
G21 (s) G22 (s)
U2 (s)
=
G12 (s)U1 (s) + G22 (s)U2 (s)
U (s)
G (s) G12 (s)
Y (s)
1
1 = 11
Y2 (s)
G21 (s) G22 (s)
U2 (s)
=
G12 (s)U1 (s) + G22 (s)U2 (s)
When the MIMO system is such that each input only affects
one particular output, different from the outputs affected by
other inputs, the system is decoupled or noninteracting.
The University of Newcastle
u2
y2
G21 (s)
G22 (s)
- i-c
6
u2
c
6
y2
G21 (s)
G22 (s)
K(s)
- i-c
6
u2
c
6
y2
G21 (s)
G22 (s)
K(s)
- i-c
6
Qi (s)
1 Qi (s)Gii (s)
u1
- G 11 (s)
-yb1
u2
- G 22 (s)
-yb2
- G 33 (s)
y3
b
b
u3
-b
.
.
.
un
- G nn (s)
-y nb
Qi (s)
1 Qi (s)Gii (s)
K 1 (s)
-ub1 - G 11 (s)
-yb1
K 2 (s)
-ub2 - G 22 (s)
-yb2
K 3 (s)
-b
u3
.
.
.
K n (s)
- G 33 (s)
y3
-b
.
.
.
-u nb - G nn (s)
-y nb
Diagonal Dominance
Non-diagonal plants cannot, in general, be approached as
a multiple SISO problem, because of coupling. However, in
some cases a plant is sufficiently diagonal, which still makes it
easier to control.
Diagonal Dominance
Non-diagonal plants cannot, in general, be approached as
a multiple SISO problem, because of coupling. However, in
some cases a plant is sufficiently diagonal, which still makes it
easier to control.
Loosely, a diagonally dominant plant has a transfer matrix in
which the transfer functions on the diagonal are greater in
magnitude than the off-diagonal elements.
Diagonal Dominance
Take the four tank apparatus with 1 = 2 = . We see that the
higher the value of , the more the leading diagonal dominates.
Bode Magnitude Diagram
From: U(1)
From: U(2)
20
To: Y(1)
20
Magnitude (dB)
40
=0.55
60
20
To: Y(2)
0
20
40
60
80
3
10
10
10
10 10
Frequency (rad/sec)
10
10
10
Diagonal Dominance
Take the four tank apparatus with 1 = 2 = . We see that the
higher the value of , the more the leading diagonal dominates.
Bode Magnitude Diagram
From: U(1)
From: U(2)
20
To: Y(1)
0
20
40
Magnitude (dB)
60
=0.55
=0.75
80
20
To: Y(2)
0
20
40
60
80
3
10
10
10
10 10
Frequency (rad/sec)
10
10
10
Diagonal Dominance
Take the four tank apparatus with 1 = 2 = . We see that the
higher the value of , the more the leading diagonal dominates.
Bode Magnitude Diagram
From: U(1)
From: U(2)
20
To: Y(1)
0
20
40
=0.55
=0.75
=0.85
Magnitude (dB)
60
80
20
To: Y(2)
0
20
40
60
80
3
10
10
10
10 10
Frequency (rad/sec)
10
10
10
Diagonal Dominance
Take the four tank apparatus with 1 = 2 = . We see that the
higher the value of , the more the leading diagonal dominates.
Bode Magnitude Diagram
From: U(1)
From: U(2)
20
To: Y(1)
0
20
40
=0.55
=0.75
=0.85
=0.95
Magnitude (dB)
60
80
50
To: Y(2)
50
100
3
10
10
10
10 10
Frequency (rad/sec)
10
10
10
Diagonal Dominance
A plant can sometimes be made to be diagonally dominant, at
least at some critical frequencies.
One possibility is to achieve decoupling at DC by making
G(0) diagonal using a static pre-compensator at the input of
the plant P = G1 (0), so that PG(0) = I.
Precompensator
c-
G1 (0)
Plant
G(s)
-c
Diagonal Dominance
A plant can sometimes be made to be diagonally dominant, at
least at some critical frequencies.
One possibility is to achieve decoupling at DC by making
G(0) diagonal using a static pre-compensator at the input of
the plant P = G1 (0), so that PG(0) = I.
Precompensator
c-
G1 (0)
Plant
G(s)
-c
P=
=
3.7
4.7(1 )
3.7(1 )
4.7
4.7
1
3.7( 1)
3.7
Diagonal Dominance
The figure below shows the Bode magnitudes of the four tank
apparatus, with and without precompensation for DC
decoupling, for = 0.75.
Bode Magnitude Diagram
From: U(1)
From: U(2)
To: Y(1)
20
40
60
Magnitude (dB)
Precompensated
Uncompensated
80
20
To: Y(2)
0
20
40
60
80
4
10
10
10
10
10 10
10
Frequency (rad/sec)
10
10
10
3.71
3.7(12 )
4.7(11 )
4.72
G1 (0)T =
so
=
with =
4.72
4.7(1 1)
3.71
3.7(2 1)
3.74.7(1 +2 1)
1 2
1 + 2 1
3.71
3.7(12 )
4.7(11 )
4.72
G1 (0)T =
so
=
with =
4.72
4.7(1 1)
3.71
3.7(2 1)
3.74.7(1 +2 1)
1 2
1 + 2 1
di
b
u +?
+-.
- h
G(s)
do
b
?
+h
+
ym
y
-b
+
?
h nb
+
The difference with SISO systems is that G(s) and K(s) are
now transfer matrices, so we must be more careful with their
algebraic manipulation (matrix products do not commute).
di
b
u +?
+-.
- h
G(s)
do
b
?
+h
+
ym
y
-b
+
?
h nb
+
The difference with SISO systems is that G(s) and K(s) are
now transfer matrices, so we must be more careful with their
algebraic manipulation (matrix products do not commute).
As for SISO systems, we define
S = (I + GK)1
T = (I + GK)1 GK
=0.95
=0.5
10
5
0
5
10
15
20
25
30
35
3
10
10
10
10
Frequency (rad/sec)
for [0, B]
G(s) =
4
(s+1)(s+2)
2
(s+1)
1
(s+1)
1
2(s+1)(s+2)
1
2
(s
+
2)
s+2
G1 (s) =
2(s + 3) 2
1
4
s+2
1
2
(s
+
2)
s+2
G1 (s) =
2(s + 3) 2
1
4
s+2
1
1
(s + 2)2
s+2
,
Q(s) =
4
2(s + 3)(s + 1) 2
s+2
The University of Newcastle
Step2
Step3
2
References
U
2
2
Step
2
2
2
LTI System
2
2
LTI System1
2
Step1
2
G0
LTI System2
1.5
0.5
10
15
20
t [s]
25
30
35
40
0.5
u (t)
1
u (t)
2
Disturbances
0.5
Step2
Step3
2
References
U
2
2
Step
2
1.5
2
2
LTI System
2
2
LTI System1
2
Step1
10
15
20
t [s]
25
30
35
40
G0
LTI System2
1.5
0.5
10
15
20
t [s]
25
30
35
40
0.5
u (t)
1
u (t)
2
Disturbances
0.5
Step2
Step3
2
References
U
2
2
Step
2
1.5
2
2
LTI System
2
2
LTI System1
2
Step1
10
15
20
t [s]
25
30
35
40
G0
LTI System2
1.5
0.5
10
15
20
t [s]
25
30
35
40
0.5
u (t)
1
u (t)
2
Disturbances
0.5
Step2
Step3
2
References
U
2
2
Step
2
1.5
2
2
LTI System
2
2
LTI System1
2
Step1
10
15
20
t [s]
25
30
35
40
G0
LTI System2
10
15
20
25
30
35
40
0.5
u (t)
1
u (t)
2
Disturbances
2
Step2
0.5
Step3
2
References
U
2
Step
2
2
2
LTI System
2
2
LTI System1
2
Step1
1.5
10
15
20
25
30
35
40
G0
LTI System2
Summary
SISO transfer functions generalise to MIMO as transfer matrix
functions, with the associated (although more subtle)
concepts of poles and zeros. Transfer matrix manipulations
are more complex, since matrix products do not commute.
Summary
SISO transfer functions generalise to MIMO as transfer matrix
functions, with the associated (although more subtle)
concepts of poles and zeros. Transfer matrix manipulations
are more complex, since matrix products do not commute.
Many control problems require multiple inputs to be
manipulated simultaneously in an orchestrated manner. A
key difficulty in achieving an appropriate orchestration of the
inputs is the multivariable directionality, or coupling.
Summary
SISO transfer functions generalise to MIMO as transfer matrix
functions, with the associated (although more subtle)
concepts of poles and zeros. Transfer matrix manipulations
are more complex, since matrix products do not commute.
Many control problems require multiple inputs to be
manipulated simultaneously in an orchestrated manner. A
key difficulty in achieving an appropriate orchestration of the
inputs is the multivariable directionality, or coupling.
Decentralised control might be an option when the plant is
diagonally dominant. A practical rule to pair inputs and
outputs is based on the Relative Gain Array.
Summary
The concepts of stability, sensitivity functions, performance
and robustness, generalise directly to MIMO systems.
Summary
The concepts of stability, sensitivity functions, performance
and robustness, generalise directly to MIMO systems.
IMC design for MIMO systems is essentially the same as for
SISO systems. Yet, the synthesis process is more subtle, and
the required computations may get much more involved.
Summary
The concepts of stability, sensitivity functions, performance
and robustness, generalise directly to MIMO systems.
IMC design for MIMO systems is essentially the same as for
SISO systems. Yet, the synthesis process is more subtle, and
the required computations may get much more involved.
We will come back to MIMO systems with State Space
System Theory and Control Design.