Department For Automatic Control and Electronics Faculty of Electrical Engineerging University of Sarajevo Sarajevo, Decemeber, 2014 Adnan Tahirovic

Robust Control
Department for Automatic Control and Electronics

Faculty of Electrical Engineerging
Sarajevo, Decemeber, 2014
University of Sarajevo
Adnan Tahirovic
Robust Control
Robust Control
Requirements
Robust Control
Requirements on a dynamic system
Stability,
step response (rise time, settling time, overshoot),
CL bandwidth,
CL resonant pick,
PM, GM
Robust Control
Sensitivity
Robust Control
Sensitivity
Robust Control
Uncertainties
Parametric uncertainty (can be described in frequency domain)

Neglected and unmodelled dynamics uncertainty (frequency domain)
Lumped uncertainty (frequency domain)
Robust Control
Parametric Uncertainties (k)
Bode Diagram
40
20
Magnitude (dB)
Magnitude (dB)
Bode Diagram
20
-20
-40
-20
-60
-40
-80
720
-60
0
-360
Phase (deg)
540
Phase (deg)
360
180
-720
-1080
-1440
-1800
0
-2
10
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Frequency (rad/sec)
1.4
16
1.2
14
12
0.8
frequency
step response
10
0.6
0.4
10
8
6
4
0.2
2
10
15
time
20
25
30
4
6
8
overshoot percentage
10
12
Robust Control
Parametric Uncertainties (\tau)
Bode Diagram
40
20
Magnitude (dB)
Magnitude (dB)
Bode Diagram
20
-20
-40
-20
-40
0
-60
720
-360
540
Phase (deg)
Phase (deg)
360
180
-720
-1080
-1440
-1800
-2
-1
10
10
10
10
-2
10
-1
10
10
Frequency (rad/sec)
10
10
Frequency (rad/sec)
20
1.4
1.2
15
frequency
step response
1
0.8
0.6
0.4
10
0.2
0
10
15
time
20
25
30
6
8
10
12
Robust Control
Parametric Uncertainties (\theta)
Bode Diagram
40
20
Magnitude (dB)
Magnitude (dB)
Bode Diagram
20
-20
-40
0
-20
-60
-40
-80
720
-60
0
Phase (deg)
Phase (deg)
-360
540
360
180
-1080
-1440
-1800
0
-2
-1
10
10
10
-2
10
10
10
10
10
Frequency (rad/sec)
16
14
12
frequency
1.2
0.8
0.6
0.4
10
8
6
4
0.2
0
-1
10
Frequency (rad/sec)
1.4
step response
-720
2
0
10
15
time
20
25
30
6
8
10
Robust Control
Parametric Uncertainties (K, \tau, \theta)
Bode Diagram
20
Magnitude (dB)
40
-20
-40
0
-20
-60
-40
-80
720
-60
0
540
-360
Phase (deg)
Phase (deg)
Magnitude (dB)
Bode Diagram
20
360
180
-720
-1080
-1440
0
-3
-2
10
-1
10
10
10
10
10
-1800
-2
-1
10
10
Frequency (rad/sec)
10
10
Frequency (rad/sec)
25
1.4
1.2
20
frequency
step response
1
0.8
0.6
15
10
0.4
5
0.2
0
0
0
10
15
time
20
25
30
5
10
15
20
Robust Control
Systems with uncertain parameters
Robust Control
Systems with uncertain parameters
UNSTABLE
System is not robust!
Robust Control
Norms
Robust Control
Norms
Robust Control
Parametric Uncertainties
Frequency domain form (appropriate for all types of uncertainties)
Multiplicative uncertainty
sa 1
,
,
s a s 1
1
0.1
,
(5s 1) 3 s 2 0.1s 1
Robust Control
Multiplicative and inverse multiplicative uncertainties
GAIN UNCERTAINTY
Inverse multiplicative uncertainty

TIME CONSTANT UNCERTAINTY
Robust Control
Multiplicative and inverse multiplicative uncertainties
Lumped uncertainty to describe parametric uncertainty
Reasons
Robust Control
Representing uncertainty in the frequency domain
Nyquist Diagram
Nyquist Diagram
3
2
2
Imaginary Axis
Imaginary Axis
-1
-1
-2
-2
-2
-1
1
Real Axis
-3
-2
-1
1
Real Axis
Robust Control
Robust Control
Nyquist Diagram
3
Imaginary Axis
Gp (s) G(s)(1 lI _ real (s) I (s))
-1
-2
-3
-2
-1
Real Axis
Design:
should be discovered
More conservative form:
Select a simple rational function

in order to catch all deviations
Robust Control
1. Nominal model?
or
2. Worst-cases?
Bode Diagram
20
0
-20
3. Catch the worst-cases!
Magnitude (dB)
-40
-60
-80
-100
-120
-140
-160
-5
10
-4
10
-3
10
-2
10
-1
10
Frequency (rad/sec)
10
10
10
Robust Control
1. Nominal model?
or
Bode Diagram
2. Worst-cases?
-10
Magnitude (dB)
-20
-30
-40
-50
-60
-3
10
-2
10
-1
10
10
10
Frequency (rad/sec)
10
10
10
Robust Control
Bode Diagram
3
lI () 0.2, at low frequencies
2.5
Magnitude (abs)
lI () 2.5, at high frequencies
1.5
0.5
-4
10
-2
10
Frequency (rad/sec)
10
10
Robust Control
Bode Diagram
Bode Diagram
2.5
2.5
Magnitude (abs)
1.5
1.5
1
0.5
0.5
0
-4
10
-2
10
10
-4
-2
10
10
10
Frequency (rad/sec)
Frequency (rad/sec)
Bode Diagram
1.4
1.2
1
Magnitude (dB)
Magnitude (abs)
0.8
0.6
0.4
0.2
0
-1
10
10
Frequency (rad/sec)
10
10
10
Robust Control
Bode Diagram
Bode Diagram
3
2.5
2.5
2
Magnitude (abs)
Magnitude (abs)
1.5
1.5
1
0.5
0.5
-4
10
-2
10
Frequency (rad/sec)
10
10
-4
10
-2
10
Frequency (rad/sec)
10
10
Robust Control
SISO Robust Stability
Robust Control
ZN
K c1 1.13
Suppose an extreme case:
lI () 0.33, at low frequencies

lI () 1, at 0.1rad/s
lI () 5.25, at high frequencies
Robust Control
ZN
K c1 1.13
T1
K c1 1.13
Unstable for
T2
K c 2 0.31
Limiting case:
K c 3 0.58
Robust Control
Nominal performance - NP
Amax
A(0)
Robust Control
Nominal performance NP (weighted sensitivity)
Robust Control
SISO Robust Performance
Robust Control
Robust Control
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Department For Automatic Control and Electronics Faculty of Electrical Engineerging University of Sarajevo Sarajevo, Decemeber, 2014 Adnan Tahirovic

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Department For Automatic Control and Electronics Faculty of Electrical Engineerging University of Sarajevo Sarajevo, Decemeber, 2014 Adnan Tahirovic

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Robust Control

Department for Automatic Control and Electronics

Parametric uncertainty (can be described in frequency domain)

System is not robust!

Frequency domain form (appropriate for all types of uncertainties)

Inverse multiplicative uncertainty

Gp (s) G(s)(1 lI _ real (s) I (s))

Select a simple rational function

3. Catch the worst-cases!

3. Catch the worst-cases!

lI () 0.2, at low frequencies

lI () 2.5, at high frequencies

Suppose an extreme case:

lI () 0.33, at low frequencies

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