Instructions Robust Control

Department of Electrical Engineering Set 1

Uncertainty modeling
G(s) = ggain Gslow Gfast

The dynamics of a scalar system is given by

where ggain is a constant and 1 1 , Gfast = , 1 1 + sT 1 + sT represent the slow and the fast part of the dynamics, respectively. In a design, it may be reasonable to concentrate on the slow response part and treat the fast response dynamics as a perturbation. Gslow = a. Represent the slow dynamics as an additive perturbation a of G. b. Represent the slow dynamics as a multiplicative perturbation m of G. c. Set ggain = 1, T = 1 and = 102 and make a magnitude Bode plot of a and m .

Stability margins

Consider a negative feedback loop with controller K and plant G (as in the standard tracking control scheme), s+ where G(s) = (s)(s+3) and where = 1 + 1 and = 1 + 2 are uncertain real parameters that satisfy the bounds |1 | 1 and |2 | 2 . a. Find a controller K that stabilizes G for 1 = 2 = 0. b. Suppose that 2 = 0. Use your controller K and the Routh-Hurwitz test to determine the maximal value of 1 so as to guarantee robust stability of the closed-loop system. c. Suppose that 1 = 0. Use your controller K and the Routh-Hurwitz test to determine the maximal value of 2 so as to guarantee robust stability of the closed-loop system.

Routh-Hurwitz

2 Verify whether the family of characteristic polynomials (3 + ) + (2 + )s + (4 + 3)s2 + 5 s3 with 1 1 is Hurwitz.

Parametric uncertainty

Consider a mass-spring-damper system described by the following second order differential equation d2 x(t) dx(t) +c + kx(t) = f (t) 2 dt dt where m = m0 + m , c = c0 + c , k = k0 + k with m0 , c0 , k0 denoting the nominal values of the parameters and |i | < 1 representing the uncertainties. Represent the system in a standard form of a generalized plant interconnected via uncertainty blocks, i.e. SpullT out the uncertainty and dene the generalized plant. m 1