Slides Cdc11 Final

Exponential Stability Analysis of the Drilling System
Described by a Switched Neutral Type Delay Equation

with Nonlinear Perturbations
2011 50th IEEE Conference on Decision and Control and European
Control Conference
M. Belem Saldivar Mrquez
msaldivar@ctrl.cinvestav.mx
Departamento de Control Automtico del
Centro de Investigacin y Estudios Avanzados
del IPN, Mxico.
Sabine Mondi Cuzange
smondie@ctrl.cinvestav.mx
Departamento de Control Automtico del
Centro de Investigacin y Estudios Avanzados
del IPN, Mxico.
Jean-Jacques Loiseau
jean-jacques.loiseau@irccyn.ec-nantes.fr
Institut de Recherche en Communications et
Cyberntique de Nantes, France.
Vladimir Rasvan
vrasvan@automation.ucv.ro
University of Craiova, Romania
(CDC-ECC 2011) Exponential Stability Analysis of the Drilling System Described by a Switched Neutral Type Delay Equation with Nonlinear Perturbations 1 / 24
Contents
1
Theoretical result: Stability analysis of nonlinear
switched neutral type time delay systems
Introduction and problem statement
Asymptotic stability
Exponential stability
2
Application example: Oilwell drilling system
Nonlinear switched drilling system model
Numerical result
Abstract
This paper deals with the exponential stability analysis of switched neutral
systems with nonlinear perturbations. The proposal of an energy functional allow
us to investigate the asymptotic and exponential stability of such systems through
the solution of LMIs. The results are illustrated with the exponential stability
analysis of an oilwell drilling system.
Problem statement
Consider the following neutral system with state-dependent switching and
nonlinear perturbations:
x(t) C
x(t
1
) = A
x(t) + B
x(t
1
) + D
u(t)
+f
1
(t, x(t)) + f
2
(t, x(t
1
))
x(t
0
+ ) = (), \ [
1
, 0]
where x(t) R
n
is the state vector, u(t) R
m
is the control input,
1
is a
positive constant time delay, is a continuously dierentiable initial function.
1, 2, ..., N is a piecewise constant switching signal.
We consider that there exist positive constants
1
,
2
such that
|f
1
(t, x(t))| _
1
|x(t)| \t _ 0, (1)
|f
2
(t, x(t
1
))| _
2
|x(t
1
)| 1, ..., N.
Problem statement
Let u(t) be a state-feedback controller in the form
u(t) = Kx(t
1
).
Substituting this control law, we obtain the following closed loop system:
x(t) C
x(t
1
) = A
x(t) +

B
x(t
1
) (2)
+ f
1
(t, x
2
(t)) + f
2
(t, x
2
(t
1
))
x(t
0
+ ) = (), \ [, 0]
where
= B
+ D
K.
Our aim is to nd conditions for the exponential stability of system (2).
Asymptotic stability result
Theorem (Asymptotic stability)
Given a gain matrix K, the switched neutral system (2) with the nonlinear
perturbations bounded as in (1) is asymptotically stable if there are symmetric
positive denite matrices
P, Q
1
, Q
2
, R
1
such that
i
< 0, for all i = 1, ..., N
where
i
=
_
_
_
_
_
_
_
_
i11
_
2P
_
2
1i
W
i14
0
i16
+ I 0 0 0 0
+ + I 0 0 0
+ + +
i44

2i
W
i46
+ + + + I 0
+ + + + +
i66
_
_
_
_
_
_
_
_
, (3)
Theorem (Asymptotic stability...continuation)
and
i11
= PA
i
+ A
T
i
P + Q
1
+ A
T
i
WA
i
R
1
+
2
1i
I
+
2
1i
W + 2A
T
i
A
i
i14
= P

B
i
+ A
T
i
W

B
i
+ R
1
+ 2A
T
i

B
i
i16
= PC
i
+ A
T
i
WC
i
+ 2A
T
i
C
i
i44
= Q
1
+

B
T
i
W

B
i
R
1
+ 2
2
2i
I
+
2
2i
W + 2

B
T
i

B
i
i46
=

B
T
i
WC
i
+ 2

B
T
i
C
i
i66
= Q
2
+ C
T
i
WC
i
+ 2C
T
i
C
i
B
i
= B
i
+ D
i
K
W = Q
2
+
2
1
R
1
.
Sketch of the proof.
For the proof, we consider the energy functional
V(x
t
) = x
T
(t)Px(t) +
_
t
t
1
x
T
(s)Q
1
x(s)ds +
_
t
t
1
x
T
(s)Q
2
x(s)ds
+
1
_
0
1
_
t
t+
x
T
(s)R
1
x(s)dsd,
and we take the derivative of V(x
t
) along the trajectories of any subsystem ith of
(2),
V(x
t
) = 2x
T
(t)P x(t) x
T
(t
1
)Q
1
x(t
1
)
+x
T
(t)Q
1
x(t) x
T
(t
1
)Q
2
x(t
1
)
+ x
T
(t)
_
Q
2
+
2
1
R
1
_
x(t)
1
_
t
t
1
x
T
(s)R
1
x(s)ds
Using some mathematical tools as Jensens inequality and Schurs complement,
and the bounds on the nonlinear perturbations we nd that

V(x
t
) < 0 if
i
< 0,
for all i = 1, ..., N where
i
is given in (3).
Exponential stability result
Using the change of variable:
z(t) := e
t
x(t),
we can rewrite the system (2) as
z(t) C
1
z(t
1
) =

A
z(t) + e
1
B
z(t
1
)
e
1
C
z(t
1
) + f
1
(t, z(t)) + f
2
(t, z(t
1
))
x(t
0
+ ) = (), \ [, 0]
where
= A
+ I
and
= B
+ D
K.
Our proposal is to nd conditions for which the solution z = 0 of the transformed
system is stable. Clearly, these conditions will assure the exponential stability of
the original system (2).
Applying the above Theorem (Asymptotic stability) yields the following result.
Theorem (Exponential stability )
Given a gain matrix K, the switched neutral system (2) with the nonlinear
perturbations bounded as in (1) is exponentially stable if there are symmetric
positive denite matrices
P, Q
1
, Q
2
, R
1
such that
i
< 0, for all i = 1, ..., N
where
i
=
_
_
_
_
_
_
_
_
i11
_
2P
_
2
1i
W
i14
0
i16
+ I 0 0 0 0
+ + I 0 0 0
+ + +
i44

2i
W
i46
+ + + + I 0
+ + + + +
i66
_
_
_
_
_
_
_
_
. (4)
Theorem (Exponential stability ... continuation)
Here
i11
= P

A
i
+

A
T
i
P + Q
1
+

A
T
i
W

A
i
R
1
+
2
1i
I +
2
1i
W + 2

A
T
i

A
i
i14
= e
1
P (

B
i
C
i
) + e
1
A
T
i
W (

B
i
C
i
)
+R
1
+ 2e
1
A
T
i
(

B
i
C
i
)
i16
= e
1
PC
i
+ e
1
A
T
i
WC
i
+ 2e
1
A
T
i
C
i
i44
= Q
1
+ e
2
1
(

B
i
C
i
)
T
W (

B
i
C
i
) R
1
+2
2
2i
I +
2
2i
W + 2e
2
1
(

B
i
C
i
)
T
(

B
i
C
i
)
i46
= e
2
1
(

B
i
C
i
)
T
WC
i
+ 2e
2
1
(

B
i
C
i
)
T
C
i
i66
= Q
2
+ e
2
1
C
T
i
WC
i
+ 2e
2
1
C
T
i
C
i
A
i
= A
i
+ I,

B
i
= B
i
+ D
i
K, W = Q
2
+
2
1
R
1
Drilling system
Oilwell drillstrings are mechanisms that play
a key role in the petroleum extraction industry.
The main process during well drilling for oil is
the creation of borehole by a rock-cutting tool
called bit.
The drillstring consists of the BHA (bottom
hole assembly) and drillpipes screwed end
to end to each other to form a long pipe.
The BHA comprises the bit, stabilizers which
prevent the drillstring from balancing, and a
series of pipe sections which are relatively
heavy known as drill collars.
The drillstring is rotated from the surface by
an electrical motor.
Drilling system model
The mechanical system is described by the following partial dierential equation:
GJ
2
(, t) I
t
2
(, t)
t
(, t) = 0 (0, L) _ 0
with boundary conditions:
GJ
(0, t) = c
a
_
t
(0, t) (t)
_
; GJ
(L, t) + I
B
t
2
(L, t) = T
_
t
(L, t)
_
where
(, t) is the angle of rotation, is the angular velocity at the surface,
T is the torque on the bit, L is the length of the rod,
I
B
is a lumped inertia (it represents the assembly at the bottom hole)
_ 0 is the damping (viscous and structural)
I is the inertia, G is the shear modulus and J is the geometrical moment of
inertia.
Neutral type drilling system model
Using the DAlembert transformation we can describe the drilling behavior with
the following neutral type delay equation:
w(t) w(t 2) +
w(t) + w(t 2) =
1
I
B
T
_
w(t)
_
+
1
I
B
T
_
w(t 2)
_
+ 2
_
c
a
c
a
+
_
IGJ
_
(t ),
where

w(t) is the angular velocity at the bottom extremity, and
=
c
a

_
IGJ
c
a
+
_
IGJ
,
=
_
IGJ
I
B
,
=
_
I
GJ
L.
Torque on the bit model
Torsional drillstring vibrations appear due to downhole conditions, such as
signicant drag, tight hole, and formation characteristics. It can cause the bit to
stall in the formation while the rotary table continues to rotate. When the trapped
torsional energy reaches a level that the bit can no longer resist, the bit suddenly
comes loose, rotating and whipping at very high speeds. The vibrations can
originate problems such as drill pipe fatigue problems, drillstring components
failures and wellbore instability.
The following equation approximates the physical phenomenon at the bottom hole
T
_
w(t)
_
= c
b
w(t) +W
ob
R
b
b
( w(t)) sgn ( w(t)) .
b
( w(t)) =
cb
+ (
sb

cb
)e
b
v
f
w(t)
,
where R
b
> 0 is the bit radius and W
ob
> 0 the weight on the bit,
sb
,
cb
(0, 1) are the static and Coulomb friction coecients.
Switching model of the drilling system
Due to the stick-slip phenomenon, the angular velocity at the bottom extremity
varies between zero and positive values. The sgn function in the model of the
torque on the bit leads to represent the neutral type drilling model as a particular
class of switched systems.
Setting
x
1
= w, x
2
= w, x = (x
1
x
2
)
T
,
u(t) = (t),
1
= 2
2
= ,
we obtain the following equation which describes the behavior of the oilwell
drilling system at the bottom extremity:
x(t) C x(t
1
) = Ax(t) + Bx(t
1
) (5)
+Du(t
2
) + f
1
(t, x
2
(t)) + f
2
(t, x
2
(t
1
)), = 1, 2,
x
1
(t), x
2
(t) are the angular position and velocity of the drillstring at the bottom
end respectively.
The constant matrices A, B, C and D are given by:
A =
_
0 1
0
c
b
I
B
_
, B =
_
0 0
0
c
b
I
B

_
,
C =
_
0 0
0
_
, D =
_
0
_
,
with =
c
a
_
IGJ
c
a
+
_
IGJ
, =
_
IGJ
I
B
, =
2c
a
c
a
+
_
IGJ
and
2
=
_
I
GJ
L,
1
= 2
2
.
The functions f
1
(t, x
2
(t)), f
2
(t, x
2
(t
1
)), = 1, 2 are switched according to
the following autonomous state-dependent rule,
_
_
for 0 _ x
2
(t) < 0,1 :
f
11
(t, x
2
(t)) = f
21
(t, x
2
(t
1
)) = 0
for x
2
(t) > 0,1
f
12
(t, x
2
(t)) = c
1
c
2
e
b
v
f
x
2
(t)
f
22
(t, x
2
(t
1
)) = c
1
+ c
2
e
b
v
f
x
2
(t
1
)
(6)
with c
1
=
W
ob
R
b
I
B

cb
, and c
2
=
W
ob
R
b
I
B
(
sb

cb
).
The switching law (6) means that for small values of the angular velocity at the
bottom end (x
2
< 0,1rad/seg) the nonlinear part of the torque on the bit has no
eect.
According to (6) we have that for 0 _ x
2
(t) < 0,1
|f
11
(t, x
2
(t))| = 0 _
1
|x
2
(t)| (7)
|f
21
(t, x(t
1
))| = 0 _
2
|x
2
(t
1
)|
and for x
2
(t) _ 0,1
|f
12
(t, x
2
(t))| =
_
_
_
_
c
1
c
2
e
b
v
f
x
2
(t)
_
_
_
_
(8)
_
1
|x
2
(t)|
|f
22
(t, x(t
1
))| =
_
_
_
_
c
1
+ c
2
e
b
v
f
x
2
(t
1
)
_
_
_
_
_
2
|x
2
(t
1
)| .
where =
c
a
_
IGJ
c
a
+
_
IGJ
, c
1
=
W
ob
R
b
I
B

cb
, and c
2
=
W
ob
R
b
I
B
(
sb

cb
).
Numerical result
The model parameters used in the sequel are:
G = 79,3x10
9
N/m
2
, I = 0,095Kg m, L = 1172m,
J = 1,19x10
5
m
4
Rb = 0,155575, v
f
= 1,
W
ob
= 97347N, I
B
= 89Kgm
2
c
a
= 2000Nms,
cb
= 0,5,
sb
= 0,8,
b
= 0,9
c
b
= 0,03Nms/rad.
(9)
Using the above parameters, we have:
A =
_
0 1
0 3,3645
_
, B =
_
0 0
0 2,4878
_
,
C =
_
0 0
0 0,7396
_
, D =
_
0
5,8523
_
,
the time delays are
2
= 0,3719 and
1
= 2
2
, and the constants c
1
= 85,0829,
c
2
= 51,0498, = 0,7396. The conditions (7)-(8) are satised for all
1
> 1317,1,
2
> 974,3.
Numerical result
Simulation result for the drilling system with u(t) = 15rad/s is presented below.
The vibrations of the drillstring lead to fatigue and diminish the accuracy of the
drilling process. Thus, control actions are necessary in order to induce the
suppression of this undesirable behavior.
Fig. 1. Simulation of trajectory x
2
(t) of the
drilling system (5)-(6) for u(t) = 15rad/s.
Numerical result
We propose the control law
u(t) = K
0
x(t
2
) + K
1
x(t
1
) + r(t) (10)
where r(t) is the angular velocity reference and K
0
, K
1
are constant matrices of
the form
K
0
=
_
0
0
_
, K
1
=
_
0
1
_
with
0
(0, 2). The closed loop drilling system is
x(t) (C + DK
0
) x(t
1
) = Ax(t) + (B + DK
1
) x(t
1
)
+Dr(t
2
) + f
1
(t, x
2
(t)) + f
2
(t, x
2
(t
1
)). (11)
We can apply the result of Theorem (Exponential stability) to analyze the
exponential stability of the closed loop switched system (11)-(6).
Notice that
1
and
2
satisfying (8) also satisfy (7). In this case if the matrix
given in (4) is negative denite, then system (11)-(6) is exponentially stable.
Numerical result
After computing the LMI < 0 for
0
= 0,05,
1
= 0,36,
1
= 1320,
2
= 975
and = 0,6 we can conclude that the closed loop system (11) with the switching
law (6) where the functions f
1
(t, x
2
(t)), f
2
(t, x
2
(t
1
)) satisfy the conditions
(7), (8) is exponentially stable for the parameters values given in (9).
Fig. 2. Simulation of trajectory x
2
(t) of the
drilling system (5)-(6) in closed loop with (10).
Summary
The exponential stability of switched neutral systems
x(t) C
x(t
1
) = A
x(t) + B
x(t
1
) + D
u(t)
+f
1
(t, x(t)) + f
2
(t, x(t
1
))
with bounded nonlinear perturbations
|f
1
(t, x(t))| _
1
|x(t)| \t _ 0,
|f
2
(t, x(t
1
))| _
2
|x(t
1
)| 1, ..., N
is investigated in this paper.
The proposal of an energy functional allowed us to investigate the stability
through the solution of linear matrix inequalities.
This approach lead us to determine exponential stability of the drilling system
in closed loop with a proposed control law that reduces substantially the
stick-slip phenomenon.
References
E. Navarro, R. Surez, Practical approach to modelling and controlling
stick-slip oscillations in oilwell drillstrings, Proceedings of the 2004 IEEE
International Conference on Control Applications, pp. 14541460.
M. B. Saldivar, S. Mondi, J. J. Loiseau, Reducing stick-slip oscillations in
oilwell drillstrings, 6th International Conference on Electrical Engineering,
Computing Science and Automatic Control, CCE, pp. 1-6 Toluca, Mxico,
2009.
F. Uhlig, A recurring theorem about pairs of quadratic forms and extensions,
Linear Algebra with application, 25(1979):219-237.
L. Xiong, S. Zhong and Mao Ye, New stability analysis for switched neutral
systems, 2009 Second International Symposium on Computational
Intelligence and Design.

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Exponential Stability Analysis of the Drilling System

Described by a Switched Neutral Type Delay Equation

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