Robust and Optimal Control, 2014, 02nd.

2. Nominal Stability and Nominal Performance

[SP05, Sec. 4.1, 4.7, 4.8] 2.1 Nominal Stability 2.2 Multivariable Frequency Response Analysis [SP05, Sec. 3.3, A.3, A.5]

Nominal Stability
Internal Stability of Multivariable Feedback Systems
[SP05, Fig. 4.3] (p. 145)

2.3 Nominal Performance 2.4 Sensitivity Minimization

[SP05, Sec. 2.8] [SP05, Sec. 2.8]

: Transfer function matrices

: Vectors

Reference:
[SP05] S. Skogestad and I. Postlethwaite, Multivariable Feedback Control; Analysis and Design, Second Edition, Wiley, 2005.

[SP05, Theorem 4.6] (p. 145) Nominal Stability(NS)

Assume contain no unstable hidden modes. Then, the feedback system in the figure is internally stable if and only if all four closed-loop transfer matrices are stable

All Stabilizing Controllers Case 1: Stable MIMO Plant

[SP05, p. 148]

All Stabilizing Controllers Case 2: Unstable MIMO Plant

[SP05, p. 149]

Internal Model Control (IMC) Structure

Left Coprime Factorization

iff Bezout Identity

[SP05, p. 122] (can be also on the right) Stable coprime trans. func. matrices

All Stabilizing Controllers:

Youla Parameterization
-parameter

Stable matrices

All Stabilizing Controllers

Stable transfer function matrix
3

Stable trans. func. matrix satisfying Supplemental Notes Pole

4

All Stabilizing Controllers State Space Representation

Two degrees of freedom Controller

[SP05, p. 124]
M. Vidyasagar, The MIT Press, 1985

[SP05, p. 147]

All Stabilizing Controllers

M. Vidyasagar

Let matrices

be such that

are stable

Matrix Computation System Structure on Controllers

is If , then State Feedback + Observer
5

Parameterize

Stable matrix

Robust and Optimal Control, 2014, 02nd.

Multivariable Frequency Response Analysis

Frequency Response for SISO Systems
[Ex.]

Frequency Response for MIMO Systems

[Ex.]

-1

Bode Plot Im

Re

Nyquist Plot

SISO

MIMO

Singular Value Decomposition [SP05, A.3]

Unitary Matrices
: -th eigenvalue

-plot

[SP05, p. 79]

SISO: Absolute value MIMO: Maximum singular value [Ex.]

Singular Values

Maximum Singular Value

Minimum Singular Value -plot of svd(G)

SP05, Ex. 3.3 (p. 74)

Extension of Bode gain plot to MIMO Systems (Phase?, Nyquist?)

MATLAB Command
G(1,1) G(1,2) G(2,1) G(2,2) = 10*tf([1 1],[1 0.2 100]) ; = tf([1],[1 1]) ; = tf([1 2],[1 0.1 10]) ; = 5*tf([1 1],[1 5 6]) ;

System Gain

figure sigma(G) ;

10

Norm

[SP05, p. 158]

Ex. Spinning Satellite:

Absolute value Maximum singular value
Magnitude [dB]

-plot

[SP05, p. 79]

: Stable system

SISO MIMO
[Ex.]

Plant:
60 50 40 30 20 10 0 -10 -20 -30 -40 -2 10 10
-1

skew

-plot of
G. H. Hardy MATLAB Command
hinfG = normhinf(G)

10

10

10

10

Frequency [rad/s] [rad/s] [dB] [dB] MATLAB Command

figure sigma(Pnom)

Supplemental Notes
Vector Norm, Matrix Norm, Signal Norm, System Norm 11

for each fixed

12

Robust and Optimal Control, 2014, 02nd.

Optimization in Feedback Control

Sensitivity from Reference to Error (System Gain)
+

10
[dB]

Performance Weight
Small?
SISO Case

[SP05, pp. 62, 80]

Weighted Sensitivity
+

[SP05, p. 60]
10

Minimum bandwidth frequency Maximum peak magnitude of : Maximum steady-state tracking error
Frequency [rad/s]

SISO Case High-order Performance Weight

Waterbed Effects

: Performance weight trans. func. matrix

13

14

Nominal Performance (NP)

[SP05, p. 81]

Nominal Performance Test in SISO Systems [SP05, p. 60] (NP) Ex.

Nominal Performance (NP) Test

Given a controller ,

(NP)
: small A.H.Haddad (Ed), IEEE TAC 1987 : fast

(NP)
: large
15

(NP)

16

Nominal Performance Test in SISO Systems [SP05, p. 60] (NP) Ex.

Nominal Performance in SISO Systems

Nyquist Plot [SP05, p. 281]

(NP)
: small : fast

(NP)
: large

(NP)

17

should be away from

by

18

Robust and Optimal Control, 2014, 02nd.

Ex. Spinning Satellite: Nominal Performance

Plant Controller: Inverse Controller

Ex. Spinning Satellite: Nominal Performance

Performance Weight
MATLAB Command
Ms = 2; A = 1e-2; wb = 2; wP = tf([1/Ms wb], [1 wb*A]); WP = eye(2)*wP; [SV,w] = sigma(WP*FI.So) ; hinfSo = normhinf(WP*FI.So) figure semilogx(w,SV) hold on; grid on;

Specifications (Output) Sensitivity Function

Let the tracking error for a reference 1/100 (-40[dB]) at low frequencies 0.9678 1.0634 0.9874
19

be smaller than

-plot of
+

MATLAB Command
KI = inv(Pnom)*tf([1],[1 10 0])*diag([250 200]); FI = loopsens(Pnom,KI);

20

Sensitivity Minimization
Optimal Sensitivity Problem
Find a stabilizing controller minimizes which Intractable
+

Ex. Spinning Satellite: Sensitivity Minimization

Plant Performance Weight

Sensitivity Minimization Problem

Given , find all stabilizing controllers -iteration no Youla Parameterization
21

such that

Controller: Inverse Controller

+
22

Ex. Spinning Satellite: Sensitivity Minimization

Sensitivity for MIMO Systems

[SP05, p. 70]

no

Sensitivity to Output Disturbance

Output Sensitivity Function:

Sensitivity to Input Disturbance

Input Sensitivity Function:

MATLAB Command
k=1; KI = inv(Pnom)*tf([1],[1 10 0])*diag([k*250 k*200]); FI = loopsens(Pnom,KI);

For SISO Systems but for MIMO Systems

23

Good disturbance rejection at output does not always mean good rejection at input

24

Robust and Optimal Control, 2014, 02nd.

Standard Feedback Configuration with Weights

[SP05, p. 363]

Generalized Plant
+

[SP05, pp. 108, 543]

Lower Linear Fractional Transform (LFT)

Sensitivity Minimization Sub-optimal Control Problem

Given
25

lft(G,K)

, find all stabilizing controllers

such that
26

2. Nominal Stability and Nominal Performance

[SP05, Sec. 4.1, 4.7, 4.8] 2.1 Nominal Stability 2.2 Multivariable Frequency Response Analysis [SP05, Sec. 3.3, A.3, A.5]

3. Robustness and Uncertainty

Next Class

[SP05, Sec. 4.1.1, 7.1, 9.2] 3.1 Why Robustness? 3.2 Representing Uncertainty

2.3 Nominal Performance 2.4 Sensitivity Minimization

[SP05, Sec. 2.8] [SP05, Sec. 2.8]

3.2.1 SISO Systems 3.2.2 MIMO Systems

[SP05, Sec. 7.27.4] [SP05, Sec. 8.18.3]

3.3 System with Structured Uncertainty

[SP05, Sec. 8.2]

Reference:
[SP05] S. Skogestad and I. Postlethwaite, Multivariable Feedback Control; Analysis and Design, Second Edition, Wiley, 2005.

Reference:
[SP05] S. Skogestad and I. Postlethwaite, Multivariable Feedback Control; Analysis and Design, Second Edition, Wiley, 2005.

Poles

[SP05, 4.4] are . The pole or

Norm

[SP05, A.5] Non-negative Positive Homogeneous Triangle inequality iff

[SP05, Definition 4.6] (p. 135)

The poles of a system with state-space description the eigenvalues of the matrix characteristic polynomial is defined as

Key properties 1. 2. 3. 4. Vector Norm [Ex.]

:scalar

Thus the poles are the roots of the characteristic equation

[SP05, Theorem 4.4] (p. 135)

The pole polynomial corresponding to a minimal realization of a system with transfer function is the least common denominator of all non-identically zero minors of all orders of .

[SP05, Theorem 4.3] (p. 135)

A linear dynamic system is stable if and only if all the poles are in the open left-half plane (LHP); that is A matrix with such a property is said to be stable or Hurwitz.
29

Matrix Norms Induced Matrix Norm

[Ex.]

30

Robust and Optimal Control, 2014, 02nd.

Norm

[SP05, A.5]

Space, Space

Space

[SP05, 4.10]

Signal Norms [Ex.] Integral absolute error

Energy of signal maximum value over time

(All strictly proper and real rational stable transfer matrices:

Banach space of matrix or scalar valued functions that are analytic and bounded in the open right-half plane. The corresponding norm is

Space
cf. average power
(All strictly proper and real rational stable transfer matrices: )

System Norms SISO

: Linear, stable, time invariant

MIMO

Hilbert space of matrix or scalar valued functions that are analytic in open right-half plane. The corresponding norm is

32

Difference between the

Minimizing
Push down whole thing

and

norms [SP05, pp. 75, 159]

Minimizing norm

norm (LQG)

Push down (all singular values over all frequencies) peak of maximum singular value Average direction, average frequency Worst direction, worst frequency

Induced Matrix Norm Multiplicative property

Induced Matrix Norm Multiplicative property

33