AN INTRODUCTION

TO

ROBUST CONTROL SYSTEM DESIGN

by
Zhiqiang Gao, Associate Professor and

Automatic Control Resean:~h Laboratory

Electrical and Computer Engineenng Department
,

Cleveland State University

April 1996

reserved

ru1 U!;;Jll..'j It;.'SelVtxl

OUTLINE
MOTIVATION
BACKGROUND
FREQUENCY RESPONSE
STABILITY
DESIGN METHODS
LIMITATIONS OF MATHEMATICAL MODELS
ROBUST STABILITY

Loop Shaping Design Technique

A DESIGN EXAMPLE
SUMMARY

 FU.EQUENCY RESPONSE

r(f)

R (u))

=A sil16J!

~--'j

v(!)

-"- 'l_V~~r-----'

== I vV (s ) I!5 _

jeu

=-- I \V ( jeu ) I

(w) == phase angle of H/(S)!\=iCU

y (t)

==

ARCev) cos wt

+ epC(v) ....

== arg

~'V(Jw)

90 - AR(co) sin [cot

+ (w)]

., .

q+

ll(r )

y(f)

y (s)

1+

U(S)

) ==

Ie

1-

I-

_ __

~t

()

()

so

-so

.~. ~.~

...

. ,.,;

10- 1

10- 2

10 0

10 1

10 2

1 () 1

10 2

w (rad)

(0)
0

-100
--.
:r.
Il.t

C4J

-200

--.....'3

'-S -300
CtJ
~

::::

-400

-500

I () - :'

10- 1

IOn
W

(fad/sec)

(lJ)

;".,' = 10

c..'

= 1
-I

C<.'

= 0.1

I~-I) ,

Stability of Closed-loop Control Systems:

~

.. ~

H(s)

..

G(s)

--

Closed-Loop Transfer Function:

C(s)

= G(s)H(s)(l+G(s)H(s)yl

Stability Tests:
Pole Locations
The closed-loop control system is stable if C(s) has all
the poles in the left half plane
Nyquist Plot:
The closed-loop control system is stable if the Nyquist
1 J6e cfoSea~loop co~1~o(syst~m is stahleIf th~Nyquist
plot of G(s)H(s) satjsfy the Nyquist Stability Criterion

Nyquist Stability Criterion

If a contour, A, that encircles the

is mapped through

poles"
po
of

right half-pI

(5)H (5), then the number of clos

loop

in the right haif-plane equals the nUl?lher oj' open loop

P, [hat a

in [he nght half-plane 171inus the nU!11ber

un I e I 10 CA.'1It,) i sere v0 Iuti

!17applngc: tha[ is,

rnapp1l7g; {lzar IS,

'- P

s, tli! a r0 U nd

1 of the

5)

5)

K(5

~.~~ .. ~ .. ~~~-T-~~ ~.. '~

(5

2)(5

J CD

s plane

4)

-pla

"'" Re
A'

IS
,-l

()

 Gain Margin and Phase Margin

Unit .

GH-plane

ist
di
1
I
I

!
I

IQ'
I '

nee

"ElV \

?iffase .

instability

. - GM - 20 log a

lns
Ph

margin - <DNf -

Control Design Methods Review:

Disturbance

Reference
Inpu t ,---_----,
ret)

Prefilter

d(t)
+
}----IIiI'-f..

ontrollell-----{
u(t)

Plant

Output
yet)

Sensor
Noise

Design considerations:
command following
steady state and transient response
stability (gain/phase) margin
disturbance rejection

sensor noise reduction

"'-

unmodeled dynamics/nonlinearity

CLASSICAL DESIGN METHODS

-PID
Root Locus
State Space

methods ( Bode/Nyquist plots)

l\10DERN DESIGN METHODS

- Adaptive Control ystem

Multi-Input and Multi-Output Systen1 Design
Intelligent Control Methodology
Logic
Artificial Neural Network

System

'-

Optim.al Control
a cost function and use mathematical
programming technique to minimize it

 PID
u(t) == Kpe(t) + KJ e(t)dt

K deCt)
o

dt

Root Locus Method:

AP

signment ll1ethod using constant gain

simple procedure
easy to understand
quick solution

can

be directly
disturbance
nOIse
uncertainty

to deal

R
+

Yes)

R(s)

s --

A
2
-

3A 2
16

LIMITATIONS OF

MODELS

Parameter Inaccuracies

10% variations in R f and

Solution: feedback control

Nonlinearity

Field current

{r

Solution: Ii
Unmodeled

No matter how
there will always

a system' nominally modeled,

unmodeled dynamics

Accounting for Uncertainty in Modeling

nominal odel, i.e., the b Ie

for the ntrol
slgn

(s) is
u

G p (s) is the
a (s)

ode-l

rturbed model

is an additive

fa (jw)'

lant

urbation to t

a bound

the

model

agni tude of the addi ti ve perturbati

(jw) I

(s)

LmCs) == - -

u:

(0)

(b)

a(jw)

p(jw)

!CjJ(jw)!- a(jw)

f3(jw)

+ f3(jw)
2

IC (JUJ. \)
p

a (

')1 --

JW

/) (.)'
j
) -

-<1

f3(jw.) - a(jw)
-----

( G /) (j ) ( I

(G1J jw)

III

I) ( .

(j )))
)

LIII ( . ))

Unmod led Dynamics

1m is the InOlnent of in ia of the Inotor

Pm is
dampi
in t motor
if} is
rnon1ent
inertia of the platform
Pp is the d pI of the platfonn
is the spring cons t

Lm

(8 m -

8m

1m
-

(8 m - 8p )

..

== l p

r.

r.

pp8 p

.
Tm == JmG m

.
.
G
f3m m + f3,/J p

JpGp

+fJ

1-.1
"

[/1/ -

.I 8diff

f3 8diff

f3s
C0difl(S) ==

II.!
[ s(s + f3IJ)

K.Jiciifl

+ Ks
11.1 - - ] Tm(s)
--s2 + fJI.!s
KsI.l

Time-Delay Systems

(s)

-sT

(1

lO,-----------------------------------------------~

of

(jev) for a time

perturbation.

s
s

ROBUST STABILITY

yes)

e pertllrbed

<=>

R(s)
---.1

(;(5)

conflgurCltion.

G fJ (S) -

{J

( iev) I

ILa(jw)\

G )- G

)(

I)

(5 )

La (s )

La (jw)
fa (j )

L(1 (s)) - G ) + G (s) Lu (s)

Y (5)

1m

(I

Ulst pto

At

of

(s) and

(s).

dist
hw
h ,the distance between

I ( jw )
ROBUST STATBILITY

(jw) and the

1 point is iven by
(jw) and
-1 point is given by

( 1) I == \1

G ( jw ) I

Condition

\G ( j w ) IIa ( j LV )

G(jw)1
I

I'

,!

11

( j w)I

I.

== j

c (.I (u )

G(s) - C7 c (s)G()(S) (1

Lm(s)) - G(s) (J

ROBUST STATBILITY

Condition

!lm(jw)C(jw)!

C(jw)1

/1

( jw)1

(j(j) )

G (jel))

tm (jw) I

1m (jw)

C(jw)

G (jw)

LmCs)}

c (s)

= a, a constant

G )

G(s)

G (s)

dB

40

Im I (

0.01

0]

10

100

-----~---r~---+--~---'-,~--------,-------

a = 100
a = 10

-40

{J
n

Loop SHAPING DESIGN TECHNIQUE

Output

Ge(s)

controller

yet)

Sensor
NQise

Objective:
Manipulate loop gain frequency response,
Gp(jco)Ge(jco), to
closed-loop specifications
. n Procedure:
D

. ,Specifications

Find a Ge(s) to

Constraints on G(jco)H(jco)
constrain ts

Use pes), if necessary, to adjust transient response

From Des'

Specifications

Constraints on GpG CO )GcG co)

Specs:
command following
Yes) _ Gp(s)Gc(s) ~: 1
:=
R(s) 1 Gp(s) (s)

disturbance rej
Yes)
D(s)

Yes) ,

N(s)

co) I

all

reduction
Gp(s)Gc(s)

on

s)
1 Gp(s)Gc(s)

nsor noi

IGp(jco)

Gp

)Gc(s)

robust stability

1 Gp(jOJ)

(jOJ) 1<
1
1 Gp(jOJ)Gc(jOJ)
lm(jOJ)

stability

. n/phase)

pole roll-off at

cra

ver frequency

Constraints on GGco)HGco):
Low Frequency: I GGco)H(jco)1

High Frequency: I GGco)HGco)1

Crossover Frequency: good

IGp(jeu)Gc(jeu)l
dB

low

constraints

-20db/dec

and phase margin

Find

suitable controller GeCs)

1 at low frequency:

1. Use constant
and worry about high
frequency constraints later
2. Us an integrator, lis
compensator
with a b O

10

100

10 1

Frequency

o r---r--r-"--'-rTTr"""-~TTTl r<~

I I

rTT~-r-==-r-r-TTTl

I
-45

--90

L--~-'--L..Ll.J...J..l-___L _L..L..LLLJ.~~ __(-----'_---'--'-'-'-LLL--1--'---'----'-~'_'_'_UI

()1

10- 2

10-

10 1
(r;lci/s<:c)

10

 Adjusting Bandwidth, Gain and Phase Margin

1. Gain adjustment
. Use

lead compensator

)-

s+a
s+b

with b

20

-;::;

10

;.;:
IOu

10 1

10"

40
u

~ 20

0::

1 at high frequency:
1.

gain adjustment

. Add poles

high frequency (one decade from U\)

A Design Example:
ATS-6 (Applications Technology Satellite 6), 1974
Objective of the control system:
Point the antenna to target with .01 to .1 degree

30 fL diameter antenna

.hlXis'

,
,
,
,

,
,

e:mil
,

,
.'
,

,
,
t,

y-axis

[0

((j )

orbit

reaction
wheel
reference
line to earth

F
/

fJ{J

I
I

solar
pressure

T-KTi-ce

UJ
e=K8
v w
e - I\. /J w tli
'I
y

e.e-

dl'
dt

Ri

(3 P(5)

V(s)

--

V(S)

0.01

10

Gm(s)
Gp(S)

10

10

Gm(s)

V(s)

0.01)

5(5

10 35(5

0.01)(5

10)

8p

10
10

(0 III (s )

D/(s)

- (0.00 1) ( 10)
S2(S

G (S)
0.01
+ 0.01 )(5 + 10)

10)

-0.01
+ 10)

+ 10
10

8p

JW

( -0.03

lm (jW) -

0.000
30

30

~-0.01

C~) III (S )

I (-) Ii!
I

/ Iii

.i ) Ima\

\.1

s ~ (.\'
-

10)

( ) D'(s)
r S

0,01
10
1/
100) -

(' I i ma\

0.01 (10

10

5)

5)2 10 (1.7

10

First try: gain adjustment

40

90

- 135

too little phase margin

Using a lead compensator Jor more phase margin:

(5) --

0.019

0.19

10(5

0.019)

+ 0.19

IOO~~~~--L~~~~~~~-~~~-~~~~~'~~w

10-:1

,,
,

,
,,

180
,

Using. lag compensator for higher gain at low frequency:

lao (5)
;:::-

-~-

5 -:

0.005
5

+ 0.019)

0.005) (5

10

-------

I i ! I III

(5

I I ,

III

I IIII1I

r-"

I I I I I II

o
-40

~LL.LLL11L-i-l.-LLLlll-~-LlllJl

10- 2
ucncy
((j )

-I

IO~1

I I I I III

t()O

I I I I I II

10 1

I
\

Transient Response Analysis

1.5

~------------------,

0...

0...
Q)

Vi 0.5

100

200

JOO

400

Time (SeC)

0.1 0 ~----,------.--.------.-------~

0.05

Magnified behavior
Magnified beh<lvior

near the origin

O~----------~--~---T----~rr~

(two poles
at origin)
I

-o.OS

--I

- 0.1 ~(L).-2-()---..-._ (...Ll.-1~----(-Ll.-l(....L)_ _ _ _()L-.(-)~-------'()

"

D'

Prefilter and the Final Design

10-:1

8c

0.019
s + 0.019

10 (s + 0.005)(s + 0.019)
s (s + 0.19)

10S(S + 0.01 )

r---~0-3-

10
s+10

1.5

~----------------------------------~--------~

()

0.5

o
o

~--------------------------------~----------~

100

200
Time (sec)

300

400

_I

G\(s)

Tn<

~I

G 2 (s)

(0)
E
G,(s)

Till

G 2 (s)

~0 (~/)
-

L(s)

(IJ)

Gp(s)

==

Gl(S) [G2(S) - L(s)]

==
==

Gj (S)G2(S) - G1(s)L(s)
Gj(S)G2(S) - G1(s)L(s)

1/.1

(0)

1/ J

1/ J

L ___

(l..
\
__ _ _ _ _ _ _

~~

(h)

________ _

l/J

L(s) =

+ (f3 / J ) s + Ks / J

lIes) == 4

(s

+ l~~(s + 3s + 9)
+ 3)_1(s2 + 0.6s + 9)

IL(jw)1 < \I'(jw)\

20~--------------------------------------------~

o
~

-20~----------~~

Ks=9

......:)

Z
~

-Lin , -.... . . . . .

- 40 -- " ... . .

'0-

_... ,,"

'

..... ".

. .. , . ......- ..

Ks=.LOO
...
. s- ..... . ,,'

-60
- 80L---------------------------------------------~
10- 1
100
10 1
10 2
W

Bending modes <lnd bounding

IU jeo)l.

(fad/sec)

II' (jw) I
I 2(jW) I

1
0.1 )

40

The bound lm(jw)

SUMMARY

Basics of control system design

Limitations of modeling
The concept of robust stability
Loop shaping design
A design example

Further Reading:
and

Schultz,

1993

lfff:{)

I.>,.

~M

~r'i 2..or91

DISCRETE TIME SYSTEMS

AND
DIGITAL CONTROL
Reference

Plant

Digital
computer

oomputer-controlled feedback system.

ADVANTAGE OF DIGITAL CONTROL

." Flxibility
Accuracy
Reliability
Drift-free intergration

l-l1

dUVll

Remote Control
scale interconnected system

DISADVANTAGE OF DIGITAL CONTROL

Cost (sometimes)
Time Delay

IMPLEMENTATION OF DIGITAL CONTROLLER

with

Data Acquisition Card

Stand alone DSP board

411

PLC

Microcontroller based embedded control system

Intel: 805 1, 8096, 80196
Motorola: 68
11
. (E9,
zzy/Neural Chips: AL220 etc.

, N)

DISCRETE SIGNALS:

In discrete system, observation and actio are only

taken at

Order Hold

Input
u(t)

The Sampling of the Output

Output
yet)
yit)

delay could destabili~e the system

on Gain margin

o
e

to yjl)

Output

(;)

(s) -: :
10'

.......

: .:

. : . : .:
:

10- 1 ' _ _ _
10-'

: . :-: : :-: :.: :.: :-: .:

*
~.

-.

~."

.~

..

~.

::

: . : : . ..

..

...

"

~~.

~_~ ... ~~~~~~.L~_

_~_~..

_.~ ..~~~~~~

10

10'
, I

10'

10

Unsainple.d .

-150
.

'. . .' . . ' .

: : . : :Samp\ed
~ ~.

*'. "

.~.

: . .

. . .. . . . .. . . .

-250
-300L---~---~~~~~~L_--_~

10-'

10

__ -~.~.~~.~~~~
10'

DIGITIZING ANALOG CONT.ROLLER

Digitizing an analog controller.

L Numerical approximation of differential equation

and other responses.

2. Matching step and other respo
'1

l\ If '"

trh; n

a <:tf'n

3. Pole-zero matching.

Numerical Approximation

dJ
dt

J(t)

(s)

(s)

e(t) .

J(tO)

jl

e(l)dl,

1 >10

10

(k

) - I(kY)

kT T

kT

e(t)dr.

Trapezoidal Method (Two Samples)

T
2 {e(kT)

f(kT

T)

f(kT)

e(kT

(z - l)F(z)

1) (z),

i~~~ = ~ G-~) .

H(z)

H(z)

==

Gc(s)L=
.

z+

+ T)}

PULSE WIDTH MODULATION (PWM)

High powered linear actuator is expensive
Easier/cheaper implementation by turning power on and
off
Achievable in digital controller by turning on the power
during part of the sampling interval
The control variable, U, becomes "duty cycle" ( a
variable fraction of sampling interval)
Many rnicrocontrollers have ADC and PWM ports

A Design Example

zero steady state

in the presence of input

disturbances
settling time

20

implementable in hardware using DSP

Solution:

abs 1
s
+1

2z-1
Tz+l
2z-1

2z-1 1
ab--1

=k PiP

Ps
PI =1 +aT/2,

P2P3)Z-i
(P6 - Ps )z-! - P6

-2

-2

- 1,

Programmable Difference
u(k)=(l/ps)[ (Ps-P6)u(k-l )+P6u (k-2)+kpIP3 e (k)
+k(PIP4+P2P3)e(k-l )+kp2p4e(k-2)]

Implementation Issues:
Sampling rate selection
Anti-Aliasing Fitler
ADC and DAC resolution: number of bits
Signal Conditioning
Sensor Noises
Averaging and Low pass filter
Processor speed consideration
Isolati-on of analog and digital circuitry
Spectrum analysis of noise/disturbance characteristics