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E. LPV System and Gain Scheduling
E. LPV System and Gain Scheduling
Reference:
[DP05] G.E. Dullerud and F. Paganini,
A Course in Robust Control Theory: A Convex Approach,
Text in Applied Mathematics, Springer, 2005.
LPV Systems and Gain Schedule
J. Shamma and M. Athans,
“Gain scheduling: Potential hazards and possible remedies,”
IEEE Control Systems Magazine, 12-3, pp. 101-107, 1992
A. Packard, “Gain-scheduling via linear fractional transformations,”
Systems and Control Letters, 22, pp. 79-92, 1994
J. Shamma M. Athans
2
A. Packard
LPV vs. LTI vs. LTV Systems 1
LTI(Linear Time Invariant) Systems
: non-singular matrix
pols = psys([M1, … ,Mn])
(Convexity)
[Ex.] Mass-Spring-Damper System
, ,
,
, 4
LPV System Representation psys
Style 2: Affine parameter-dependent Representation
: affine function
: real parameters
affs = psys(pv,[s0,s1, … ,sn])
pols =
aff2pol( affs )
,
[Ex.] Mass-Spring-Damper System
5
LPV System via Jacobian Linearization
Nonlinear Plant
: Parametric-dependent
exogenous input
Equilibrium Family
: equilibrium point
: trim point
Scheduling variable
Linearization
[Ex.] , 6
LPV System via Jacobian Linearization
[Ex.] Longitudinal dynamics of a missile : angle of attack,
Nonlinear Plant : pitch rate,
: tail-fin deflection
: Mach number
Aerodynamic coefficients
Output : normalized acceleration
, ,
Linearization
2 7
Quadratic Stability
System ,
or differential inclusion:
The system is quadratically stable if and s.t.
,
( is globally asymptotically stable, which is a hard condition)
s.t.
[Ex.] Polytope Uncertainty
s.t.
s.t.
[Ex.] Norm-bounded Uncertainty
s.t.
and
8
Robust Performance
-norm If there exists such that for ,
then
If is a time-variant,
-norm Suppose . If , such that for ,
then , ,
-Stability
s.t.
s.t. 9
Quadratic Stabilization with State Feedback
State Feedback
Closed-loop System
: measurable
: affine functions of
: physical parameters
LPV Controller
11
Polytope-based Gain Scheduling: -like Synthesis
3
Objectives Find satisfying
The closed-loop system is stable for all admissible trajectories
where
LPV Plant ,
: measurable
LPV Controller
13
LPV Systems: Applications and Design
[Ex.] Flight control(Boeing 747, F-14, F-16 and VAAC Harrier)
Missile autopilots, Aeroelasticity, Turbofan engines,
Magnetic bearings, Automotive systems, Energy
Input argument
pdP Parameter-dependent plant
r number of control inputs and outputs
Output argument
gopt Feasible optimal closed-loop quadratic performance gain
pdK Polytopic Gain Scheduled controller
option
gmin lower limit of gopt
tol , tolred required relative accuracy on gopt and threshold
R, S symmetric matrices satisfying Riccati inequalities
15
Missile Model: Model Representation misldem
4
Objective The missile dynamics are strongly dependent on
angle of attack , air speed and altitude
Their parameters completely define the flight
conditions(operating point) of the missile and
they are assumed to be measured in real time.
Assumption The pitch, yaw and roll axes are decoupled.
Linearized Dynamics of Pitch Channel Gulf War
(Patriot Missile)
MATLAB Command
psinfo(pdP) % data of polytopic system
pvinfo(pv) % data of parameters
18
Missile Model: Problem Specification
Goal To control the vertical acceleration over this operation range
Specifications(Performance/Robustness)
The stringent performance specifications
Settling Time < 0.5 s
for the step response of the vertical acceleration
The bandwidth limitation imposed by unmodeled dynamics
Generalized Plant
autopilot missile
MATLAB Command
figure
omega = logspace( -2, 2, 200 ) ;
for j = 1 : pNum
Pdg = psinfo(Gaug,'eval',polyc(j,:)) ;
[adg,bdg,cdg,ddg] = ltiss(Pdg) ;
sys = ss(adg,bdg,cdg,ddg) ;
[vs] = sigma( sys, omega ) ;
semilogx( omega, mag2db( vs ) ) ;
hold on ; grid on ;
end
21
Missile Model: Gain Scheduled Controller hinfgs
MATLAB Command
% Minimization of gamma for the loop-shaping criterion
[gopt,pdK]=hinfgs(Gaug,r,0,1e-2);
gopt
MATLAB Command
figure
omega = logspace( -4, 4, 300 ) ;
for j = 1 : pNum
Pd = psinfo(pdK,'eval',polyc(j,:)) ;
[adk,bdk,cdk,ddk] = ltiss(Pd) ;
sys = ss(adk,bdk,cdk,ddk) ;
[vs] = sigma( sys, omega ) ;
semilogx( omega, mag2db( vs ) ) ;
hold on ; grid on ;
end
Elements of Controller
23
Missile Model: Frequency Response Analysis
Loop Transfer Function Closed-loop TF
MATLAB Command
pdPo = psinfo(pdP,'eval',polyc(j,:)) ;
pdKo = psinfo(pdK,'eval',polyc(j,:)) ; MATLAB Command
Pd = smult(pdKo, pdPo ) ; Pd = psinfo(pCL,'eval',polyc(j,:)) ;
24
Missile Model: Sensitivity
Sensitivity Complementary Sensitivity
splot 26
Missile Model: Assessment of LPV Controller pdsimul
Transition on parameters spiralt
Note: The command spiralt does not exist in the newest version. 27
LPV System: Handling Models
1
NMD Systems Hybrid Dynamical Systems
Sloop
28
NMD Systems: Non-commuting Multi-Dimensional Systems
LPV System via quasi-LPV
2
States divided into two partitions
Tune-varying Parameters
Quasi-LPV form
29
LFT-based Gain Scheduling: Synthesis
3
Find an internally stabilizing controller s.t.
where
Conservative Design 30
Missile Model: Advanced Model and Controller
4
ns number of states
ni number of inputs
no number of outputs
P standard plant
r=[r(1),r(2)] number of control inputs ( ) and
outputs ( ) respectively
32
Data Structure
50
6
Affine-parameter Representation Parameter box
pv = pvec('box',[-1 2;20 50]);
pvec 20
Vertices
aff2pol pv = pvec('pol',[v1,v2,v3,v4]) -1 2
sys = [Pnom,delta]
= aff2lft(pdP) ;
33