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Control System Design PDF
Control System Design PDF
1 Ore leaching
Blower
Air
Heap of crushed copper sulfide ore
PLS
Impervious liner
2 Metallic Cu extraction
Raffinate pond PLS pond
It is a system with
two inputs (the flows u1 and
u2 provided by the pumps)
and two outputs (the levels y1
and y2 of the two lower tanks).
It is a system with
two inputs (the flows u1 and
u2 provided by the pumps)
and two outputs (the levels y1
and y2 of the two lower tanks).
It is a system with
two inputs (the flows u1 and
u2 provided by the pumps)
and two outputs (the levels y1
and y2 of the two lower tanks).
It is a system with
two inputs (the flows u1 and
u2 provided by the pumps)
and two outputs (the levels y1
and y2 of the two lower tanks).
−4 2
det G(s) = +
2(s + 1)2 (s + 2)2
(s + 1)2
2
£ ¤
2 1 2 (s + 2) − 1
µ ¶
= 2
1− 2
=
(s + 1) (s + 2) (s + 1)2 (s + 2)2
2(s + 3)(s + 1)
= 2 2
=.
(s + 1) (s + 2)
−4 2
det G(s) = +
2(s + 1)2 (s + 2)2
(s + 1)2
2
£ ¤
2 1 2 (s + 2) − 1
µ ¶
= 2
1− 2
=
(s + 1) (s + 2) (s + 1)2 (s + 2)2
2(s + 3)
= 2
.
(s + 1)(s + 2)
−4 2
det G(s) = +
2(s + 1)2 (s + 2)2
(s + 1)2
2
£ ¤
2 1 2 (s + 2) − 1
µ ¶
= 2
1− 2
=
(s + 1) (s + 2) (s + 1)2 (s + 2)2
2(s + 3)
= 2
.
(s + 1)(s + 2)
2(s + 3)
det G(s) = .
(s + 1)(s + 2)2
jω
Stability Instability
σ
0
s-plane
(a) Continuous-time
jω jω
Instability
Stability Instability
Stability σ
σ
0
s-plane
z-plane
(1 − γ1 )(1 − γ2 )
(23s + 1)(30s + 1) − η = 0, where η= .
γ1 γ2
When the MIMO system is such that each input only affects
one particular output, different from the outputs affected by
other inputs, the system is decoupled or noninteracting.
The University of Newcastle Lecture 7: Introduction to MIMO Systems – p. 16/35
Interaction and Decoupling
Because of coupling, in MIMO systems signals can interact in
unexpected ways.
In this 2 × 2 transfer matrix, the
u1 system will be decoupled only if
c - G11 (s) G12 (s) = 0 = G21 (s) — i.e., the
? y1 transfer matrix is diagonal.
- G12 (s) - i - c
y2
- G21 (s) - i-c
6
u2
c - G22 (s)
- K n (s) -u nb - G nn (s) -y nb
0
To: Y(1)
−20
−40
Magnitude (dB)
γ=0.55
−60
20
−20
To: Y(2)
−40
−60
−80
−3 −2 −1 0 −3 −2 −1 0
10 10 10 10 10 10 10 10
Frequency (rad/sec)
−20
To: Y(1)
−40
−60 γ=0.55
Magnitude (dB)
γ=0.75
−80
20
−20
To: Y(2)
−40
−60
−80
−3 −2 −1 0 −3 −2 −1 0
10 10 10 10 10 10 10 10
Frequency (rad/sec)
−20
To: Y(1)
−40
γ=0.55
−60 γ=0.75
Magnitude (dB)
γ=0.85
−80
20
−20
To: Y(2)
−40
−60
−80
−3 −2 −1 0 −3 −2 −1 0
10 10 10 10 10 10 10 10
Frequency (rad/sec)
−20
To: Y(1)
−40
γ=0.55
γ=0.75
−60 γ=0.85
Magnitude (dB)
γ=0.95
−80
50
0
To: Y(2)
−50
−100
−3 −2 −1 0 −3 −2 −1 0
10 10 10 10 10 10 10 10
Frequency (rad/sec)
−20
To: Y(1)
−40
−60
Precompensated
Magnitude (dB)
Uncompensated
−80
20
−20
To: Y(2)
−40
−60
−80
−4 −3 −2 −1 0 −4 −3 −2 −1 0
10 10 10 10 10 10 10 10 10 10
Frequency (rad/sec)
so h
λ 1−λ
i γ1 γ2
Λ= , with λ =
1−λ λ γ1 + γ2 − 1
so h
λ 1−λ
i γ1 γ2
Λ= , with λ =
1−λ λ γ1 + γ2 − 1
If γ1 = γ2 = γ, and γ = 1, the RGA rule suggests the pairing
(u1 , y1 ) and (u2 , y2 ). On the other hand, if γ = 0, the pairing
suggested is the opposite, (u1 , y2 ), (u2 , y1 ).
The difference with SISO systems is that G(s) and K(s) are
now transfer matrices, so we must be more careful with their
algebraic manipulation (matrix products do not commute).
The difference with SISO systems is that G(s) and K(s) are
now transfer matrices, so we must be more careful with their
algebraic manipulation (matrix products do not commute).
As for SISO systems, we define
0
Singular Values (dB)
−5
−10
−15
−20
−25
−30
−35
−3 −2 −1 0
10 10 10 10
Frequency (rad/sec)
For the MIMO case this becomes the requirement σmax (S) ≈ 0
within that range of frequencies. This is equivalent to the
requirement that
T ≈ I, for ω ∈ [0, B]
In M ATLAB the principal gains can be computed with the
function sigma. Lecture 7: Introduction to MIMO Systems – p. 28/35
The University of Newcastle
MIMO Control Design
The generalisation of IMC design methodology for square MIMO
systems is straightforward. The parameterisation of all controllers
that yield a stable closed-loop system for a stable plant with
nominal model G0 (s) is given by
Step2
Step3
2
References
U
2
2 2 2 2 2
Q G
2 2
Step
LTI System LTI System1 Y
2
2
Step1
2
G0
2
2
LTI System2
2
y (t)
1
y (t)
2
1.5
0.5
0
0 5 10 15 20 25 30 35 40
t [s]
0.5
u (t)
1
u (t)
2
0
Disturbances
−0.5 Step2
2
Step3
2
References
−1 U
2
2 2 2 2 2
Q G
2 2
Step
LTI System LTI System1 Y
2
−1.5 Step1
G0
2
0 5 10 15 20 25 30 35 40 2
LTI System2
2
t [s]
2
y (t)
1
y (t)
2
1.5
0.5
0
0 5 10 15 20 25 30 35 40
t [s]
0.5
u (t)
1
u (t)
2
0
Disturbances
−0.5 Step2
2
Step3
2
References
−1 U
2
2 2 2 2 2
Q G
2 2
Step
LTI System LTI System1 Y
2
−1.5 Step1
G0
2
0 5 10 15 20 25 30 35 40 2
LTI System2
2
t [s]
2
y (t)
1
y (t)
2
1.5
0.5
0
0 5 10 15 20 25 30 35 40
t [s]
0.5
u (t)
1
u (t)
2
0
Disturbances
−0.5 Step2
2
Step3
2
References
−1 U
2
2 2 2 2 2
Q G
2 2
Step
LTI System LTI System1 Y
2
−1.5 Step1
G0
2
0 5 10 15 20 25 30 35 40 2
LTI System2
2
t [s]
2
y (t)
1
y (t)
2
0
0 5 10 15 20 25 30 35 40
0.5
u (t)
1
u (t)
2
0
Disturbances
2
Step2
−0.5 Step3
2
References
U
2
−1 Step
2 2
Q
2
2
2
G
2
2
2
Step1
2
G0
2
0 5 10 15 20 25 30 35 40