12/15/2020

Hassan Bevrani
Professor, University of Kurdistan

Fall 2020

H. Bevrani University of Kurdistan 1

Contents

1. General Control Problem Formulation

2. H Control Problem and DGKF Solutions
3. Structure of H Controllers
4. Structure of Other Robust Controllers
5. Order Reduction

H. Bevrani University of Kurdistan 2

1
 12/15/2020

Reference

1. S. Skogestadand I. Postlethwaite, Multivariable Feedback Control;

Analysis and Design, Second Edition, Wiley, 2005.

2. M. Fujita, Lecture Notes on Feedback Control Systems, Tokyo

Institute of Technology, 2019.

3. R. Smith, Lecture Notes on Control Systems, ETH Zurich, 2020.

H. Bevrani University of Kurdistan 3

General Control Problem Formulation

Generalized Plant

Closed-loop Transfer Function (LFT)

(Ref 1, p. 104)
H. Bevrani University of Kurdistan 4

2
 12/15/2020

General Control Problem Formulation

Example 1
Building Interconnection
Exogenous Inputs:

Controlled Output:
Measured Output:
Control Input:

Generalized Plant

(Ref 1, p. 105)
H. Bevrani University of Kurdistan 5

General Control Problem Formulation

Example 2: with weights
Building Interconnection

Exogenous Inputs:

Regulated Output:

Measured Output:
Control Input:

Generalized Plant

(Ref 1, p. 107)
H. Bevrani University of Kurdistan 6

3
 12/15/2020

Example: Spinning Satellite

Nominal Model

Multiplicative (Output) Uncertainty

Uncertainty Weight

Performance Weight

H. Bevrani University of Kurdistan 7

Continue

H. Bevrani University of Kurdistan 8

4
 12/15/2020

Building Interconnection Using MATLAB

H. Bevrani University of Kurdistan 9

H∞ Control Problem
H∞ Optimal Control Problem
Find all stabilizing controllers which minimize

H∞ Sub-optimal Control Problem:

Given , find all stabilizing
controllers K such that

(Ref 1, pp. 104-114)

H. Bevrani University of Kurdistan 10

5
 12/15/2020

H∞ Control Problem: Some Applications

o Sensitivity Minimization Problem

o Robust Stabilization Problem
o Mixed Sensitivity Problem
o LQG Type Control Problem
o Feedforward Problem
o Estimation Problem

H. Bevrani University of Kurdistan 11

H∞ Control: State Space Approach

Generalized Plant

Closed-loop Transfer Function (LFT)

H∞ Control Problem

(Ref 1, p. 357)
H. Bevrani University of Kurdistan 12

6
 12/15/2020

A Simplified H∞ Control Problem

Generalized Plant

Assumptions

(Ref 1, p. 353)
H. Bevrani University of Kurdistan 13

DGKF Solution
There exists a stabilizing controller K such that
if and only if the following three conditions hold:

𝜌 𝑀∗ 𝑀 𝜎 𝑀

Doyle, Glover, Khargonekar, Francis, State-Space Solution to Standard H2 and H∞ Control Problems, IEEE TAC, 34 -8, 1989
(Ref 1, p. 357)
H. Bevrani University of Kurdistan 14

7
 12/15/2020

Bounded Real Lemma

For , , the following two

conditions are equivalent:

K. Zhou with J.C. Doyle, Essentials of Robust Control, Prentice Hall, 1998
H. Bevrani University of Kurdistan 15

General H∞ Control Solutions Using MATLAB

[k, cl, gam, info] = hinfsyn(p, nmeas, ncon, key1, value1, key2, value2, …)

* K. Glover and J.C. Doyle, Systems and Control Letters, 11, 1988.
H. Bevrani University of Kurdistan 16

8
 12/15/2020

All Robust Control Solutions

H2 controller synthesis
h2syn

H∞ controller synthesis
hinfsyn

Mixed H2/H∞ controller synthesis

h2hinfsyn

H. Bevrani University of Kurdistan 17

Robust Control Solutions

H∞ mixed sensitivity
controller synthesis
mixsyn

Sample-data
H∞ controller synthesis
sdhinfsyn

LQG LTR
controller synthesis
ltrsyn
LTR: Loop-transfer Recovery
H. Bevrani University of Kurdistan 18

9
 12/15/2020

Robust Control Solutions

H∞ loop shaping
controller synthesis
loopsyn

Sample-data
H∞ irreducible decomposition
controller synthesis
ncfsyn

μ-controller synthesis
dksyn

H. Bevrani University of Kurdistan 19

Model Reduction
Truncation and Residualization
Jordan form

Modal Truncation

Residualization Model Error

o Eq

H. Bevrani University of Kurdistan 20

10
 12/15/2020

Model Reduction
Balanced Realizations

Let be a minimal realization of a stable, rational transfer

function, then G is called balanced if the solutions to the Lyapunov
equations and are
, where .

Controllability Gramian

Observability Gramian

: Hankel singular values : Gramian of G

: Hankel norm of G

The size of is a relative measure of the contribution that makes

to the input-output behavior of the system.
H. Bevrani University of Kurdistan 21

Model Reduction
Balanced Truncation/Residualization

Theorem: Let be a stable rational transfer function with Hankel singular

values where each has multiplicity and let be
obtained by truncating or residualizing the balanced realization of to the first
states. Then
“twice the sum of the tail”

I. Balanced residualization preserves the steady-state gain of the system

II. Balanced residualizationis related to balanced truncation by the bilinear
transformation

H. Bevrani University of Kurdistan 22

11
 12/15/2020

Model Reduction
Optimal Hankel Norm Approximation
The Hankel norm of any stable transfer function E(s)

Theorem: Let be a stable, square, transfer function with Hankel singular

values , then
a stable optimal Hankel norm approximation of order , can be
constructed as follows:

o The Hankel norm of the error between and :

H. Bevrani University of Kurdistan 23

Model Reduction
Reduction of unstable models

1. Stable part model reduction

Balanced truncation/residualization or optimal Hankel norm approximation can be applied

to the stable part to find a reduced order approximation .

2. Coprime factor model reduction

H. Bevrani University of Kurdistan 24

12
 12/15/2020

Model Reduction

MATLAB Commands (Model Simplification)

Control System Toolbox Robust Control Toolbox

balred balancmr
modred bstmr
sminreal dcgainmr
minreal hankelmr
balreal modreal
hsvd ncfmr
hsvplot schurmr
balredOptions slowfast
hsvdOptions reduce
hankelsv

H. Bevrani University of Kurdistan 25

Thank You!

University of Kurdistan

H. Bevrani University of Kurdistan 26

13