ROBUST PROCESS CONTROL 4¢¢< Manfred Morari Chemical Engineering California Institute of Technology Evanghelos Zafiriou Department of Chemical and Nuclear Engineering and Systems Research Center University of Maryland Prentice Hall Englewood Cliffs, New Jersey 07632Library of Congress Cataloging-in- Publication Data ‘Morar, Mant. ‘Robust process contol / Mantied Morar, Evanghelos Zafirion om Bibliography: p. Includes index ISBN 0-13-789159-0 Chemical proce contrl. 1. Zafiriou, Bvangheos. ML Title TP1S5.75.MOT_ 1989 5.22028 660.2'81--de19 cP ‘Manufacturing buyer: Mary Ann Gloriande BAZ © 1989 by Prentice-Hall, Inc. ZZ8e A Division of Simon & Schuster Englewood Cliffs, New Jersey 07632 ‘The fonts in this book are Computer Modern Roman, set using Leslie Lam- port's IX,X document preparation facility, with the help of Jan Owen. Some of the figures were prepared by Glenn C., Smith on an Apple Macintosh with the program MacDraw. ‘TEX is a trademark of the American Mathematical Society. Macintosh and MacDraw are trademarks of Apple Computer, Inc. Alll rights reserved. No part of this book may be reproduced, in any form or by any means, without permission in writing from the publisher. Printed in the United States of America w98765432 ISBN 0-13-782153-0 Prentice-Hall International (UK) Limited, London Prentice-Hall of Australia Pty. Limited, Sydney Prentice-Hall Canada Inc., Toronto Prentice-Hall Hispanoamericana, 8.A., Mexico Prentice-Hall of India Private Limited, New Delhi Prentice-Hall of Japan, Inc., Tokyo Simon & Schuster Asia Pte. Ltd., Singapore Editora Prentice-Hall do Brasil, Ltda., Rio de JaneiroIn memoriam CONSTANTIN G. ECONOMOU 1958 - 1986Contents PREFACE xv NOMENCLATURE xix 1 INTRODUCTION 1 1.1 The Evolution of Control Theory 1 1.2 Controller Parametrization: The IMC Structure . 3 13. Robustness =e és 4 14 Scope of Book... .... 0... 4 1.5 Some Hints for the Reader 5 Part I: CONTINUOUS SINGLE-INPUT SINGLE-OUTPUT SYSTEMS a 2 FUNDAMENTALS OF SISO FEEDBACK CONTROL un 21 Definitions... .. . 2a ee u 22 Formulation of Control Problem See aes Ai 221 Process Model : Rohan eed 222 Model Uncertainty Description ve 6 223 Input Specification ........ 0000... 19 224 Control Objectives... BSA 2s 2 28 Internal Stability 2.00.0. se esse eee 2 2.4 Nominal Performance aes 2.4.1 Sensitivity and Complementary Sensitivity Function |... 24 24.2 Two-Degroe-of-Freedom Controller 1 35 24.3 Asymptotic Properties of the Closed-Loop Response Ge tem Type)... . 27 2.4.4 Linear Quadratic (H,-) Optimal Control 28 24.5 Hoy-Optimal Control... 1. sss ss 1. 39 25 Robust Stability : Ee ts oe SL 26 Robust Performance ... . nee rege ener 2.6.1 Hy Performance Objective... 0... 0s. + see 26.2 Hx Performance Objective 35CONTENTS 27 Summary ..... 2.8 References... . ‘THE SISO IMC STRUCTURE FOR STABLE SYSTEMS 3.1 IMC Structure ante ak 32 Stability Conditions for IMC... +... « 3.2.1 Internal Stability 322 Relationship with “Clamic Feedback”... 1. 3.2.3 Implementation: Classic Feedback Versus IMC 33 Performance of IMC .........-00-0-eseeeee 3.3.1 Sensitivity and Complementary Sensitivity Function... 3.3.2. Two-Degree-of-Freedom Controller . . 3.3.3 Asymptotic Properties of Closed- Loon Response (System ype) a ost arate 3.34 The Concept of “Perfect Control 3.4 Outline of the IMC Design Procedure ..... « 3.4.1 Basic Design Philosophy : 34.2 Two-Degtee-of Freedom Design . . . « 3.43 Design in the Presence of Measurement Device Dynamics SS Sunamary » setlatayeat wie Paketaete er dt-w i a 3.6 References . . . SISO IMC DESIGN FOR STABLE SYSTEMS 4.1 Nominal Performance ...........+ 4.1.1 Hy-Optimal Control Per oe nplte 41.2 Design for Specific Input Forms»... 1.0... 4.1.3. Minimum Error Norm for Step Inputs 4.2 The IMC Filter . . 4.2.1 Filter Form 422 A Qualitative Interpretation of the Function of the Filter 4.3. Robust Stability f 4.3.1 Norm-Bounded Uncertainty Regions 4.3.2 General Uncertainty Regions . 4.4 Robust Performance , 44.1 Norm-Bounded Uncertainty Regions 44.2 General Uncertainty Regions . 4.5 Summary of IMC Design Procedure : 4.6 Application: IMC Design for a First-Order Deadtime System 4.6.1 Deadtime Uncertainty . 4.6.2 Three-Parameter Uncertainty 36 38 39 39 4 4 2 44 45 45 46 46 a7 50 50 52 54 55 55 37CONTENTS: vi 47 References... + 84 5 SISO IMC DESIGN FOR UNSTABLE SYSTEMS BA 85 Parametrization of All Stabilizing Controllers . ody oa 8 5.1.1 Conditions for Internal Stability ©... 2... 00-0 85 5.1.2 Controller parametrization... 6... « 87 88 88 5.2. Nominal Performance é eS wees 5.2.1 HyOptimal Controller... 0.2.00 eee e eee ee 5.2.2 Design for Common Input Forms . - 9 5.2.3 Minimum Error Norm for Step Inputs to Stable Systems. . 94 5.2.4 Two-Degree-of-Freedom Controller . = ae OM SB MThe IMC Pilter yl 0h eke Mei ote aks to eraih a 98 5.3.1 Filter Form .. deceit 96 5.32 Qualitative Interpretation of the Filter Rimction 99 5.4 Robust Stability Ee eit oegldl 541 Norm-Bounded Uncertainty Regions |... 2.2... 101 5.4.2 General Uncertainty Regions jets 10? 5.5 Robust Performance .. . . sae 102 5.6 Summary of the IMC Design Procedure... 0... +++ ++ + 103 5.7 Applications wat +++ 104 5.7.1 Distillation Column Base Level Control 104 5.7.2. NMP Unstable Systems . . . . _ 107 5.8 References . ‘ 0 6 ISSUES IN SISO IMC DESIGN 113, 6.1 Implications of IMC for Classic Feedback Controllers... .. . . 113 6.1.1 General Relationships . hive sere seaxsase & 18 6.1.2 PID Settings for Simple Models . 114 6.1.3 PID Settings for a First-Order System with Dendtime |. . 121 614 Summary .. Lec ee iis 62 IMC Interpretation of Smith Predictor Controller... +. ss... 126 6.2.1 General Relationships = 126 63 6.2.2 Some Myths about the Tuning of Smith-Predictor Controllers128. 623 Robust Tuning of Smith-Predictor Controller for First- Order System with Dead 130 G24 Summary 6 Oo SEE. ha, Siege bse toiegew <2 5 1B Feedforward Control Pot Ste orc tee eps 6.3.1 Objectives and Structure au » 131 63.2 Design... . . + 132 63.3 Summary = 135CONTENTS. 64 Cascade Control... . lat gyn Hel 180, GA Objectives, Structure, and Design |... 1... - 135 6.4.2 Implementation . + 138 643 Summary . ne - 138 6.5 References vars = 139) Part II: SAMPLED DATA SINGLE-INPUT SINGLE-OUTPUT SYSTEMS 141 FUNDAMENTALS OF SAMPLED-DATA SYSTEMS CON- TROL 143, 7.1 Sampled-Data Feedback Structure Poe ed eee ois. 7.2 IMC Structure heat ut 73 Formulation of Control Problem... .....+ss00s0000. 447 7.3.1 Process Model... « ds ti -. 49 732 Model Uncertainty Description 0... sss... es... M9 TA Internal Stabibity 5,-5.6. 6 +1. so Mealagee sig «bere «DEO 7.5 Nominal Performance . . . -- 161 7.5. Sensitivity and Complementary Sensitivity Function 181 7.5.2 Asymptotic Properties of Closed-Loop Response 153 7.5.3 Limitations on Achievable Performance Bois 165 7.54 Discrete Linear Quadratic (H}-) Optinat Control... .. . 158 7.5.5 Hao Performance Objective . . ie shy tg -+-5)9, 180) "76 Robust $tabilliby 9278 Sasen- eschti oS. afeoaye ee hee 05 e100 7.7 Robust Performance . . . eho fete, cee peat TTA Hy Performance Objective... 1.0... s cee eee es 16 7.2 Heo Performance Objective»... 6.0 seve eee + 162 78 Summary 162 79 References... 2.22... ok es e168 SISO IMC DESIGN FOR STABLE SAMPLED-DATA SYS- ‘TEMS 165 8.1 Nominal Performance ..... = 165 8.11 Hj-Optimal Control or eee ee) 8.1.2 Design of the IMC Controller q(2) ....-.. +--+ +» 168 8.2 The Discrete IMC Filter... . . = eat: 83 Robust Stability Sr eke sh PEE res ee 8.3.1 Filter Design ees iis 8.3.2 Effect of Sampling . . 176 84 Robust Performance 176CONTENTS: 10 8.4.1 Filter Design... . guts 3! Lemay AT 842 Sampling Time Selection edge tee - 178 843 Example.......... - 178 8.5 Summary . 181 86 References . 182 SISO DESIGN FOR UNSTABLE SAMPLED-DATA SYSTEMS183 9.1 Parametrization of All Stabilizing Controllers 183 9.1.1 Internal Stability i + 183 9.1.2 Controller Parametrization 184 9.2 Nominal Performance 184 9.2.1 H}-Optimal Controller ora 185 9.2.2 Design of the IMC Controller (=). 188 9.2.3 Anti-aliasing Prefilter ....... 189 9.24 Design for Common Input Forms - 190 9.2.5 Integral Squared Exror (58) for Step Taps to Stable Sys- tems . : Jock. A192 9.3. The Discrete IMC Filter « 193 9.3.1 Filter Form 193 9.3.2 Qualitative Interpretation of the Filter Function = 195 9.4 Robust Stability - 198 9.5 Robust Performance . . Ba 198 9.6 Summary of the IMC Design Procedure...» - = 199 9.7. Application: Distillation Column Base Level Control... . .. . 200 9.8 References 2 a 201 Part II: CONTINUOUS MULTFINPUT MULTI-OUTPUT SYSTEMS 203 FUNDAMENTALS OF MIMO FEEDBACK CONTROL 205 10.1 Definitions and Basie Principles . = 205 10.1.1 Modeling gs = 205; TOO" Polea a, kat shart + cache = 206 10.1.3 Zeros 207 10.1.4 Vector and Matrix Norms . = = 208 10.1.5 Singular Values and the Singular Value Decomposition . . . 211 10.1.6 Norms on Function Spaces 215 10.2 Classic Feedback = 217 10.2.1 Definitions 217 10.22 Multivariable Nyquist Criterion - +217103 104 10.5 10.6 aa 12 13 CONTENTS 10.2.3 Internal Stability . 10.24 Small Gain Theorem . . . Formulation of Control Problem Be 10.3.1 Process Model... . . « neha 10.3.2 Model Uncertainty Description 10.3.3 Input Specifications 5 a 10.3.4 Control Objectives... 6... + Nominal Performance ao 104.1 Sensitivity and Complementary Sensitivity Function . . 1042 Asymptotic Properties of Closed-Loop Response (System Type) - 10.43 Linear Quadratic (Hs-) Optimal Control 10.4.4 Hoo-Optimal Control Summary . . aye References 11 ROBUST STABILITY AND PERFORMANCE Robust Stability for Unstructured Uncertainty 11.1.1 Uncertainty Description... . 1112 General Robust Stability Theorem 11.1.3 Multiplicative Output Uncertainty .. . . 11.14 Multiplicative Input Uncertainty 11.5 Inverse Multiplicative Output Uncertaint 11.1.6 Example: Input Uncertainty for Distillation Column 11.1.7 Integral Control and Robust Stability . . Robust Stability for Structured Uncertainty 11.2.1 Uncertainty Description... . . 11.22 Structured Singular Value 11.23 Simultaneous Multiplicative Input and Output Uncertainty 11.24 Batch Reactor: Simultaneous Parametric and Unstruc- tured Uncertainty ‘ 11.25 Independent Uncertainty in the Transfer Matrix Elements 11.2.6 Condition Number and Relative Gain Array as Sensitivity Measures OEE el ie ataate Robust Performance é 11.3.1 Hoo-Performance Objective .......- 11.3.2 Multiplicative Output Uncertainty 11.33 Multiplicative Input Uncertainty . . . 11.34 Hy-Performance Objective . 11.35 Application: High-Purity Distillation « = 221 221 = 222 222 223 225 226 227 207 = 228 228 230 = 232 233 235, = 236 236 237 = 239 240 = 242 242 244 246 = 246— CONTENTS 12 13, 114 Robustness Conditions in Terms of Specific ‘Transfer Matrices 11.4.1 How to find the LPT... .. 114.2 New Properties of ws. 5 « 114.3 Examples 11.5 Summary 116 References MIMO IMC DESIGN 12.1 IMC Structure 122 Conditions for Internal Stability 123 Parametrization of All Stabilizing Controllers 124 Asymptotic Properties of Closed-Loop Response 12.5 Outline of the IMC Design Procedure 12.6 Nominal Performance A 12.6.1 Assumptions i 12.62 Hy-Optimal Control for a Specific Input - 12.6.8 Hy-Optimal Control for a Set of Inputs 12.64 Algorithm for “Inner-Outer” Factorization 12.7 Robust Stability and Performance 12.7.1 Filter Structure ‘ 12.72 General Interconnection Structure with Filter « 12.7.3 Robust Control: Hoo Performance Objective 12.74 Robust Control: Hy-Type Performance Objective 12.8 Application: High-Purity Distillation . . : 12.9 Summary . 12.10Discussion and References . . PERFORMANCE LIMITATIONS FOR MIMO SYSTEMS. 13.1 Effect of Plant Gain 13.1.1 Constraints on Manipulated Variable 13.1.2 Disturbance Condition Number 13.1.3. Implications of cg for Closed-Loop Performance 13.14 Decomposition of d along Singular Vectors . 13.1.5 Summary 13.2 NMP Characterist 13.2.1 Zero Direction 13.2.2 Implications of Zero Direction for Achievable Performance 13.2.3 Summary 13.3 Sensitivity to Model Uncertaint 13.3.1 Sensitivity to Diagonal Input Uncertainty. = 301 - 301 275 278 281 285 287 290 293 + 293 = 295 + 296 297 298 302 306 309 310 311 313 315 ais 320 324 325 327 328 828 329 330 332 338 339 330 342 343 344 au14 15 CONTENTS 13.3.2 Sensitivity with Different Controller Structures . . 13.3.3 “Worst-Case” Uncertainty Bhd : 13.3.4 Example... eae be er etean eae 13.3.5 Summary 134 References DECENTRALIZED CONTROL 14.1 Motivation 14.2 Definitions . 14.3 Necessary Conditions for Controllability. 14.3.1 Results 143.2 Proofs ae? 144 Stability Conditions - Interaction Measures... . 14.4.1 Necessary and Sufficient Stability Conditions 14.4.2 Sufficient Stability Conditions . a 14.43. Diagonal Dominance Interaction Measures . . 1444 Generalized Diagonal Dominance Interaction Measures . 14.4.5 The p-Interaction Measure ‘ 14.4.6 Interaction Measures for 2 x 2 Systems. 14.47 Examples i 14.5 Robust Performance Conditions . 14.5.1 Sufficient Conditions for Robust Performance 14.5.2 Design Procedure . . 14.5.3 Example . 146 Summary 147 References... . 346 348 M9 . 361 - 356 359 +6 359 - 361 » 362 - 362 365 = 367 = 368 . 370 372 373 374 = 315 - 376 - 378 379 382 383 388 389 Part IV: SAMPLED DATA MULTL-INPUT MULTI-OUTPUT, SYSTEMS MIMO Sampled-Data Systems 15.1 Fundamentals of MIMO Sampled-Data Systems 15.1.1 Sampled-Data Feedback a 15.1.2 Poles and Zeros 15.1.3 Internal Stability . . . 15.14 IMC Structure... . : 15.15 Model Uncertainty Description . 15.2 Nominal Internal Stability 15.2.1 IMC Structure 15.2.2 Feedback Structure 391 393 393, - 393 395 = 396 307 - 397 - 399 = 399 400CONTENTS xiii 15.3 Nominal Performance... . 2006s eee0 esse eee ee 401 15.3.1 Sensitivity and Complementary Sensitivity Function... 401 15.3.2 Hj Performance Objectives 402 15.3.3 Hao Performance Objective 5 se 404 15.4 Robust Stability .......... woetiny 8 15.5 Robust Performance Potro Series 405 15.5.1 Sensitivity Function Approximation... . 405 15.5.2 Hg, Performance Objective ....... = 406 IMC Design: Step 1(Q) . 0... esc e eee dos kck ae 15.6.1 Hy-Optimal Control tat 8t- Sten nes 406 15.6.2 Setpoint Prediction SER es okdg tatu hiterae 418 15.6.3 Intersample Rippling... 0... 413 15.6.4 Inner-Outer Factorization . . sBit 5 ah Al 15.7 IMC Design: Step 2(F) o 0.0 cece cece eee eee ALO 15.7.1 Filter Structure . . . . wee 420 15.7.2. Robust Stability Interconnection Structure beh aal 15.7.3 Robust Performance Interconnection Structure... ... . 422 15.74 Robust Hz. Performance Objective... . . « 423 15.8 Mlustration of the Design Procedure... 6.200 ve eee ee ss A2d 15.8.1 System Description . 404 15.8.2 Design of Q . Lohenee Bawa - 426 15.8.3 Design of F . Srciamieeh 3 «ht ugg aS 15.9 Summary... 0... - 433 15.10References .... .. . 2434 Part V: CASE STUDY 435 16 LV-CONTROL OF A HIGH-PURITY DISTILLATION COL- UMN 437 6:1 Reatures.<.<'. ees 00) Gia, le em eaters Be O7 16.1.1 Uncertainty 437 16.1.2 Nonlinearity... . . Bipot ta aes sote 2 eeit ass 16.1.3 Logarithmic Compositions . ache es ASS 16.1.4 Choice of Nominal Operating Point . eee 9 16.2 The Distillation Column ...... Sackees trae) AG2A Moddalling (255). 2 e ete en Sp bh gee 2 440 16.2.2 Simulations... . . Braga 442 16.3 Formulation of the Control Problem... 0... 0... 0.0.5. 443 16.8.1 Performance and Uncertainty Specifications»... .... 443 16.3.2 Analysis of Controllers... . a der cr aaCONTENTS 16.3.3 Controllers = M44 164 Results for Operating Point Als... sss. s eee 445, 16.4.1 Discussion of Controllers . . Bah Kiet we M6 16.4.2 Conclusions : - 451 165 Effect of Nonlinearity (Results for Operating Point C) = 452 16.5.1 Modelling ....... ? oo ABR 16.5.2 p-Analysis tats San os AB 16.5.3 Logarithmic Versus Unscaled Compositions»... 1... 453 16.5.4 ‘Transition from Operating Point A to C . - 455; 16.6 Conclusions . . . . a Bhd 456 16.7 PisibrendeR «occ. $ Sai doe v weethas arena aagealt = 456 Appendix 459 References 469 Index atoPREFACE ‘The development of the state space approach in the early 1960s made it possi- ble for the first time to solve general linear multivariable control problems with relative ease. The new techniques seemed to hold high promise for practical ap- plications and attracted much interest — at least in the academic community. Fifteen years later several review papers (e.g., Foss, 1973; Kestenbaum et al., 1976) concluded that the impact on the industrial practice had been negligible. A number of possible reasons for this failure can be identified. For example, there was no smooth transition from the established and proven techniques and tools (PID controllers, Smith Predictor, Relative Gain Array, Decoupler, etc.) to the new ones. This led to great educational difficulties and from today’s perspec tive pointless debates in which the classic frequency domain approach was pitched against the modern state space techniques. More serious than this lack of under- standing which persisted for almost two decades was that the new techniques did not address some very fundamental issues which are at the very heart of feed- back design. For example, the concept of “nonminimam phase behavior” seemed forgotten. Also, the problem of model uncertainty and model error, which domi- nates process control, was only addressed via sensitivity analysis, whose validity is limited to infinitesimal model perturbations. After years of isolated but persistent criticism a new understanding and ap- proach started to emerge in the late 1970s. Some of the key theoretical con- tributions were the new formulation and parametrization of the optimal control problem by Youla and coworkers (1976), the definition of the Ha» control problem by Zames (1981), and the introduction of the structured singular value by Doyle (1982). These and other discoveries sparked again much enthusiasm and a flurry of research activity almost comparable to the 1960s. Only time will show the impact on the control practice. ‘The new approach does address many issues of practical importance like model uncertainty (robustness). Many research challenges remain however. New results appear monthly but the ideas have not matured enough to form a coherent pic-wi PREFACE ture. Moreover, the level of abstraction makes the new developments inaccessible to anybody but the researchers in this area. ‘This book attempts to bridge the gap between a good undergraduate train- ing in process control and the new arriving generation of robust control theory. ‘Though not a textbook, it is intended as a supplement for a graduate level con- trol course. Because the emphasis is on practical control system design methods, sections of the book should also be of interest to the industrial control engineer who wants to learn about the new powerful techniques. Some basic concepts from linear algebra and complex variables are assumed. ‘The book motivates the new theory with a series of typical process control examples: single-input single-output systems with time delay, multivariable dis- tillation column models, reactor models, etc. However, the applicability of the new techniques is not limited to process control. The emphasis is on the deriva- tion of new analysis and design tools. Preference is given to simple effective techniques over the most recent and most general theoretical discoveries. There is no doubt that the next few years will bring about a number of refinements which will affect some of the details in the book. We strongly believe, however, that the key ideas of robust control as presented here will profoundly impact pro- cess control understanding, teaching, and practice in the future. Indeed, some of the concepts have been applied already to industrial systems and some of the algorithms have become integral parts of industrial process control software. Many colleagues have influenced our thinking on the topic of robust pro- cess control. We wish to acknowledge in particular Reuel Shinnar, Coleman Brosilow, and John Doyle. Shinar made us first aware of the robustness prob- Jems. Brosilow convinced us of the advantages of the Internal Model Control structure, Doyle familiarized us with the new powerful theory which makes the practical robustness analysis of multivariable systems possible. ‘The initial outline for this book was developed with our late colleague Con- stantin Economou. We missed his high standards, his flair for communicating complex ideas, and his humor. The project was not the same without him. A number of present and former Caltech graduate students and research fel- lows have contributed either directly or indirectly to the material. In particular, we would like to mention Sigurd Skogestad, Dan Rivera, Dan Laughlin, Dan Lewin, and Clandio Scali. Brad Holt, Yaman Arkun, and Christos Georgakis have classroom-tested parts of this book and have provided us with valuable criticism. The contimions encouragement by our friends in industry was most important, We wish to acknowledge, in particular, Dave Prett and Carlos Garcia of Shell Development, Dave Smith and Bjorn Tyreus of DuPont, and John Hamer of Kodak.PREFACE xii Much of the research reported in this book was carried out at Caltech. ‘The extraordinary scholarly environment and supportive administration made this endeavor possible, The final sections of the book were completed while the first author enjoyed an appointment as the Gulf Visiting Professor of Chemical Engi- neering at Carnegie Mellon University. During the past year, the second author held a joint appointment with the Chemical and Nuclear Engineering Department and the Systems Research Center of the University of Maryland. The excellent, atmosphere at this institution allowed him to continue his work on the book. Over the years we received continuous financial support from the National Science Foundation, the Department of Energy, Shell Development, DuPont, and Kodak which enabled us to pursue our research objectives. Finally we would like to thank Glenn C. Smith for preparing most of the figures, Evangelos Petroutsos for assisting with TEX and IsIpX and Jan Owen who did such an excellent job typing the manuscript after suffering through three different word processing systems, M. Morari B. ZafirionNOMENCLATURE Abbreviations DIC Decentralized Integral Controllable Ic Integral Controllable IM Interaction Measure mmc Internal Model Control Is Integral Stabilizable ISB Integral Squared Error LFT Linear Fractional Transformation LHP Left-Half Plane MIMO Multi-Input Multi-Output MP Minimum Phase NMP Nonminimum Phase NP ‘Nominal Performance NS Nominal Stability PFE Partial Fraction Expansion RGA Relative Gain Array RHP Right-Half Plane RHS Right Hand Side RP Robust Performance RS Robust Stability sIso Single-Input Single-Output SSE Sum of Squared Errors ssv Structured Singular Value svD Singular Value Decomposition uc Unit CircleSymbols Biz) by(s)(O5(2)) ba(s)(b5(z)) € cum (8), e(=)(C(s),C(z)) eg(s) d(s) a(s) @(2)(d5(z)) e(s)(e"(z)) e(s) (3), f(2)(F(s), Fle) Als) G(s) GE(s) GHG) ha(s)(Ho(s)) H,(H3) H3(H;") np Im NOMENCLATURE Factor to preserve system type in q(2) and Q(z) Alllpass with the open RHP (outside the UC) poles of #(s)(0"(z)) Allpass with the open RHP (outside the UC) poles of u(s)(v"(2)) Field of complex numbers Field of complex matrices of dimension n x m SISO (MIMO) continuous and discrete classic feedback controllers Classic feedforward controller Effect of d'(s) on y(s) Disturbance entering py(s) transform of d(s) before (after) passing through 7(s) ‘Contimuous (discrete) error signal: Difference Ddetween y(s)(y*(2)) and r(3)(r*(2)) ‘Weighted error signal W2(s)e(s) SISO (MIMO) continuous and discrete IMC filters ‘Type 1 one-parameter discrete SISO IMC filter ‘Transfer function matrix used as argument of jin the RP SSV criterion for the continuous case The equivalent of G¥(s) for the discrete case; it depends on whether v =r or v=d ‘Transfer function matrix used as argument of un the RS SSV condition for the continuous (discrete) case SISO (MIMO) zero-order hold Hp") for n= m= 1 HEH") for m Subspace of LJ", containing the functions with analytic continuations in the RHP (includes all rational, proper, stable transfer function matrices) Subspace of L3"*" defined as the orthogonal complement of the L}”*" subspace which contains functions with analytic continuations inside the UC (H3"*" contains all rational, strictly proper, stable z-transfer function matrices). Imaginary partNOMENCLATURE 4.(8)(La(s)) ba(e)(Elw)) Le(s)(Ex(w)) Li(s(E(w)) Salo) En(w)(E, (w)) Lo(s)(o(w)) LA(L5) T(Z3") apy") P(s)(P(s)) B(0)(P(s)) P'(2) PH 2)(P*(2), Py2)) BPP), PH) Ba(s)Ba(2)(Pals), Palz)) Pa(s),Pa(s) Pm(8)sBm(8) du(s) Piel) Pur(s), Pie2)) a(s),9(z(Q(s), Q()) As), H2)(Q(s), O@)) Ges), 24(8)(G(8), ae(8)) as) Additive SISO (MIMO) uncertainty Bound on the additive uncertainty for the continuous (discrete) case (Bound on the) MIMO inverse multiplicative output uncertainty (Bound on the) MIMO input multiplicative ‘uncertainty Multiplicative SISO uncertainty Bound on the multiplicative SISO uncertainty for the continuous (discrete) case (Bound on the) MIMO output multiplicative uncertainty Lym (Lg) for m = Lp (ig) for m = 1 Space of nx m matrix valued functions that are square integrable on the imaginary axis (UC) ‘SISO (MIMO) plant; also denotes the process model in sections where p = p(P = P) is assumed SISO (MIMO) process model Zero-order hold discrete equivalent of p(s)(P(s)) without and with 7(s)(U(s)) included, respectively Zero-order hold discrete equivalents of f(s)(P(s)) without and with 7(s)(I(s)) included, respectively ‘Allpass with the NMP elements of f(s) and B'(z)(P(s) and P*(z)) respectively ‘True and model of the disturbance effect plant transfer function ‘True and model of the measurement device transfer function MP factors of f(s) and p*(z) (P(s) and P*(2)) respectively SISO (MIMO) continuous and discrete IMC controllers SISO (MIMO) continuous and discrete Ist step IMC controllers Disturbance rejection (setpoint tracking) Ist step and overall IMC controllers of the two-degree-of-freedom structure Feedforward IMC controller 1Gn(2)(@u(2)) 7G) ge Re r(s)(r*(z)) r u(s)(u(z)) u(s)(v'(s)) u'(z) V(s)(V(2)) wr) va(s),04(2)(Va(s), Va(z)) um (s), vi¢(Var(s), Vez) w(s) wa(s)(w-(s)) Wi(s)(Wals)) u(s)(a(s)) v2) HEMT E) H(2) ‘Um(s) Greek Characters NOMENCLATURE SISO (MIMO) Hj-optimal IMC controller Factor included in g(z) and Q(z) to avoid intersample rippling Field of real numbers Residue Real part Contimuons (discrete) setpoint Sampling time Continuous (discrete) input to the plant External input r(s) or d(s) (normalized to impulse) transform of v(s) Square matrix whose columns consist of external inputs v(s)(v"(2)) Set of inputs u(s)(v/(s)) or v*(z) Allpass with the NMP elements of v(3),0"(2)(V(a), V(2)) respectively MP factors of u(s),0*(z) (V(s),V(2)) respectively Performance weight for the SISO case Performance weight for disturbance rejection (setpoint tracking) in the two-degree-of-freedom structure Input (Output) weights for the MIMO case Continuous plant (model) output s-transform of y(s)(J(s)) before and after passing through 7(s) respectively Ontput of measurement device a s)(C(s)) ‘SISO (MIMO) anti-aliasing prefilter A(a)(AG)) Block diagonal matrix containing the uncertainty for the continuous (discrete) case A Set of possible A's Au(s)(Aa(z)) Uncertainty block in A(s)(A(2)) (8) d RP block in A(s) e(s),£(s)(€(s), £(s)) (Nominal) sensitivity function for the continuous SISO and MIMO cases, respectively as) first step IMC nominal sensitivity function