Workshop Introduction

ARIANEGROUP
RESTRICTED
CONTROL OF LAUNCHER
H∞ SYNTHESIS METHOD
PRACTICE
2021
Emmanuel CHAMBON
ArianeGroup
78133 Les Mureaux Cedex
GENERAL PRESENTATION
THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

IT SHALL NOT BE COMMUNICATED TO ANY THIRD PARTY WITHOUT THE OWNER’S INTRODUCTION TO WORKSHOP 24/03/2021 2
WRITTEN CONSENT | ARIANEGROUP SAS – ALL RIGHTS RESERVED. RESTRICTED -
ATMOSPHERIC FLIGHT CONTROL
Inertial
Measurement Unit On-board
Desired orbit measurements Computer
Gyrometer
Inertial measurement unit
orders
On-board
computer
gyrometer
To know where
To navigate
the launcher is
To compute the optimal

nozzle To guide trajectory in order to
reach the desired orbit
To follow the optimal

To control trajectory by deflecting
the nozzles
IT SHALL NOT BE COMMUNICATED TO ANY THIRD PARTY WITHOUT THE OWNER’S 3
ATMOSPHERIC CONTROL IN GNC LOOP
On-board computer nozzle
Guidance FSW Flight Control FSW Actuators
• Center of gravity • Follow up control system

movement • High frequency
• Guidance command • movement arround the CoG
• nozzle deflection
Sensors &
Launcher
Navigation FSW Gyrometer
+ IMU

PRESENTATION OF THE APPLICATION

INTRODUCTION OF THE WORKSHOP
Purpose of the application: to synthesize and assess an H ∞ controller for a space launcher.
Application case: heavy launcher of an ARIANE 5 class, during its atmospheric ascent trajectory.
Simplification: the controller will be designed on only one flight time. Around this time, the system is
considered to be stationary. The launcher is considered rigid. 1-axis is considered.
The data used for this workshop are similar to the characteristics of an ARIANE5 launcher trajectory,
close to the dynamic pressure peak.
Model of the launcher behavior is necessary
H ∞ criterium and synthesis must be found to resolve the physical topic.

WHY ATMOSPHERIC PHASE?
Atmosphere and aerodynamic leads to an unstable launcher
example ARIANE 5 : divergence time constant about ½ second in yaw and pitch axis
Strong constraints
• On structure: to limit the general loads (=to limit angle of attack and Pdyn.alpha)
• Actuators limitations (maximum deflection and deflection speed, deflection consumption)
Significant bending motions: Slender body, structure mass is lightened to optimize the
payload in orbit
Guidance performance: to follow the command attitude and trajectory

Robustness with respect to uncertainties
Non-stationnarity: Evolution of the dynamic during the flight: evolution of the launch
vehicule (mass, inertia, thrust, aerodynamics, bending and sloshing modes), of the
environment (atmosphere), of the disturbancies
Evolution of the priorities during the flight

GENERAL PROCESS & ENGINEERING WORK
Requirement
Requirements
verification & validation
• Performance
With regards to:
• Robustness
Requirement & secondary
• Physics limitation
objectives
Model Analysis
• Which representativity? • Sensitivity analysis

• How many model? • Find compromise
• What for? • Temporal & frequential
Design & detailled
design
• Controller tuning
• Criteria adjustment
LAUNCHER MODEL

HYPOTHESIS TO SIMPLIFY EQUATIONS
Hypothesis on the launch vehicule :
• Mass and inertia slowly varying
• Symmetrical Launch Vehicle (LV) = No lift with zero Angle of Attack and no
lateral dissymetry
• Rigid Launch Vehicle = No bending modes, No sloshing modes
• Propulsion = Negligible nozzle mass and inertia, Non-controlled Thrust
aligned with longitudinal LV axis (xL), Nozzle gimbal point on longitudinal
LV axis (controlled thrust is aligned with xL for zero deflection)
Hypothesis on the trajectory :

• Flight with no AoA (general loads)
• Smooth guidance command

MODEL PRINCIPLE
General mecanics equation :
• Torque equation
• Dynamic principle
• Cinematic equation
Main forces/ torques are created by :

• Aerodynamic model
• Propulsion model
• Gravity
Control loop input/ output:

• Input: IMU measurement (θ)
• Output: nozzle deflection (β)

AERODYNAMIC MODEL

TORQUES EQUATION

CENTER OF GRAVITY EQUATION

ANGLE OF ATTACK EQUATION

DYNAMIC PRINCIPLE

PRACTICE: SPACE STATE MODEL

ACTUATORS MODEL

COMPLETE RIGID LAUNCHER SPACE STATE MODEL
𝑋 =𝐴∙𝑋+𝐵∙𝑈
𝑌 =𝐶∙𝑋+𝐷∙𝑈

LAUNCHER MODEL
The complete launcher model will be used for the temporal simulations, to estimate the launcher
behavior facing external perturbations.
This is a MIMO model (multi input, multi output)
A synthesis lancher model will be used for the H ∞ controller synthesis and for preliminary
frequency assessments.
It is a SISO (Single Input, Single Output) model.

It is obtained by removing the disturbances (wind and thrust deflection offset) from the full rigid model
input, and y keeping the attitude error Δθ as the only output.

SYNTHESIS MODEL
The synthesis model will be used for the H ∞ controller synthesis and for preliminary frequency
assessments.
It is a SISO (Single Input, Single Output) model.

It is obtained by removing the disturbances (wind and thrust deflection offset) from the full rigid model
input, and y keeping the attitude error Δθ as the only output.

AUTOMATIC THEORY

FEEDBACK CONTROL SYSTEM OBJECTIVES
Closed-loop stability
Performance
• Loop shaping to handle performances objectives
• To reject disturbancies on system
Robustness
• To keep a correct behaviour in spite of :
• uncertainties,
• dispersions,
• neglected dynamics in model
• Robust stability / Robust performance

FEEDBACK CONTROL SYSTEM REPRESENTATION
System model (launcher)
G
Command Launcher attitude
(nozzle deflection)
Controller
K
Command
Attitude error (nozzle deflection)
(measured)
Feedback loop (Inertial Measurement Unit + Guidance command)

IMU
+ -
GUI
FEEDBACK CONTROL SYSTEM REPRESENTATION
Position Disturbance
error on command
Control input
b Output
r + e + y
+
K G
- u v
+ n
G: Launcher
Command Disturbed Measurement noise
K: Controller
Command
IT SHALL NOT BE COMMUNICATED TO ANY THIRD PARTY WITHOUT THE OWNER’S
TRANSFER FUNCTIONS
External signals
Output + internal signals
b
r e u v y
r b n K G
(GUI command) (TVC bias) (IMU noise)
n
y KG G  KG
(real attitude) 1  KG 1  KG 1  KG
Definitions:
e 1 G 1 1
S Sensitivity
(attitude error) 1  KG 1  KG 1  KG 1  KG function
v K 1 K KG
(biased TVC T
cmd) 1  KG 1  KG 1  KG 1  KG
26
S T-  1
WRITTEN CONSENT | ARIANEGROUP SAS – ALL RIGHTS RESERVED. RESTRICTED
STABILITY OF THE FEEDBACK CONTROL SYSTEM (1/3)
Internal stability b
poles of the 4 transfer functions (S, T, SG, SK) r e u v y
• Have negative real part (continuous case) K G
• are inside the unit circle (digital case) n
Input/ output stability

contrainst only on transfer function r  y (T = KG / (1+KG) )

PERFORMANCE OF THE FEEDBACK CONTROL SYSTEM
b
Performance objectives:
y
• Command tracking r e u v
G
K
• To minimize command level
• To reject measurement noise n
r e
r y b e r v
b v
n y n v
n e
Command tracking
Low TF Low TF
(re, ne) (be)
Low TF Low TF
Minimize command level
(bv) (rv, nv)
Reject measurement Low TF
noise (ny)
FEEDBACK CONTROL SYSTEM PERFORMANCE
b
Controller action : r e u v y
• Find « K » in the table K G
• Depends on low/ high frequency n
• Depends on transfer
KG 1 G K
1  KG 1  KG 1  KG 1  KG
r y r e b y r v

Transfer
n y b v b e n v
function
n e Cmd tracking
LF TF 1 1 1
1 MinTVC cmd
approximation KG K G
HF TF Noise reject.
approximation KG 1 G K
29
CONCLUSION ON TRANSFER FUNCTIONS
Controller
Stability Performance Robustness
impact
Distance wrt • set bandwidth: on command Robust stability

KG HF critical point tracking reactivity (multiplicative
1  KG (hall circle) • HF noise rejection uncertainties)
Distance wrt • command tracking accuracy
1 LF critical point (LF)
1  KG (directly) • LF disturbances oncommand
• LF disturbances on command
G
LF tracking
1  KG
Robust stability
K • control input on command (HF)
HF (additive
• HF noise on command
1  KG uncertainties)
30
H∞ THEORY AND SYNTHESIS

H ∞ NORM OF A TRANSFER FUNCTION
us  ys  u n inputs vector
Gs  y p outputs vector
G p x n tansfer matrix of the system
G   sup σ Giω 
ω
où σ A   sup λk A  A  sup   Ax 2
x2
k x 0
Greater singular conjugate transpose

value
SISO (sigle input, single output):
σ G  G  G  G G   sup Giω

ω
Singular values linked
to a notion of gain
H norm  maximum value of
system gain 32
STANDARD H ∞ CONTROL PROBLEM
Augmented plant H synthesis: To find a controller K(s) which
w s  zs  Internally
Disturbances Outputs to be stabilizes
the plant P(s)
controlled
Ps  checks
us  es 
Commands Measurements
Controller Tzw 
γ
Ks 
Transfer matrix from HNorm
disturbances to outputs bound
to be controlled
– The augmented plant P gathers:

• the plant to control
• the frequency weighting functions (filters) used to “model” the plant to control
33
H ∞ SYNTHESIS ALGORITHM
Augmented plant Several synthesis method are available:

w s  zs 
via γ - iteration
Ps  RICATTI equations (GLOVER-DOYLE method)

us  es  Decreass of γ
ex. « hinfopt » MATLAB function via LMI
Order of controller K
Controller = order of augmented plant P
= order of the plant to control + order of weighting functions
Ks 

AUGMENTED MODEL FOR H ∞ CONTROL PROBLEM
Workshop: how to obtain an augmented model

• From the SISO launcher model
• Identify I/O to control/ model Cmd tracking
• Add weighting functions on perturbances or outputs to control
MinTVC cmd
W2
Noise reject.
W1 W3
Control input
b
r + e + y =attitude
+
G
- u v
Command biased command + noise
+
35
H ∞ SYNTHESIS AND PROPERTIES Tzw 
γ
w1 H optimization
w2 W3 s  Hnorm
properties
W2 s  z2
W1s  z1  1 γ
 1  KG 
W1

u + e  K γ
G s  +
 1  KG 
- W2
+ ω 
 G γ

 1  KG W1W3
K s   KG γ
 
 1  KG W2W3
 1 G 
 1W  W1 W3 
Tzw   1  KG 1  KG  Weighting functions allows to “model” the
W K
 W2
KG
W3 
transfer functions, and so, to deal with performance
2
 1  KG 1  KG  and robustness objectives according to frequency domain
36
H ∞ SYNTHESIS AND PROPERTIES
G
1
γ γ
1  KG 1  KG
W1 W1W3
1
W1
W1
Command tracking
accuracy W3
ω1 ω k ω
Bandwidth
K KG
1  KG 1  KG
1
W3
Robust Robust
stability γ stability γ
W2 W2 W2W3 W2
ω2 ω ω 37
SEE YOU FOR THE WORKSHOP

SUM UP

H ∞ SYNTHESIS AND PROPERTIES Tzw 
γ
w1 H optimization
w2 W3 s  Hnorm
properties
W2 s  z2
W1s  z1  1 γ
 1  KG 
W1

u + e  K γ
G s  +
 1  KG 
- W2
+ ω 
 G γ

 1  KG W1W3
K s   KG γ
 
 1  KG W2W3
 1 G 
 1W  W1 W3 
Tzw   1  KG 1  KG  Weighting functions allows to “model” the
W K
 W2
KG
W3 
transfer functions, and so, to deal with performance
2
 1  KG 1  KG  and robustness objectives according to frequency domain
40
H ∞ SYNTHESIS AND PROPERTIES
G
1
γ γ
1  KG 1  KG
W1 W1W3
1
W1
W1
Command tracking
accuracy W3
ω1 ω k ω
Bandwidth
K KG
1  KG 1  KG
1
W3
Robust Robust
stability γ stability γ
W2 W2 W2W3 W2
ω2 ω ω 41
FEEDBACK CONTROL SYSTEM PERFORMANCE
b
r e u v y
W3 W1 W3 K G
W2 W1 W3 W2
KG 1 G K
1  KG 1  KG 1  KG 1  KG
r y r e b y r v

Transfer
n y b v b e n v
function
n e Cmd tracking
LF TF 1 1 1
1 MinTVC cmd
approximation KG K G
HF TF Noise reject.
approximation KG 1 G K
42
Cmd tracking
CONCLUSION ON TRANSFER FUNCTIONS MinTVC cmd
Noise reject.
Controller
Stability Performance Robustness
impact
Distance wrt • set bandwidth: on command Robust stability

KG HF critical point tracking reactivity (multiplicative
1  KG (hall circle) • HF noise rejection uncertainties)
Distance wrt • command tracking accuracy
1 LF critical point (LF)
1  KG (directly) • LF disturbances oncommand
• LF disturbances on command
G
LF tracking
1  KG
Robust stability
K • control input on command (HF)
HF (additive
• HF noise on command
1  KG uncertainties)
43
APPENDIX

PRACTICE: MAKE THE SPACE STATE MODEL
Exercise: fill in the matrix with the previous equations

APPENDIX - USED NOTATIONS

PRACTICE: FIND THE TRANSFER FUNCTIONS
External signals
Output + internal signals
b
r e u v y
r b n K G
(GUI command) (TVC bias) (IMU noise)
n
y
(real attitude)
e
(attitude error)  Find the 4 transfer
functions:
v
(biased TVC cmd)
1 KG
S T
1  KG 1  KG
Example, from « r » to « e » : e  r  y  r  KG.e
e  1  KG   r SG and SK
Make it, from « b » to « y »

47
STABILITY OF THE FEEDBACK CONTROL SYSTEM (2/3) Im(KG)
Gain margin
Notion of gain margin
To multiply G with a constant gain
= homothety wrt. the fixed point O -1
Re(KG)
Phase O
Notion of phasemargin margin
To phaselag G = rotation around O
Information on stability robutness wrt. a particular
type of uncertainties on G (constant gain or delay)
NYQUIST criterion
BUT Not sufficient: (see example)

• Infinite gain margin
• Important phase margin
-1
• But: closeness of critical point !

STABILITY OF THE FEEDBACK CONTROL SYSTEM(3/3)
1 KG
S a T  a
1  KG 1  KG
Im(KG) Im(KG)
a 2 > a1
-1 Re(KG) -1 Re(KG)
1a O O
a1 > 1
Exclude zone : Hall circle
Exclude zone : circle
center (a2/(1-a2),0)
center (-1;0) a=1 radius a/(1-a2)
radius 1 / a
PRACTICE: FIND THE LF/ HF IMPACT ON TRANSFER FUNCTIONS
b
To help : r e u v y
• | KG | >> 1 at low frequencies (final value theorem on) K G
• G  0 at high frequencies (physically) n
Make it,
KG 1 G K
1  KG 1  KG 1  KG 1  KG
r y r e b y r v

Transfer
n y b v b e n v
function
n e Example,
LF TF Low frequency:
approximation | KG | >> 1
1+KG ~ KG
HF TF 1/(1+KG) ~ 1/ KG
approximation
50
ROBUSTNESS ON FEEDBACK CONTROL SYSTEM
Robust stability: To stay on the same side
Im(KG) of critical point, even if G is modified
-1 A Re(KG) Sufficient condition if the number
of unstable poles is not changed
O
N  MN i   AM i 
M
KGi   KGi   1  KGi 

~
KGi 
~ 
KGi 
In case of: Additive uncertainty Multiplicative uncertainty

Gi   Gi   i  Gi   Gi 1  i 
~ ~
K i  1 KG i  1
 
1  KG i  i  1  KG i  i 
51
COMPROMISE: PERFORMANCE VS ROBUSTNESS
Si   T i   1
+ Integral constraints
1
S i  
(Bayard-Bode)
1  KG i 
1 KG i 
T i  
2 1  KG i 
2
1
1 2 
Command tracking bandwidth
Disturbancies impact on command  reactivity rejection noise
52
THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP.
ARIANEGROUP robustness
COMPROMISE: PERFORMANCE VS ROBUSTNESS
Objectives  open loop gain (« loop shaping »)

20 log KGi 
high increase
(to decrease S)
Performance
constraint

c
Robustness
constraint
Phase margin pulsation
 bandwidth
 Bayard-Bode relations:
slope  phaselag
High decrease
53
THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP.
ARIANEGROUP (to decrease T)
H ∞ SYNTHESIS ALGORITHM
Augmented plant Several synthesis method are available:
w s  zs 
via γ - iteration
Ps  RICATTI equations (GLOVER-DOYLE method)

us  es  Decrease of γ
ex. « hinfopt » MATLAB function via LMI
Order of controller K
Controller = order of augmented plant P
= order of the plant to control + order of weighting functions
Ks 
A P , Bu  stabilisab le et Ce , A P  detectable
rank Dzu   nu and rank Dew   ne
nP   x P   AP Bw Bu   xP 
       A P  i1 B u 
ne   e    Ce Dew Deu    w   nw GLOVER-DOYLE
 rank    nP  nu
Hypothesis
Dzu 
nz   z   Cz Dzw Dzu   u   nu  Cz
 A  i1 B w 
 rank  P   nP  ne
THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP  Ce Dew  54
PRACTICE: EXAMPLE OF IMPLEMENTATION Augmented plan
W1s  z1 w1 Ps 
W2 s  z2
w2 W3 s 
W3 s  w2
b W2 s  z2
r  w1 +
W1s 
+
K s  G s  y z1
e u + v
-
u + e
+
n G s  -
+
+ +
Find T11, T12, T21 and T22

by yourself !
K s 
55
w1 Ps 
EXAMPLE OF IMPLEMENTATION
W1s 
W3 s 
z1 w2
W2 s 
W2 s 
z2 z2
Augmented
W3 s 
plant
w2 W1s  z1
b
r  w1 + +
K s  G s  y u + e
e u + v G s  -
+
- +
+
n
+
K s 
 1 G 
 W1  W1 W3 
Tzw   1  KG 1  KG  Transfer functions S, T, KS, GS are included in matrix TZW
W K
 W2
KG
W3  (from disturbances to outputs to be controlled
2
 1  KG 1  KG  Performance and robustness objectives are explicitly
taken into account
56
H ∞ SYNTHESIS IMPLEMENTATION
w1
In practice:
w2 W3 s 
To choose weighting functions
W2 s  z2
To solve H problem
W1s  z1 To check hypothesis
To compute controller
u + e To compute γ
G s  -
+
+
γ is unknown
in advance
K s 
Tzw 
γ To choose weighting functions
in order to have γ near from 1
57

Workshop Introduction

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ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

To compute the optimal

To follow the optimal

Guidance FSW Flight Control FSW Actuators

• Center of gravity • Follow up control system

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

Model of the launcher behavior is necessary

H ∞ criterium and synthesis must be found to resolve the physical topic.

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

Guidance performance: to follow the command attitude and trajectory

Evolution of the priorities during the flight

• Which representativity? • Sensitivity analysis

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

Hypothesis on the trajectory :

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

Main forces/ torques are created by :

Control loop input/ output:

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

THIS DOCUMENT AND ITS CONTENTS ARE PROPERTY OF ARIANEGROUP. ARIANEGROUP

This is a MIMO model (multi input, multi output)

It is a SISO (Single Input, Single Output) model.

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It is a SISO (Single Input, Single Output) model.

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Feedback loop (Inertial Measurement Unit + Guidance command)

• are inside the unit circle (digital case) n

Input/ output stability

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r y r e b y r v

Distance wrt • set bandwidth: on command Robust stability

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Greater singular conjugate transpose

SISO (sigle input, single output):

σ G  G  G  G G   sup Giω

– The augmented plant P gathers:

Augmented plant Several synthesis method are available:

Ps  RICATTI equations (GLOVER-DOYLE method)

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Workshop: how to obtain an augmented model

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r y r e b y r v

Distance wrt • set bandwidth: on command Robust stability

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Make it, from « b » to « y »

BUT Not sufficient: (see example)

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r y r e b y r v

KGi   KGi   1  KGi 