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Many dynamic perturbations that may occur in different parts of a system can,
however, be lumped into one single perturbation block ∆, for instance, some
unmodelled, high-frequency dynamics. This uncertainty representation is re-
ferred to as “unstructured” uncertainty. In the case of linear, time-invariant
systems, the block ∆ may be represented by an unknown transfer function
matrix. The unstructured dynamics uncertainty in a control system can be
described in different ways, such as is listed in the following, where Gp (s)
denotes the actual, perturbed system dynamics and Go (s) a nominal model
description of the physical system.
14 2 Modelling of Uncertain Systems
1. Additive perturbation:
Example 2.1
The dynamics of many control systems may include a “slow” part and a “fast”
part, for instance in a dc motor. The actual dynamics of a scalar plant may
be
Gp (s) = ggain Gslow (s)Gfast (s)
where, ggain is constant, and
1 1
Gslow (s) = ; Gfast (s) = ; α ≤≤ 1.
1 + sT 1 + αsT
In the design, it may be reasonable to concentrate on the slow response part
while treating the fast response dynamics as a perturbation. Let ∆a and ∆m
denote the additive and multiplicative perturbations, respectively. It can be
easily worked out that
∆a (s) = Gp − ggain Gslow = ggain Gslow (Gfast − 1)
−αsT
= ggain
(1 + sT )(1 + αsT )
Gp − ggain Gslow −αsT
∆m (s) = = Gfast − 1 =
ggain Gslow 1 + αsT
The magnitude Bode plots of ∆a and ∆m can be seen in Figure 2.9, where
ggain is assumed to be 1. The difference between the two perturbation rep-
resentations is obvious: though the magnitude of the absolute error may be
small, the relative error can be large in the high-frequency range in comparison
to that of the nominal plant.
−40
Magnitude (dB)
−60
−80
−100
−120
−140
−3 −2 −1 0 1 2 3 4 5
10 10 10 10 10 10 10 10 10
Frequency (rad/s)
Example 2.2
d2 x(t) dx(t)
m +c + kx(t) = f (t)
dt2 dt
where, m is the mass, c the damping constant, k the spring stiffness, x(t) the
displacement and f (t) the external force. For imprecisely known parameter
values, the dynamic behaviour of such a system is actually described by
d2 x(t) dx(t)
(mo + δm ) + (co + δc ) + (ko + δk )x(t) = f (t)
dt2 dt
where, mo , co and ko denote the nominal parameter values and δm , δc and δk
possible variations over certain ranges.
By defining the state variables x1 and x2 as the displacement variable and
its first-order derivative (velocity), the 2nd-order differential equation (2.2)
may be rewritten into a standard state-space form
x˙1 = x2
1
x˙2 = [−(ko + δk )x1 − (co + δc )x2 + f ]
mo + δm
y = x1
2.2 Parametric Uncertainty 19
⎡ ⎤
d1
ẋ1 0 1 x1 0 0 0 ⎣ ⎦ 0
= + d2 + 1 f
ẋ2 − mo − mo
ko co
x2 −1 −1 −1 mo
d3
⎡ ⎤ ⎡ ko ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤
z1 − mo − m co −1 −1 −1 d1 1
o x1 m o
⎣ z2 ⎦ = ⎣ 0 1 ⎦ + ⎣ 0 0 0 ⎦ ⎣ d2 ⎦ + ⎣ 0 ⎦ f
x2
z3 1 0 0 0 0 d3 0
x1
y= 10 (2.9)
x2
of the control system under study. This kind of representation first appeared
in the circuit analysis back in the 1950s ([128, 129]). It was later adopted in the
robust control study ([132]) for uncertainty modelling. The general framework
is depicted in Figure 2.13.
1. Additive perturbation:
0I
M= (2.10)
I Go
−Go Go
M= (2.11)
−Go Go
0 I
M= (2.12)
G o Go
0 Go
M= (2.13)
I Go
−I I
M= (2.14)
−Go Go
−I Go
M= (2.15)
−I Go
2.4 Structured Uncertainties 23
⎡ −1
⎤
−M̃G −Go
M =⎣ 0 I ⎦ (2.16)
−1
M̃G Go
−1
where Go = M̃G ÑG , a left coprime factorisation of the nominal plant;
and, the perturbed plant is Gp = (M̃G + ∆M̃ )−1 (ÑG + ∆Ñ ).
8. Right coprime factor perturbations:
−1
−1
−M
G MG
0
M= (2.17)
−Go I Go