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    Nagoor Kani

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    Nagoor Kani

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    © All Rights Reserved
    Download as PDF or read online from Scribd
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    16 views11 pages

    Advacnce Control Continuation

    Uploaded by

    Amir Sani
    Nagoor Kani

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
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    of 11
    wits * Pa Lok Chapter's Anaiysis-and Désign of Control System inState 1 0 0 9 23 2 0 If={6 0 4 yo offo 2 -3f |) 9 0, ri fo determine the observable phase variable form of state model “The observable phase variable form of state madel is given by, _ EAA, ZB, ‘ y=C,Z .: + Geré Dis not given) “B,=P,B and C, where, A,=P, A oy “ 3 el 8D Ofc Oe sy 0s -15 45 "ak F O 1-6 zg stat 3}fol [4] it. i a o A o The pina ae 0.4 : 0 ojfos -15.45]=[0 0 1} - o 1 6 ‘The observable phase variable form of state model is given by, 2 5.10_STATE OBSERVERS onirol system design croblem of pole placement by state feedback requires © ice; however, not all state Variables are available. for measuremient and feedback. In such situations we need to estimate unmeasurable state variables. » Theestimation oftinmeasurable state variables is commonly call device (or a computer program) that estimates or observes the State vatiables is called- state obsetver. If the state observes, observer all the state variables of the system (regardless f whether some state variable: available for direct measurement order state observer: “ In certain systems Somé of the state variables may be accurately measured. In this #2 case all the n state variables of the system need not be observed and so a reduced-ordee: Consider an n* ofder system with single-input and single-output described by the state model X=AX+Bu y=CX, Letts aisume that the state variables of the system are not aveilable for feedback and sovan dbserver syste has to’be designed to measure or observe the state variables. The observed state,variables can be used to implernent the feedback control low. Let us construct a fall-order state observer as shown in fig 5.2, with y arid u:as inpyts afd X and fas outputs, : eee where, X = Observed state vector (or Estimsted state vector) * ¥ = Output of observer system (or Estimated ouput | Feedback of observed state variables : Fig 3.24 linear natem with fill-ordarstte observer i eet Flt £48 Lay yo ‘ aol Togically the observer system should have the same state equations as the original system-The criterion for state observer design isto minitnize the differcnce between the | system output (y) and estimated otttput (). Therefore the dynamic model of the state Et obsevercan be written as, pdremed Control Theory =| AX +Bu+G(v-9) is) ‘The equation (5.114) is used to constiuét the state observer shown in fig 5.2. Ia slate observer the différence (y -J)is multiplied by (n x 1) observer gain matricor 4 “4 vector Gand fed into the input of the integrators of the observer. Now the probleti i we design Gso that (y —J) isminimized. ° “From fig(S-2) we get y= CX end ¥ =CX. On substituting y = CXand 9 = cz in equ (5.114) we get AK +Bu+G(cx-C2) X=ak+GCxX-GcX+Bu A-GO)X+G0X+Bu Oa subtracting the equ(5:115) fom equ(5.112) we get, AX-(A-GC) X-GCX “= (A=GC) X-(4-GC)% MalA=GG)eC= Aenean sip ier ert oe 5. Let, Error vector, E=X— On differeatiating 2qu(5.114) we get, E=(A-GQ)E’. From equ(3-115)wecan say that the dynamic behaviour of error vector is det by the eigenvalues of manix (A-GC). Ifthe matrix (A~GC) is a able matrix, the vectors three me Th METHOD “Chapter 5 Analysis and Design of Control. System in State'Space vector will converge to 2er0 for any initial error vector E(0). (i.e, X (1) will converdé to X(t) regardless of the vafues.of X(0) and %(0)). # It can be proved that if the system is completely observable then i choose the observable gain matrix G such that (A-GC) has arbitrarily desired jossible to genvalues. Determination of observer gain matrix, G The state observer gain niatrix, G can be determined by three methods. Invall the three methods, the system has to be clicked for observability. The state model of the original n® order system is given by tn : X=AK+Bu y=CX To check for observability of original system, determine the cémposite matrix for. observebility, Q,: where, Q,=[C7 ATCT. (ATP CT. APPECT] Then caloulate the determinant of G,, Ifthe determinant of Q is riot equal to zero then the rank of Q,isa and so the system is complete até contollable. (Here nis the order ofthe System): If the-rank is'not équal to! ten thie thatiz (A~GC) cannot heve arbitrary eigenvalues. When the system is completely observable any one of the following method can be used to determine the observer gain matrix G. The matrix G will ha order of (n x 1) and the elements of G are denoted as g, 2... 8 as shown in equ(3.117) a ‘ i e=/s; fF METHODA 1e characteristic polynomial 6foriginal system. The characteristic polynomial is given bytA-A|=0 Jaa taaettahe? sta yk ta, 2, Determine the desired characteristic polynomial from the specified Now the desired characteristic’polynomiel is given by, Oot) OH) OH) i) a 3. Determine the transformation matrix P, which transforms the original state yl ! model to observable phase variable form. QOH) = OF G2 AP ct Oh A. where Q,=[CT ATC (ATP CT Note’: If the giver stat Pi=i, unit marix.. | METHOD II a . civ | “Determine the characteristic ital of the systém with state observes, ‘ which is givea by, AI-TA-GO)| = Chapier 5 Analysis and Dasign of Control System in State Spice Let, JAI{A-GC| = JIMASGC] SP + DAM EAST HbA Hb ‘The coefficieats of this polynomial bb; ,..b, willbe functions of g,,2,°..2.. 2. Determine the desired characteristic polynomial from the specified eigenvalues. Let the specified eigenvalues be 11, Hy #4 Now the desired characteristic polynomial is given by, 3) rn) Qn)... Aw )=U8 tof tea A get n number of equations. On solving these equations we get the elements 2,2, gein matrix, G Détermine the matrix $(A) using the coefficieats of desired characteristic. polynomial. : HA) = At Fo, An team Calculate d By equating the coeffitiedts of polynomials obtained instep-I aridstep-2we 499. f y cade Advanced Control Theory od EXAMPLE ‘5,11 Considerthe system described by the state model =I 1 : cn 0] X=AX vee a=[ nee 1--2 Design a full-order state observer. The desired cigenvalues for the observer matrix’! "+ are y= 5 5° p= —5. : SOLUTION Cheek for-observability fet Given that, A -| i Composite et 3 for observability Determinant of Q, Since, Ag, #0, the system is observable. ‘0 determiné the characteristic polynomial of. original system ‘The characteristic polynomial of the system is given by |AL—A| wat [bP ay pt-4[2@ +0 (+2)<120 jag 2-12 P 23041 Hence the characteristic polynomiélof original system is a2+3R4+150 me Chaptér-5 Analysis and Désign of Control System in'St To determine thé desiréd characteristi¢ polunomial. 3 ‘The deisred eigenvalues are p,=-5 and p1,=-5 es “Q-Hy) QrHy) = A45) O45) = 241024 25, The desired characteristic polynomial is : “= +1025 =0 ‘To determine the state observer gain matrix, G METHOD-I ae : From equt3.11: aw ‘we getthe characteristic polyomial of originalsystem as wazne1so : =354,=1- ° From. eed 3) we get the desired characteristic pobyomial as: 22-+10.+25 £0 a, =10; ay=25- ing the coefficients of characteristic polynomial of original sjstem{he matrix __isconstructedasstiown below. = ep oS From equ(S.11-1) we get 1 0 1 7 att fla ob ed Tl “The transformation mattix, P, which transforms the state tnodel to obs: phase variables form is given by, . wwe LT [Cofactor of PJ". _ Prot rvable:: Determinant efP, Aye 1 a ' —atanaaiatatnimalittonntibininainnitit nmnnntnnnninsinnatinninssind itd il aitint nmmininenitinttra nl ncntaitnlietiilenesntt: mnie Atnade re RNR SHAS te 2 * Advanced Control Theory co “592 ‘The observer’ sect Ie - let *-METHOD - IT ‘The characteristic polynomial of the system with state observer is given by JAI=(A-GO)|=0 : i et & Seay i fia -Go]e[ut-asoe] A of ake “LNs ake A+i¥g,- +1] RE14eg, ~1+g), ae Gutta g =M 420414 jaAl-A+G (4 29) 1D) =i? £49) 02g] +3, 49) The characteristic polynomial of the systemn with state observer is (ME Geg)h+ Oz, 2+D20 ¢ we(S.14) From equ(5.11.3) we get the desired characteristic polynomial-of the system as, M+ 10A+25=0 Sere eee ata (S.105) i| QA)-= SAS eee clisalee 5 Analysis and Deslia of Control System in State Space ‘Oncomparing the coefficients ofA in equations (5.11,4) and (5.11.3) we eet, - [50 3+g;=0 2.8, = 10-357 " Omcomparing the coefficients of in equations (5.11.4) and (5.11.5) we get, ~2g,= 24-27) = & 7 °

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