Models in Control system Design

·
Modelling
-model :

abstraction of system useful for analyas/design

to
-resequl mentally distinguish the
Following
:

* real
physical system
based deal
Ideal
*

physical model on interconnected blocks

eq resistors , masses , beams , Isotropic media ,

Newtonran Fluids , electrons , etc .

model
A Ideal mathematical From applying laws
of physics
(nonlinear partiall differential equanious (

A amplified math . Model From approximating idea model

cynear constant -
coefficient differential equations)
·
uncertainty in models

-models are never a

perfect representation of
system
a .

-uncertainty
: cannot predict exact system response to inputs
* unknown unmodeled Inputs :

eg . disturbance imples

* unknown / unmodeled dynamics

models
Despite this are still useful
-

-models allow us to

* generalize from observations of system behaviour to

predict
system behaviour in new situations .

exploit mathematical A
computational tools to
develop prototype
*

designs withou breaking our

physical system .

· Two modelling Approaches

-

Analytical modelling :

models From fundamental physics principle

* Explo centures
of work
modelling physical phenomena
* Idealised models based on differential equations ,
with
parameters
that depend on measured quanturies .

-Models From data :

useful it .
 * cannot early) measure model parameters

* do not have good Fundamental science medels (eg complex

brological systems)
·
simple Models

-linear constant cofferent ODE

* Lil systems (With O Initial conditions (

* Transfer Functions
-

why :

* Approximate dynamics of wide

range
of
physical systems ,
over

wide range of Inputs

and
operating conditions .

of analysis
* Balance expressiveness and ease

A Engineered systems often designed to Follow such models

leg controllers) .

* In control often the arm is a system in

operating
, to
keep
region where dynamics are
approximately linear

* Avid Over Fitting" Cit modelling From data)

Analytical Modelling
·
Recall
:

Linear constant coefficient ordinary differential equations (LCCDEs)

Input u
output y related by
-

daray-itadNote dt
M-1
a ene

together with initial conditions on derivatives of ufy at 0

U
y
Alte

Transfer FUnCLOU :
-

bism+bm-sm-+
#
Giss= =
..
+
bist bo

s"+an- s + .. + ais+ do

UCS)- - Yes
 * take LT
of both sides (with initial conditions (
=
0

* Mearrange to get YCs/UCS) =

transfer Function

· Basic Principles

Dynamics often anse From transfer/loss/storage of energy

-

Approach Identify low of mass /energy and conservation law

:

apply
-

A conservation of mass

*
conservation o energy

* conservation o charge

* newton's law of motion

- In control : also identity/choose inputs & outputs

Example 1 Simple RIC archit

:

L R
-

VCt

Lricts -T
ict)

-choice of inputs A outplets

:

VIt) Input , Vacts ourpret

-which physical law to KVL

apply
:

conservation
:

of energy

-
gives
relationship

rCt) =

V(t) +
reCt) + Ucht)

cat : iCt) , VRL= RICt) , UCt=

LA
Lc d
URLtS Red ViCtS =

=>
,
=

At

Lc d Red
: rct) =

+ Vet

vi =

est
=
V

+(Y)
 ·
Example

ma nameAtte cit
2
:

Ev

input applied Forsef output position X

:
-

,
:

~which physical law to apply

:

Newton 2nd law E =

me
-

gives relationship :

Hooke's law
- x(t)
f(t-kXCE) Max
tra
-

xxc
=

I At
2
-> Get
I

tut FCS) -

KXCS) -
strXcs) =
ms XCs)

=frs+k
System Identification
· system Identication

-
Arm
:

End a model of a dynamical system (ie .

differential

)
equation relating Input 4 and output

-
Given :

Input
*
signal(s) :
4 .,
H .. ... UN and

A (Noisy) measured output signals :

40 ...... YN

⑮ - >

I monel-
noisy measurements -

Trade-off between Fitting

-

the data but not over Ittng

·
Three main steps in system (D

Determine model structure

-

* From physics (based on cstem knowledge) , or

 eq mass-spung-damper system

physics-> 2nd order system is

appropriate
* Generic Cample model 2"order LCCDE based
,
eg .

on measured response .

-choose test inputs :

* LT) systems :

Often choose unit step or sinusoids at

different Frequencies -
frequency response

Generally : want inputs that excite dynamics of system

-
It parameters of model :

* Graphically (simple cases , no noise , etel

*
solving an optimisation problem (In generall
· General Strategy
experimental

->
- l/
y data

I
-

L
W stem

F-
-S want this to be small

ene
could be
multiple ,
mputs
predicted output
depends on parameters

Search over
parameters & unty predicted response 48 closely
matches measured response y .

Need to be able to
compute response predicted by model Ye

Need a
way to measure how close aquals y and Ye are

Conly have sampled data)

-usually signals at sampleromes to it to

only compare .....

· what are the parameters ?

Example 1 :
coefficients bo ,
b ..... bm and no , a , .... an-1

bism+ bm-1Sm+ bist bo

=
.. +

+ s"+an- s
+ ais+ do ..
assume m<n
-
->
strictly Proper
nth order

-Example 2 :
Poles P , , p .
A
, P2 , P2 *... and coefficients A ,
A ,*, Az Ac*...
,

= I" .
(C a
Pic K
Ar EK
 (constrains poles to have multiplically one)

-choice of parameterization can affect performance of system

ID methods ,

Computing model analytically

·

response

Example first-order model response to unit Input

:

step
-

ECs) = 0 ,
S + 02

* parameters :
f :
(A , , 2)

A Input : UCt = Act)

* output
:

Y6(t)

ucs) =
I -
Yols= o

-0
.[ 5 -

+2)
Yolt) = 6, (1 - - 2t) 1(t)
* get Formula For yAct as a
Function of 1 and t

Computhy model
response numerically
·

-
For Fixed model parameters , and a Fixed sample times to ,
to ,

... tw , enough to compute youti) numerically .

Eg .
do this using numerical differential equation solver

numerator benominator
- -

->
sample time

-> input vector

zero initial
-> Default
conditions

· Least squares Identification

-

given :

*
Input signal u (can extend to case of multiple inputs /
 A measured output at sampled times y (t) , .., y (te)

* model with parameter vector t

End parameter vector t so that for given Input(s)

:

-
:

* error between measured output y and output predicted by the

model yo is minimized in
least-squares sense

Hemore e minz
N
I
(YCtr)-Y(tr))
·
L
W
-S

t .

Example First order model

- :

* ECs) =
E, - -
2

S +02

*
Step response :
Predicted by model

20 (t) = &, [1-e- tet] 1(t)

* measured step response :

values y (t0) , y(t) . . .

, y (tw)

constants
* objective Funchon : data
- I

cost(8 , 182) =
[Yctil-t
I
,
(l-efeti)]
variable
Aim
*
:

minimize with respect to A 2

·
solving the optimisation problem

-
Assume we have

* MATLAB Function 'cost' that takes argument o <model parameter)

and computes :

cost (8) = EcyCtr) -

YoC5K))2
k =
0
simulate the model

up to time t k
Initial guess For parameters
*
theta0

-
Ophmize : darvative free optimization method
=>
theraopt = frisearch (cost , the a 0)

* minimum
requirement
:
can evaluate yo (tr) by simulation

* Better opt method

.
available it can
compute dervative of YoLtk)

with respect to t .

* Typically only do Local Optimisation , limited guarantee