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Chapter 3
Chapter 3
Motivation
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plant
u x y
ẋ = Ax + Bu C
x̂ x̂˙ = Ax̂ + Bu r
−K
+L(y − r − C x̂) −
control-law estimator
compensator
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ẋ = Ax + Bu,
y = Cx + Du.
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0.01
0.005
Amplitude
−0.005
−0.01
0 50 100 150
Time (secs)
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Control law
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Plant
u x y
ẋ = Ax + Bu C
u = −Kx
Control-law
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Closed-loop system:
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equals
(s − s1)(s − s2 ) . . . (s − sn).
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then
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Property:
For SI systems, control law K is unique!
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and
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A − BK ∼ Λ.
X −1(A − BK)X = Λ,
or
AX − XΛ = BKX.
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K = GX −1.
Design procedure:
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Desired poles:
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0.01
0.005
Amplitude
−0.005
−0.01
0 50 100 150
Time (secs)
Much better!
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AX − XΛc = BG,
where
−0.451 0.937
−0.937 −0.451
−0.947 0.581
Λc = .
−0.581 −0.947
−1.16
−1.16
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w Process
u x y
ẋ = Ax + Bu C
−K
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Input1/Output1 Input1/Output2
3 0.1
2 0
1 −0.1
0 −0.2
−1 −0.3
0 5 10 15 20 0 5 10 15 20
Input2/Output1 Input2/Output2
3 0.3
2 0.2
1 0.1
0 0
−1 −0.1
0 5 10 15 20 0 5 10 15 20
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Proof :
If ζ is a zero of (A, B, C, D), then (when ζ is not a pole),
there are u and v such that
" #" # " #" #
A B u I 0 u
= ζ
C D v 0 0 v
Now let ū = u, v̄ = Ku + v, then
" #" # " #" #
A − BK B ū I 0 ū
= ζ
C − DK D v̄ 0 0 v̄
⇒ ζ is a zero of (A − BK, B, C − DK, D).
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Step responses for the ITAE prototypes Step responses for the Bessel prototypes
1.2 1.2
1 1
0.2 0.2
0 0
0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8
ẋ = Ax + Bu,
y = Cx + Du,
where
p1 0 2 0 0 0
ω1 −0.1 −0.35 0.1 0.1 0.75
x = p2 , A =
0 0 0 2 0,
ω2 0.1 0.1 −0.1 −0.35 0
i1 0 −0.03 0 0 −1
" #
h iT 0.5 0 0.5 0 0
B= 0 0 0 0 1 , C= ,
−0.2 −0.2 0.2 0.2 0
" # " #
0 p3
D= , y= , u = e1.
0 T
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Control law:
u = −Kx + 7.0212r,
where r is the reference input such that y follows r (in
steady state y = r).
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u = −Kx + 6.3284r.
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Step responses
1.2
ITAE
1
0.8
Tape postion p3
Dominant 2nd−order
Bessel
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time: msec.
Step responses
0.05
Bessel
Dominant 2nd−order
−0.05
Tape tension
−0.1
ITAE
−0.15
−0.2
0 1 2 3 4 5 6 7 8 9 10
Time: msec.
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poly
real
polyvalm
acker
lyap
place
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