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CHAPTER 1

INTRODUCTION

1.1 GENERAL

Advanced structures with integrated self-monitoring and control

capabilities are increasingly becoming important due to the rapid
development of “intelligent” space structures and mechanical systems. Since
these structures are, in general distributed and flexible in nature, distributed
dynamic measurement and active vibration suppression are essential to their
performance. Vibration suppression and control of distributed parameter
systems (e.g., plates and shells) always represents a challenge, both in theory
and practice. In recent years, a great number of research results have been
produced in active structural vibration control using piezoelectric materials as
distributed sensors and actuators Inderjit Chopra (2002). Several analysis and
numerical models have been developed to analyze piezo electric integrated
structures. Most of them are based on analytical approach and finite element
method. System identification is an established modeling tool in engineering
with numerous successful applications. Modeling of piezoelectric integrated
structures using system identification techniques are gaining importance in
recent years. In analytical and finite element models inclusion of each and
every aspect of the system is difficult and it increases the complexity of the
model. On other hand, the model obtained via identification includes all the
aspects of the system. However, in most practical situation, the structural
parameters and loads are uncertain, therefore, the concept of uncertainty plays
an important role in the investigation of various engineering problems.
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The most common approach to the problem of uncertainty is to

model the structural parameters as random variables or fields. Under the
circumstances, all information about the structural parameters is provided by
the joint probability density function (or distribution function) of the
structural parameters. Unfortunately, probabilistic model is not the only way
one could describe the uncertainty, and uncertainty does not equal
randomness. Indeed, probabilistic methods are not able to deliver reliable
results at the required precision without sufficient experimental data to
validate the assumptions made regarding the joint probability densities of the
random variables or function involved. Uncertainty analysis using interval
mathematics is gaining importance in all the field of engineering. Interval
arithmetic is a new and growing branch of applied mathematics. Interval
arithmetic considers the uncertainty of all the parameters, treating them as
interval numbers whose range contains the uncertainties in those parameters.
The resulting computations, calculated using interval arithmetic, carry the
uncertainties associated with the data throughout the analysis. In this thesis,
modeling, control and experimental evaluation of piezoelectric actuated
cantilever beam with uncertainties represented interval form is considered.
The control methods are based on the system output and are designed in
discrete domain.

1.2 MOTIVATION

Modeling of piezoelectric actuated structures is largely based on

Finite Element Method (FEM) by Hwang W. and Park H.C. (1993) and very
few of them are obtained through system identification by Hwang et
al.(1993),Shen(1994),Narayanan et al.(2003), Ezhilarasi et al.(2006). The
uncertainties in the system parameters and control of such a system are
addressed by very few researchers Su-Huan Chen et al (2000) and Su Huan
Chen et al (2006). This research work is motivated by the fact that an interval
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method provides a very useful tool for the simulation of systems, with
uncertain parameters and limited state and control variables Su Huan Chen et
al (2006). It is appeared that representing the piezoelectric actuated model in
the interval form, takes care of the uncertainties within the bounds. The
periodic and fast output sampling feedback control design, and their
application discussed in literature Umapathy.M and Bandyopadhyay.B (2007)
and Umapathy.M and Bandhopadhaya.B (2000) are restricted to the nominal
system. These controller gains are obtained from the output injection gain and
state feedback gain respectively. The state feedback control design for interval
system is well addressed problem in literature Marcia et al (2005), which
motivated to design periodic and fast output sampling feedback control, for
interval system as they are designed from the output injection gain and state
feedback. The design of periodic and fast output sampling feedback control
has been addressed for two-time scale system in literature Tiwari et al (2000)
and Mahmoud et al (1985). However, the uncertainties in slow and fast
systems for designing a controller have not been addressed. This has
motivated to extend the periodic and fast output sampling feedback control
design, for two-time scale systems with uncertainties represented in interval
form.

1.3 LITERATURE REVIEW

Short survey of smart structure modeling and control, state feed

back control, fast output sampling feedback control, periodic output feedback
control, two-time-scale interval system and related theory follows. It is not to
be exhaustive, but does include most of the sources which are directly
pertaining to the results presented in this thesis.
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1.3.1 Smart Structure Modeling and Control

Modeling, control and Identification of piezoelectric actuated

structure can be seen in Hwang et al (1993), Shen 1994), Narayanan
et al (2003), Ezhilarasi et al (2006). The problem of modeling a structure with
uncertainty by using interval arithmetic is addressed by Su Huan Chen et al
(2006). The uncertain parameters are modeled to be in the form of interval
variables. The comparison of the interval analysis and classical probabilistic
approach indicate that the interval method is more effective for estimating the
robustness of response of the uncertain control systems. Using the interval
analysis method, Su-Huan Chen et al (2000) presented a new method, the
interval finite element method. It could be seen that the method is more
effective in predicting the influence of the input uncertainty or the uncertainty
of structural response.

In engineering design it is important to calculate response quantities

such as displacement, stress, vibration frequencies and mode shapes against a
given set of design parameters. However, the design parameter may be
uncertain because of complexity of structures, manufacture errors, and
inaccuracy in measurement, etc. These uncertain structural parameters have
been modeled as probabilistic (random) models by a number of references in
the past. But probabilistic modeling is not the only way to describe the
uncertainty, and also uncertainty is not equal to randomness. Since Moore
(1966) in his monograph established the basic theory for the interval analysis,
the interval analysis has become a tool in many fields.

Interval analysis of vibrating system is discussed by Dimarogonas

(1995). Using the interval method, Chen et al (1997) and Shin (2001)
discussed the structural optimal design; Chen et al (1995) have used interval
set model to evaluate the static response and eigen value problems of
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structures with bounded uncertain parameters; Chen et al (2003) studied

interval eigenvalue problems with finite element method. The vibration
control theory for systems with deterministic parameters has been well
developed. For example, Porter (1972) developed the standard methods for
vibration control. As mentioned above, the uncertain concept plays an
important role in the control problem of the vibration structures. Many studies
have been done from the view point of mathematics about control problems.
For example, Mori et al (1987) discussed the sufficient and necessary
conditions for the dynamical stability for uncertain system; Rachid (1989)
presented the robustness of control system with uncertain parameters; Juang
et al (1987) given the stability of an uncertain matrix.

1.3.2 Fast Output Sampling Feedback Control

Fast output sampling controllers have been proposed by Araki et al

(1992) as an alternative to observer-based state feedback control. One
advantage of this type of controller not shared by state observers is that they
allow realizing a robust state feedback gain simultaneously for a family of
different models. Case studies of practical design example for the approach
proposed by Werner et al (1995) have been reported in Werner (1998).
Ezhilarasi et al (2006) have presented the design of fast output sampling
feedback controllers to minimize structural vibration using collocated
piezoelectric actuators and sensors. A Linear Matrix Inequalities (LMI)
approach to robust multimodel controller design is proposed by Werner et al
(1995). The fast output sampling control law considered here, allows torealize
the effect of a robust state feedback gain simultaneously for a family of linear
models. In practice, there are two reasons why exact realization of state
feedback may not be desirable or even impossible; poor error dynamics, and
noise sensitivity due to large output feedback gains. A Linear Matrix
Inequalities (LMI) formulation of the design problem allows approximating a
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robust state feedback design by fast output sampling, in a way that closeness
to the original design can be traded against reducing theses deteriorating
effects. The periodic output feedback problem, which has been considered in
this research work, has the features of static output feedback and also
guarantees complete pole-assignability. Since the gains in periodic output
feedback are piecewise-constant the method is easily implementable, and
compared to static output feedback, much larger class of systems can be
stabilized. The fast and periodic output feedback controller design for the
reduction of structural vibration modes as can be seen from Umapathy et al
(2000). Robust decentralized fast output sampling feedback controller is
designed and discussed by Bandyopadhyay et al (2004). This controller is
designed for the multivariable smart structure using the multi model of the
single plant.

The design of fast output sampling control for smart structure

model is discussed by Umapathy.M and Bandyopadhyay.B (2007). Sliding
mode control design using fast output sampling is discussed by Seung –Hi
Lee and chung choo chung (2003). A method for achieving sliding mode in
uncertain system is presented by Janardhanan et al (2004). Janardhanan et al
(2004) developed a fast output sampling feedback controller for MIMO smart
structure model. Sunil oberoi and Bandyopadyay (2004) developed robust
control of a laboratory scale launch vehicle model using fast out put sampling
technique. Recently the application of fast output sampling feedback control
for a laboratory aircraft model and for a nuclear reactor are presented by
Werner (1998) and Sharma et al (2000). Werner and Furuta (1995) have used
the convex programming algorithm proposed by Geromel
et al (1991) and shown that existence of a simultaneously stabilizing state
feedback gain for a family of systems generically implies the existence of a
simultaneously stabilizing fast output feedback gain. Carsten Scherer et al
(1997) shown that when the multi-objectives are formulated in terms of
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common Lyapunov function, controller design amounts to solving a system of

Linear Matrix Inequalities.

1.3.3 Periodic Output Feedback Control

The static feedback problem has been studied extensively.

However, no results are available till today which show that complete pole
assignment is possible using static output feedback in Syrmos(1997). An
alternative method of output feedback known as piecewise constant output
feedback was proposed by Chammas and Leondes (1979). Werner and Furuta
(1995) extended this idea and devised an algorithm to compute a piecewise
constant output feedback such that it would realize a given output injection
gain for the system.

Hyslop et al (1992) proposed a method to compute the optimal

periodic output feedback gain for a linear time-invariant system in a two-step
approach. This method is based on the separation of the problem into a
continuous-time and discrete-time sub problem. The solution to the
continuous-time sub-problem could be found as the solution to a two-point
boundary value problem, under the assumption that the behavior at the
sampling instants has been specified in terms of an output injection gain
matrix G. This solution, which depends on G, is substituted into the overall
objective, which is then minimized overall admissible gain matrices G. A
drawback of this method is that the second step requires Non-Linear
programming.

Design of periodic output feedback controller for active vibration

control of cantilever beam using smart structure concept is presented by
Umapathy and Bandhopadhaya (2000). It is observed that the control effort
required gets reduced if sensor/actuator location move towards the fixed end.
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Janardhanan et al (2000) proposed a new method to compute a

periodic output feedback gain sequence for a given single- input and single-
output system. It has been shown that the proposed method results in a gain
sequence that makes the closed loop eigen values of the system with periodic
output feedback and state feedback identical. Another approach to the pole
placement problem is to consider the potential of time varying periodic output
feedback. The approach of time varying output feedback discussed in
Kabamba (1987) and consider direct periodic output feedback. Here the
values of the input at a particular moment depend on output value at a time
prior to this moment.

The potential of periodic output feedback for pole assignment,

model matching and coupling is discussed in Kabamba (1987). The problem
of simultaneously stabilizing a whole family of plants has received
considerable attention for many years. Various forms of simultaneous
feedback system designs are discussed in Vincent Blondel (1994), Erol Emre
(1983), Ghosh et al (1983) and Ghose (1986). One way of approaching the
simultaneous stabilization problem with incomplete state information is to use
observer based control laws, i.e dynamic compensators as discussed in
Vidyasagar et al (1982).

Werner et al (1995) have used the convex programming algorithm

proposed in Geromel et al (1991) and shown that existence of a
simultaneously stabilizing output injection gain for a family of systems
generically implies the existence of a simultaneously stabilizing periodic
output gain.
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1.3.4 Two-Time Scale Interval System

Singularly perturbed systems and two-time scale method have been

studied extensively in Saksena et al (1984), Kokotovic (1984), Naidu (1988).
Indeed, the singular perturbation approach has been proven to be an effective
tool for system analysis and control design in Chow et al (1976).
A fundamental feature of such a control theory is decomposition of the
feedback design problem into two design sub-problems for the slow and fast
dynamics. The two designs are then combined to give a design for the full-
order system. Moreover, if the system is already stable, the only work we
need to do is to design the stabilizing feedback control for the slow
subsystem. The stabilizing feedback control designed for the reduced order
model can stabilize the full order system provided that ε is sufficiently small.
The composite state feedback control of singularity perturbed system and
related problems are well presented in Chow et al (1976).

The analysis and design of discrete two-time scale system has been
studied in Phillips (1980), Mohmoud (1988) and Tran et al (1983). Phillips
(1980) would appear to be the first to have considered the application of
multiple-time scale theory to a particular class of discrete systems.
A comprehensive analysis of discrete two-time scale system has been
developed by Mahmoud et al (1988). They have developed a theoretical
framework which provides an extension of the work on continuous systems.
The problem of output feedback design has, however, received little attention
in the literature on discrete two-time scale systems in Mahmoud et al (1985)
and a two-stage output feedback design is presented in Mahmoud et al (1986).

Tiwari et al (2000) discussed about the design of piecewise

constant periodic output feedback control for a discrete-time singularity
perturbed system resulting from the discretization of a continuous-time
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standard singularly perturbed system. By a suitable linear transformation of

state variables, the given continuous-time singularly perturbed model is
converted into a block triangular form in which the fast sub-system is
decoupled. The discrete-time model corresponding to the transformed model
also exhibits a two –time scale property if sampling period is larger than the
parameter ε. An output injection matrix is found that stabilizes the slow sub
system. The periodic output feedback gain is then calculated only for the slow
subsystem and the same for the fast subsystem is set equal to zero. Finally the
periodic output feedback gain for the composite system is obtained using the
periodic output feedback gains computed separately for slow and fast
subsystems.

The unified approach using delta operator into the standard H-

infinity problem for two-time scale systems with frequency domain is
proposed by Kyu-Hong shym et al (1998). They have converted two-time
scale discrete system into two-time scale unified system and solved the
problem and compared the results of the two systems.

Adel Tellili et al (2004) explain the sensor fault diagnosis of

singularly perturbed systems. They have focused on the use of the slow
subsystem for the singularly perturbed system. They have proposed the robust
parity space method to generate residuals that considering the fast subsystem
as a modeling error. They have designed residuals based on the different
considerations that could do the sensor fault diagnosis of singularly perturbed
system. A method for designing robust controller for singularly perturbed
linear time invariant uncertain system has been presented by Bandyopadhyay
et al (1994). The uncertain system has been decomposed into slow and fast
uncertain subsystem. They have obtained stabilizing controllers for the lower
order subsystems and designed a composite controller. This composite
controller is to stabilize the higher order uncertain system.
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The problem of designing near-optimal robust controller for

discrete two-time-scale interval system conveniently represented using
interval matrix notation, is dealt by Deore and Patre (2005). The original full
order two-time-scale interval system is decomposed into slow and fast
subsystem using interval arithmetic. They have designed near-optimal
controllers to stabilize these two subsystems. These subsystems are combined
to get the composite controller which also stabilizes the original full order
two-time-scale interval system. The linear programming problem has been
implemented to get the state feedback gain for the interval systems. The
design of robust controller for two time scale discrete interval system is dealt
by Deore and Patre (2006). They have used LMI toolbox for design the
controller of slow and fast subsystem. The output feedback controller is
designed to stabilizes the discrete two-time-scale interval system.

1.3.5 Design of Controller for Interval System

The design of state feedback controller for interval systems based

on the robust pole placement design principle has been addressed by Marcia
et al (2005). In this simple conditions for the existence of robust state feed
back controller have been derived. A new approach using interval analysis is
proposed for design of a robust compensator for jet engine using PID
controller by Deore et al (2005). Using interval arithmetic approach, fuzzy
pole placement has been addressed by Jorge Bondia et al (2006). Where it has
been discussed about controller design for fuzzy uncertain plants, understood
as possibility distributions. The evaluation of algebraic expressions via
interval arithmetic has a much lower computational cost than a general
iterative optimization-based approach.
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The Heinen’s stability condition has been used to design state

feedback control for general Single Input Single Output (SISO) interval
system by Osman Ismail et al (1993). Kehui wei (1994) has investigated that
the stabilization problem of linear uncertain systems via constant state
feedback control. The system under consideration contains time-invariant
uncertain parameters whose values are unknown but bounded in given
compact sets and is thus called interval systems.

For the last two decades, the robust stability problem for the
polynomial matrices have been steadily studied in Psarrakos (2002), Kokame
et al (1991), Kamal et al (1996), Long Wang et al (2001) and Zhizhen Wang
et al (2001)and a parametric interval concept has been widely used as shown
in Moore (1966), Ross (1994), Bhattacharyya et al (1995), Luc Jaulin (2001),
Hargreaves (2002) and Elden et al (2003). The interval polynomial matrix
system also occurs in discrete time, multivariable problems were physical
constants in the plant are subject to interval uncertainty from a literature
survey, we know that after Kharitonov (1979) provided an analytical solution
for the continuous interval polynomials, a great amount of literature has been
devoted to the study of robust stability conditions for interval matrix and
interval polynomials. For instance, interval matrix, interval polynomial
matrices and polynomial matrix prototypes have been well defined and
studied in Ross (1994), Bhattacharyya et al (1995), Jiang (1987), Rama
(2001), Luc Jaulin (2001), Long Wang (2001) and Zhizhen Wang et al
(2001). Also it has been well known that the stability of continuous interval
polynomial matrices or interval matrix polynomial matrices or interval matrix
polynomials can be checked by kharitonov polynomials in Kokame et al
(1991), Kamal et al (1996), Long Wang et al (2001) and Zhizhen Wang et al
(2001). However, relatively very few researchers have been devoted to
discrete interval polynomial matrices in Kokame et al (1991) or discrete
interval matrix polynomial in Karl et al (1993). Even though recently,
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Henrion et al (2001) suggested an LMI condition for the robust stability of

polynomial matrix prototypes and polytope type polynomial matrices and
Psarrakos (2002) provided a stability redius for discrete polynomial matrices
as shown in the Henrion et al (2001) the LMI condition was used for the
polynomial matrices when coefficients of polynomial vary dependently and in
Psarrakos (2002). It was required to calculate the norm of the inverse of
nominal polynomial matrix, which could be quite conservative.

1.4 OBJECTIVE OF THE THESIS

The objective of the thesis is to model, analyze, design and control

of piezo actuated structures with parameter uncertainties using interval
arithmetic approach and are carried out as below:
 Identification of piezoelectric actuated cantilever beam
structure model in interval form using Recursive Least
Square(RLS) method based on Auto-Regressive exogenous
(ARX) model.

 Design and implementation of Fast Output Sampling(FOS)

feedback controller for the interval model to control the first
vibration mode of cantilever beam

 Design and implementation of Periodic Output Feedback

(POF) controller for the interval model to control the first
vibration mode of cantilever beam

 Design of fast output sampling feedback and periodic output

feedback controller for the interval model using two-time
scale property.

 Design and evaluation of a state feedback controller for an

interval model using interval polynomial.
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1.5 ORGANIZATION OF THE THESIS

The research work carried out, the results obtained and the
directions for future explorations are organized into seven chapters.

In chapter 2 the interval model of piezo actuated cantilever beam

structures is experimentally identified using Recursive Least Square(RLS)
method based on Auto-Regressive exogenous (ARX) model. The structure
model is obtained to represent the first vibration mode. The problem of FOS
feedback controller design and implementation to control the vibration of a
smart cantilever beam is discussed in Chapter 3. Chapter 4 deals with the
design and implementation of periodic output feedback controller to suppress
the vibration of beam. In Chapter 5, the problem of fast output sampling and
periodic output feedback controllers are designed using two-time scale
property. In Chapter 6, Design and evaluation of a state feedback controller
for an interval model using interval polynomial is presented. Finally in
Chapter 7, conclusion of the thesis by summarizing the major contributions of
the research with suggestions for future work is presented.