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C4 Design
C4 Design
C4 Design
Summary
Themes
Feedback
Stability
Robustness
Performance
Frequency response d
Loop shaping y
r u
F C P
-
n
1
Control 4
Summary of Feedback
Potential problems
naively making the gain large
can easily result in an
unstable feedback system
even if feedback system is
stable, overly large plant
inputs may arise that exceed
the plant capacity
measurement noise causes
loss of performance
3
5. FREQUENCY-RESPONSE DESIGN GOALS Control 4
Targets Limitations
Closed-loop stability Plant capacity
Disturbance attenuation Measurement noise
Good command response
Robustness
stability
performance
4
Control 4
1
L PC y d
1 L
S
5
Control 4
6
Control 4
7
Control 4
L L
y Fr TF F
1 L 1 L
TF T
8
Control 4
Recall that T = 1 - S
T determines the command response - it is close to 1 up to B
When F = 1, closed-loop transfer function TF is low pass with the
same bandwidth as the band for disturbance attenuation
If a different command response is required, F can compensate for
this
9
Control 4
T determines
measurement noise
sensitivity
high frequencies: T
should decrease as
quickly as possible
low frequencies: T is
1 PC PC
y d Fr n close to 1 - this
1 PC 1 PC 1 PC emphasises the need
for good low-noise
S T T sensors
10
Control 4
System functions: Su
C
u ( Fr n d )
1 CP
Su
11
Control 4
12
Control 4
13
Control 4
Stability Robustness
Robustness
For loop gain perturbations T needs to be
small
For inverse loop gain perturbations S
needs to be small
Performance
At high frequencies T needs to be small
At low frequencies S needs to be small
Perturbations
High frequency uncertainty (parasitics)
causes significant loop gain perturbations
low frequency uncertainty (load changes
etc.) causes significant inverse loop gain
perturbations
Crossover
Neither S nor T can be small, they must
therefore be prevented from peaking.
Good stability margins help to ensure this
14
Control 4
Performance Robustness
Performance is determined by S, T,
Su and TF Denote nominal quantities by S o etc.
Since Su and TF depend on S and T,
we need only consider the effect of Relative changes in 1 S and 1 T
perturbations on S and T 1 1 1 1
S So So S L Lo L L
For robust S we need To small To To o
1 S Lo 1
For robust T we need So small
So L
1 1 1 1
Normally, S is small at low
frequencies, making T robust at low T To T To L Lo L Lo
frequencies - this is the region where So So
1 T L 1
T’s values are significant
To Lo
Conversely, T is normally small at
high frequencies, making S robust at
high frequencies - the region where S
is significant
15
Control 4
1 1
sm rm
max So ( j ) max To ( j )
16
Control 4
Loop Gain L
18
Control 4
Loop shaping
19
Control 4
Crossover Region
20