Advancedmultivariablecontrol

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small change
@input = small
change in o/p
change in time at
i/p= change in time
at o/p
the fn F should be linear for the

sys to be linear .. "LOGIC"
Mat. A=> nxn
Mat. B=> nxm
Mat. C=> ixn
Mat. D=> jxm
stable means rotate
in it's place near
eqp point..
Asmpt stable
means as t>> inf ..
trajectory tends to
eqp. pnt which is 0
stable+convergent = asympt. stable
At LTI.. if eigenvalues are strictly -ve "

real -ve" the system is exponentially
stable
all eigenvalues of A is -ve real !! >> asymt. stable
??
it is different from lyaponuv as
it study the eigenvalues but
lyaponuv studies at specific
eqpm points
as it may
rotate near
or not near
the eqp
point
we can get the eigenvalue by det

[lamda*I-A]=0..
WE HAVE Xdot eqn already so all we need is to just substitute
by any value and check the direction
How to get the direction
from drawing not
eigenvalues ??
> differentiation at
certain eqp points
of
no.
dfavadpn
A limit cycle is an isolated closed
trajectory; this means that its
neighbouring trajectories are not
closed – they spiral either towards or
away from the limit cycle. Thus, limit
cycles can only occur in nonlinear
systems.
I can't
linearize it
This part no need for
it but its ok ..
it means semi definite
ok ..
cirrcle B with radius epsilon

u have circle B and
circle V .. lw V (dot)
function is -ve or
equal 0 then the
trajectory will be
contained by V
circle .. bs kda
B
Check
https://www.youtube.com/watch?v=YRsxJoGZiFs
eshta dih
HOWWW !! -_-
check lec 4
in lec notes
symmetric matrix
P, Q are symmetric functions BUT A is not

aham 7aga el proof bs
???
insert Lyaponuv by force
neglected
neglected
neglected
neglected
??
neglected
how ??
To insure the negativity of the whole term and its asmyp.

stability
remind
X2
?
as X2 cant be chosen freely !!
Another System .. NEW INPUT WITH NEW
ERROR
same as first fn with additional term
??
Why this?
mentioned in previous system but why divide by X1 only ??
effect of change from 1st system
It means if we put v = the mentioned

in previous equation
SO WE NEED :
1- SYSTEM EQN
2- CONTROL LAW EQN
3-LYAPONUV
4- THEN WE APPLY GENERAL
1 FORMULA OF U
last step
transpose
fn of time
THERE IS
SOMETHING
CALLED
SIGMA -
GAMMA: LW
WADE7
MA3AK>>
SIGMA-
EITHERWISE
lamda is eigenvalue GAMMA
***** Note: the singular values

RELATION BETWEEN EIGEN are diff from eigenvalues
VALUE AND SINGULAR
VALUE JUST A RULE
max. eigenvalue
maximum value of the ratio as u changes with time

THERE IS
EQ 1 SOMETHING
CALLED SIGMA -
GAMMA: LW WADE7
MA3AK>>SIGMA-
EITHERWISE
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DA EL GENERAL MN 3'IR SUP
Energy is the same if it is measured in time or

frequency domain
energy energy density
El objective: el max of
gain G is K ;)
K is the max value of G

freq response
Parsel theory can be used in MIMO too !!
tabi3y..
MAX GAIN - AT GIVEN FREQ

meaning of GAIN AT SISO OR MIMO - STATIC
as in EQ 1
SISO GAIN IS SIMPLE >> G
MIMO
T.F will tend to zero as freq tend to inf
PROSEL'S THEORY
??
what is TR??
MIMO
??
system I/0 is stable if it has a finite

gain
it proves that (S1*S2)INF<1
IN CASE OF SISO AND MIMO
I THINK AS THE PREVIOUS SYSTEM HAS
NO SUBTRACTIONS .. SO THE GAIN
CHECK LEC OPA AT MY NOTES SHOULD BS LESS THAN 1
check the figure 2.3
bi2olak ya3ny tebkan lel small gain

theorem: el max gain less than 1
not k1x
k1x
external
Disturbance
how the process variable
reacts to load disturbances
the response of process variable

and control signal to the set point.
Noise Sensitivity response of the control signal

to measurement noise
for open loop
for closed loop
to neglect the dist ..
Disturbance we should have s
Sensitivity small at low freq
and L large at high
freq
APPROXIMATION and it is not
check drawing of lec 7 good as it will cause oscillation in
the output .. maybe resonance
Complementary sens
ne3ml da
AT LOW FREQ in case
"TO NEGLECT - CANCEL S - DISTURBANCE"

WE WANT AT IDEAL CASE UP TO Wc AT LOW FREQ
THE EFFECT
OF Yo on Y
for noise: it is sensor noise and presents at high frequency
so we hope to have big Wc ..

but we can't get it too high as
system response will be too fast T
and it will need a special
actuator
at low freq >> the integ is very high w da y5aly zero stable error
as we will not set our parameters at equilibrium ...

phase margin there should be enough margin for the control robustness
gain margin
the time delay it shows how the time

doesn't have any constant will affect
effect on gain but phase margin=pi - contribution of G - time delay (omega taw) the freq and system
it effects the
phase by
increasing it's
slope in case of
delaying and the
slope will be in -ve
but here it seems that he redistributed the x-axis freq*time domain phase angle
+ve phase and gain margin is the stability
why limited !!!!
A positive phase margin means that when

the limitation of time constant should be |G(jw)|=1, the phase of G(jw) is greater
taken in consideration in limits than -180deg. This is a way of measuring the
degree of stability of the system. A larger phase
margin is better, in terms of stability. A negative
phase margin means that the system is unstable.
Wc should be less than +ve zero

otherwise I will not have +ve phase
margin
check MY NOTES
ya3ny lama pole unstable

we need to make it stable
WE NEED HIGH GAIN

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Scanned by CamScanner

the fn F should be linear for the

At LTI.. if eigenvalues are strictly -ve "

we can get the eigenvalue by det

it means semi definite

cirrcle B with radius epsilon

P, Q are symmetric functions BUT A is not

insert Lyaponuv by force

To insure the negativity of the whole term and its asmyp.

as X2 cant be chosen freely !!

same as first fn with additional term

effect of change from 1st system

It means if we put v = the mentioned

***** Note: the singular values

maximum value of the ratio as u changes with time

Energy is the same if it is measured in time or

K is the max value of G

MAX GAIN - AT GIVEN FREQ

SISO GAIN IS SIMPLE >> G

T.F will tend to zero as freq tend to inf

system I/0 is stable if it has a finite

it proves that (S1*S2)INF<1

check the figure 2.3

bi2olak ya3ny tebkan lel small gain

the response of process variable

Noise Sensitivity response of the control signal

for closed loop

"TO NEGLECT - CANCEL S - DISTURBANCE"

so we hope to have big Wc ..

as we will not set our parameters at equilibrium ...

the time delay it shows how the time

why limited !!!!

A positive phase margin means that when

Wc should be less than +ve zero

ya3ny lama pole unstable

WE NEED HIGH GAIN

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