Advanced Control Systems

Lecture 03

Muhammad Mehdi, Ph.D.

Electrical Engineering, BUITEMS
June 7, 2023
Overview

1 Sample System Modeling

Quarter-Car Active Suspension System
PMDC Machine
Inverted Pendulum

2 References

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 Sample System Modeling

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Sample System Modeling

In this section, we will model a few systems that would be used to study the
advanced topics in control systems.

▶ Quarter-Car Active Suspension System

▶ PMDC Machine
▶ Inverted Pendulum

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Quarter-Car Active Suspension System

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Quarter-Car Active Suspension System [1]
ms z̈s + cs (żs − żu ) + ks (zs − zu ) = u
mu z̈u + cs (żu − żs ) + ks (zu − zs ) + kt (zu − zr ) + ct (żu − żr ) = −u

Where zs , zu are the displacement of the

sprung and unsprung masses,
respectively. ms is the sprung mass of
the car chassis. mu is unsprung of the
wheel assembly. cs , ks are the passive
suspension’s damping and stiffness,
respectively. kt , ct stand for the
compressibility and damping of the
pneumatic tire, respectively. zs is road
displacement, and ut is the active control
force of the suspension system.

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Quarter-Car Active Suspension System

Defining the state variables as follows:

Suspension deflection: x1 (t) = zs (t) − zu (t)
Tyre deflection: x2 (t) = zu (t) − zr (t)
Sprung mass speed: x3 (t) = żs (t)
Unsprung mass speed: x4 (t) = żu (t)
 ⊤
The state vector will be x = x1 x2 x3 x4 . State-space
  representation,
  
0 0 1 −1 0 0
 x +  −1  zr +  0  u
 0 0 0 1     
ẋ = 
−ks /ms 0 −cs /ms cs /ms   0   1/ms 
ks /mu −kt /mu cs /mu −(cs + ct )/mu ct /mu −1/ms

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Quarter-Car Active Suspension System
State-space representation in the compact form
ẋ = Aẋ(t) + B1 w(t) + B2 u(t)
where 
0 0 1 −1
 0 0 0 1 , B1 = 0 −1 0 ct /mu ⊤ ,
  
A= −ks /ms 0 −cs /ms cs /ms 
ks /mu −kt /mu cs /mu −(cs + ct )/mu
 ⊤
B2 = 0 0 1/ms −1/ms , w(t) = żr (t)

ms = 972.2 kg, ks = 42.7196 kN/m, cs = 1.095 kN s/m,

mu = 113.6 kg, kt = 10.1115 kN/m, ct = 14.6 N s/m

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PMDC Machine [2], [3]
Variables and parameters

Rotational angle: θ,
Rotational speed: ω,
Input voltage: Vin ,
Armature current: i,
Torque constant: KT ,
Back EMF: KE ,
Armature inductance: La ,
Armature resistance: Ra ,
Viscous damping: B,
Load inertia: Jr , and
Load torque: Tl .

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PMDC Machine
System Dynamics: Parameters:

 θ̇ = ω B 1.0 × 10−4 N m/rad/s
KT 0.5 N m/A

B KT Tl



ω̇ = − ω + i− KE 0.05 V /rad/s
Jr Jr Jr

 K R V Jr 1.04 × 10−5 Kgm2
 E a in
i̇ = − ω+ i− Ra 1.1 Ω


La La La
La 0.4 mH

 
0 1 0      
  0 0
θ̇  −B KT 
 θ
ω̇  = 0
  − 1  0 
 ω +
Jr Jr   Tl +  V
− 1 in
  
i̇

 − KE Ra  i Jr  
0 + 0 La
La La
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Inverted Pendulum[4]
Dynamics obtained by Lagrangian mechanics (L = T − V ):
T : Kinetic Energy, and V : Potential Energy of the system.

Nonlinear Equations:
(M + m)ẍ + mlθ̈ cos θ − mlθ̇2 sin θ = u
(I + ml2 )θ̈ + mgl sin θ = −mlẍ cos θ
To linearize:
Equilibrium position θ = π,
For small change ϕ, θ = π + ϕ
Moment of Inertia I ≈ 0
Small angle approximation:
cos θ = cos(π + ϕ) ≈ −1
sin θ = sin(π + ϕ) ≈ −ϕ
θ̇2 = ϕ̇2 ≈ 0

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Inverted Pendulum[4]
Dynamics obtained by Lagrangian mechanics (L = T − V ):
T : Kinetic Energy, and V : Potential Energy of the system.

Linearized Equations:
(M + m)ẍ + mlθ̈ = u
M lθ̈ = mlẍ = mglθ

-Or-

M lθ̈ = (M + m)glθ
M ẍ = u − mgθ

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Inverted Pendulum[4]
State-space representation:

x1 = θ, x2 = θ̇ ẋ1
 = x2
x3 = x, x4 = ẋ = MM+m gx1 − M1 l u

ẋ
 ⊤ 2 l
x = x1 x2 x3 x4  ẋ3 = x4


m
= −M gx1 + M1 u

     
y θ x ẋ4
y= 1 = = 1
y2 ẋ x3 M = 2kg, m = 0.1kg, l = 0.m
   
0 1 0 0 0
 M +m g 0 0  1 
 
ẋ =  Ml  x + − M l  u,
0
y=
1 0 0 0
x
 0 0 0 1  0  0 0 1 0
m 1
−M g 0 0 0 M

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 References

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References

[1] H. Du and N. Zhang, “H∞ Control of active vehicle suspensions with actuator
time delay,” Journal of sound and vibration, vol. 301, no. 1-2, pp. 236–252,
2007.
[2] F. Akhgari, Z. Rahmani, and B. Rezaie, “Adaptive anti-control of chaos of
permanent magnet dc motor system,” in 2011 19th Iranian Conference on
Electrical Engineering, IEEE, 2011, pp. 1–6.
[3] M. Lavanya, R. Brisilla, and V. Sankaranarayanan, “Higher order sliding mode
control of permanent magnet dc motor,” in 2012 12th International Workshop
on Variable Structure Systems, IEEE, 2012, pp. 226–230.
[4] K. Ogata et al., Modern control engineering. Prentice hall Upper Saddle River,
NJ, 2010, vol. 5.

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