Robust and Optimal Control

A Two-port Framework Approach

CSD approach to
Stabilizing Controllers

1
Robust and Optimal Control - A Two-port Framework Approach

An Overview

Some Practical Design Cases

H2 Problem

Stabilization
H∞ Problem
Problem

Green, Kimura… Chain Scattering Description

Network Analysis (Two-port scheme)

2
Robust and Optimal Control - A Two-port Framework Approach

Recall : Similarity transformations by CSD approach

y x
C D
0 I 
u

u
x = Tx ', x = Tx '
 x ' = T −1 x = T −1 ( Ax + Bu )
I
x
I 0
x
= T −1 ATx '+ T −1 Bu = Axˆ '+ Bˆ u
x  A B u
y = Cx = CTx ' = Cˆ x '
s  

 A B
s
G (s) =   y x x'
 C D  C D T 0
u 0
 I  u 0 I  u

x x' x x x'
I T 0 T −1
0  I 0 T 0
0  
s x  T  x'  0 T −1  x A B  u 0 I  u
 

3
Robust and Optimal Control - A Two-port Framework Approach

y x x'
C D T 0
u 0
 I  u 0 I  u

x x' x x x'
I T 0 T −1
0  I 0 T 0
0  
s x  T  x'  0 T −1  x A B  u 0 I  u
 

y x
C T D
u  0 I  u

x' x
I  I 0 
x T −1 AT T −1 B  u
s  

 (s)

4
Robust and Optimal Control - A Two-port Framework Approach

The proposed coupled CSD method

z w
 P11 P12 
y P P  u
 21 22 

K
Always exists
z u
1o 𝑃1∗  P12 P11 
𝑃2∗ w 0 I  w

P1*
u u
 I 0
K y P P21  w
 22
P2*
5
Robust and Optimal Control - A Two-port Framework Approach

2o P1*M * = G1  RH 

Then multiply M *  RH  at the right terminal

z
P1* M*
w
G1

G2
u

K y P2* M*

 P12 P11 
 I   G1  −1
 P1*   0
P  =  I =   M*
0  G2 
 2* 
 
 P22 P21 
6
Robust and Optimal Control - A Two-port Framework Approach

3o G2 =   RH  ,  &  −1  RH 
z u'

w G1 w'
K = CSDl (, ) Inserting  
−1

u u u'

  y  −  y G2 w'

K
To solve two particular coprime factorizations

z u'
z = LFTl ( P, K ) w
= CSDr ( P1* M * , CSDl ( P2* M * , K ) )
w G1 w'

= CSDr (G1 , CSDl (G2 , K )) w

u'
= CSDr (G1 , CSDl (, )) w
  w'
7
Robust and Optimal Control - A Two-port Framework Approach

The stabilization problem

G G12 
G1 =  11   RH 
 0 I 

 I 12 
=   RH 
0 22 

z = LFTl ( P, K ) w = [G12 − G11 (12 −  22 )]w

The closed-loop system is stable for all   RH

where K = CSDl (,  )

8
Robust and Optimal Control - A Two-port Framework Approach

A summary of Method I

P1* = G1M −1
z u u'
u'
 P12
12 11 
P11
w 0 I  w M
 w'
w'

PP1*1*
u uu u u'
u'
 I 0
K  −1

KK y
P
 22
22
P2121 w M w'
w'
y y P2*
2*

G2 =  −1
K = CSDl ( ,  )
 = G2

 
9
Robust and Optimal Control - A Two-port Framework Approach

Equivalent Framework
z u
G11 G12 
z  0 I 
w
 P11 P12  w  w
y P P22  u
 21
u u
 I 12 
K   
0  22 
y w

K = CSDl (,  ) = LFTl ( P , )

u y
u u y  P ( s)
u
(s)  (s) y
y
(s)

10
Robust and Optimal Control - A Two-port Framework Approach
Example : To find all internally stabilizing controllers
G (s)
w2 z2  z1   w1 
x 1 x z  w 
B s C  2  2
 P11 P12 
A y P P22  u
  21
z1 u y w1
K (s)
K

 A B
s
 K ( I − GK ) −1 K ( I − GK ) −1G 
G (s) =   LFTl ( P, K ) =  −1 −1 .
 C 0  GK ( I − GK ) G[ I + K ( I − GK ) G ]

 A (0 B) B 
 0 0  I    Ap B1 B2   
 P11 ( s ) P12 ( s)   0 G ( s)  G ( s)   s       
D12  =   
0 0 0 I 
P( s) =   =     =  C1 0   
 21
P ( s ) P ( s )    C   0 0   0  
 C
( ) 0   
22
  2
I G ( s ) G ( s ) D21
  C ( I 0 ) 0 

11
Robust and Optimal Control - A Two-port Framework Approach

Step. 1

 x   A B (0 B )
   
 z 
 1   0  I 0 0 
  z2    C       x 
 0 0 0  
     u 
 w1   =   0  0 I 0  P1*
 w     0        w1    z1 
I      I 0 0
 2      0 0  
 w2    z2  u
G 0 G 
 u   0 I (0 0)   w1   
     w1 
 y   C 0 (I 0 )   
 w2  0 I 0  
 w2 
 
 0 0 I 
u u
I 0 0  w1 
K y G I G   
   w2 

P2*

12
Robust and Optimal Control - A Two-port Framework Approach

Step. 2

 A + B2 Fu B2Wuu B1 
C + D F D12Wuu D11 
 1 12 u
 G1 ( s )   0 0 I 
  
s

 2 =
G ( s ) Fu Wuu 0   RH 
 M (s)   C2 0 D21 
 *     A + BF B (0 B)
 Fu Wuu 0   
 I  F I 0 0 
 0 0 s 
     
G1 ( s ) =   C  0 0 0 
 
 0 0 I 0 
Fu = F ,Wuu = I  0
  
 
0

0

I  
 A + BF B (0 B )
s
 
G2 ( s ) =  F I (0 0) 
 C 0 (I 0 ) 
13
Robust and Optimal Control - A Two-port Framework Approach

Let G (s ) = N ( s ) M ( s ) −1 (= M ( s) −1 N ( s))

 A + HC − B − H   A + BF B H
 X (s) Y (s)   s
=  and  M ( s ) −Y ( s )  =  F
s
I 0 
   F I 0   − N (s) X (s)  
 N ( s ) M ( s )   −C I     −C 0 I 
 0 

 A + BF B (0 B)
   M ( s) 0 M ( s) − I 
s
 F I (0 0)  s  
M * ( s) = = 0 I 0
 0 0 I 0   
         0 0 I 
  0  0 0 I  
I 0 0 M 0 M −I
G M 0 M −I 
G G12  0 G   N 
0  = 
N 0
G1 =  11  = P1* M * =  0 I
 0 I  0 I 0 0 I 0 
  0 0 I   
 0 0 I   0 0 I 
M 0 M −I
I 0 0  M 0 M −I
G2 = P2* M * =  0 =
I G   N 
0 I .
G  0 0 I   N I
14
Robust and Optimal Control - A Two-port Framework Approach

G11 G12 
Step. 2 G1 =    RH 
 0 I 

P1* G1
M*
z I 0 0 u u
G 0 G  M 0 M −I 
  0 I 0 
w 0 I 0 w   w
   0 0 I 
 0 0 I 

u u u
M 0 M −I 
I 0 0 0 I 0 
K
y G I G  w   w
   0 0 I 
P2*
M* G2

15
Robust and Optimal Control - A Two-port Framework Approach

G1
z
Step 3 G2 =   RH  ,  &  −1  RH  M
N
0 M −I u
 0 N 
w 0 I 0  w
 
0 0 I 
K
 −  G2 u
 u
X −Y  X −Y 
−1
X −Y  M 0 M − I 
     N I N 
−M  y N 
−M  −M  w
N  N  

 A + HC 0 ( H B )   A + HC −B H 
 I 12 ( s )  
&  ( s ) =  F 0 
s
 s
( s ) =  = F I ( 0 0)  I
0  22 ( s )   −C 0 − ( I 0 ) 
  −C 0 − I 
K = CSDl (,  ),   RH 
Then
−1
 A + BFu + HC s −H 
K 0 = CSDl (, 0) = X ( s ) Y ( s ) = 
 F 0 
16
Robust and Optimal Control - A Two-port Framework Approach

LFTl ( P, K )
= G12 − G11 (12 −  22 )
0 M − I   M 
=  +   Y + M N + ( X − I ) 
0 N  N 
0 M − I   M (Y + M ) M (N + ( X − I )) 
=  + 
 0 N   N (Y +  M ) N (  N + ( X − I )) 
 M (Y + M ) M N + MX − I 
= 
 NY + N  M N (  N + X ) 
( Y + M  ) M ( M  + Y ) N 
= 
 N (Y +  M ) N (  N + X ) 

K = CSDl (,  ) = ( X − N ) −1 (Y − M ),   RH 
K 0 = CSDl (, 0) = X −1 Y

17
Robust and Optimal Control - A Two-port Framework Approach

The proposed coupled CSD method: Method II

1o z' z
z w
 I − P11 
y P u
always exists
y' 0 − P 
 21 
w

K z' u
 P12 0
 I − P11 P12 0 y' P − I 
K
 P*1 P*2  =   = M *−1 G1 G2   22
y
0 − P21 P22 −I 

Then multiply M * at the left terminal

G1
P*1
z
 I − P11 
M* 0 − P 
 21 
w

P*2
u u
 P12 0
M* P
 22 − I  y   −1 y K
G2 18
Robust and Optimal Control - A Two-port Framework Approach

Stabilization of Special
SCC Formulations

19
Robust and Optimal Control - A Two-port Framework Approach

In the general case

A B1 B2   x   A B1 B2   x 
 P11 ( s) P12 ( s)  s 
P( s ) =   =  C1 D11 D12    z  =  C1 D11 D12   w
   
 21
P ( s ) P22 ( s )  C 0   y  C2 0   u 
 2 D21 D21

one can use CSDr CSDl or CSDl CSDr arbitrarily in that these two methods are
essentially the same. However, for below six special cases, one can choose a
appropriate method to deal with the design analysis more effectively.

Formulation of Formulation of
Corresponding Plant Corresponding Plant
System System

A B1 B2   A B1 B2 
Disturbance
PDF ( s ) =  C1 D12  POE ( s ) =  C1 D11 I 
s s
D11 Output
Feedforward C2 I 0  C2 D21 0 
with (A − B1C2 ) is Hurwitz
Estimation (OE)
(DF) with (A − B2C1 ) is Hurwitz

 A B1 B2 
C D12 
A B1 I 0 
Full Information PFI ( s ) = 
s D Full Control s
 
0 I 
1 11

  I  0 0  PFC ( s ) =  C1 D11

(FI)      
 0   I  0  
(FC) C2 D21 0 0

A B1 B2  A B1 I 
State Feedback PSF ( s) = C1
s
D11 D12 
Output Injection POI ( s ) =  C1
s
D11 0 
(SF)  I 0 0  (OI) C2 D21 0 
20
Recall the State-Space Formulae for Stabilizing Controllers

A B1 B2   x   A B1 B2   x 
 P11 ( s ) P12 ( s )  s 
P( s) =   =  C1 D11 D12    z  =  C1 D11 D12   w
   
 P21 ( s ) P22 ( s )  C 0   y  C2 0   u 
 2 D21 D21
Conditions should be satisfied:
(I) ( A, B2 ) stabilizable and (C2 , A) detectable

x  A B1 B2  x  A B2 B1 
 z  C
   1 D11 D12   x   z   C1 D12 D11   x 
 y  =  C2 D21 0   w   w =  0 0 I   u 
        u
 w  0 I 0   u   u   0 I 0   w
 u   0 0 I   y  C2 0 D21  y

21
Step 1: Find RCF with upper block triangular CSD
x  A B2 B1  A B2 B1 
 z  C D12 D11  C D12 D11 
   1  1
 w  0 0 I x  0 0 I  I 0 0  x 
     
u  =  0 I 0   u  =  0 I 0   Fu Wuu 0   u 
 y   C2 0 D21   w C2 0 D21   0 0 I   w
     
u   0 I 0  0 I 0 
 w  0 I  0 I 
   0  0
G ( s ) G12 ( s ) 
In order to solve  11 , let Fw = 0, Wwu = 0, Www = I
 0 I 
where
 x   A + B2 Fu B2Wuu B1 
 z  C + D F D12Wuu D11  G ( s ) G12 ( s ) 
   1 G1 ( s ) =  11
I 
12 u

 w  0 0 I   x   G1   0
   
 u  =  Fu Wuu 0   u    G2 
 y 
 A + B2 Fu B2Wuu B1 
D21   w  M * 
= C1 + D12 Fu D12Wuu D11   RH 
C2 0 s
   
u   Fu Wuu 0 
 w 
   0 0 I   0 0 I 
22
 Step 2: Find LCF with upper block triangular CSD

 I H z H y   A + B2 Fu B2Wuu B1 0 0 
  
 0 Wzz 0    Fu Wuu 0 I 0 
0 0 Wyy   C2 0 D21 0 I 
 
 A + B2 F + H z Fu + H y C2 B2Wuu + H zWuu B1 + H y D21 H z H y 
 s

 ( s)  ( s)  =  Wzz Fu WzzWuu 0 Wzz 0 
 Wyy C2 0 Wyy D21 0 Wyy 


 I 12 ( s ) 
In order to construct ( s) = 0  ( s)  let H z = − B2 , Wzz = Wu−u1 , Wyz = 0
 22 

 A + H y C2 0 B1 + H y D21 − B2 Hy 
s

 ( s )  ( s)  =  Wuu−1 Fu I 0 Wuu−1 0 
 −Wyy C2 0 −Wyy D21 0 −Wyy 

 A + H y C2 0 B1 + H y D21 
 I 12 ( s )  
s
−1 
( s ) =   =  Wuu Fu I 0   RH 
0 22 ( s )   −W C 0 −Wyy D21 
 yy 2

23
 Step 3: K = CSDl (, ) = − ( 11 −  21 ) ( −  22 ) ,   RH 
−1
12

 A + H y C2 − B2 Hy 
s
 
where  ( s) =  Wuu−1 Fu Wu−u1 0 
 −Wyy C2 0 −Wyy 


Fu and H y should be found such that ( A + B2 Fu ) and ( A + H yC2 ) are Hurwitz ,

Wuu and Wyy are nonsingular free parameters.

24
  A + H y C2 − B2 Hy 
 12   s A+ H C − B2 Hy 
s
−1 
 ( s ) =  11  =  Wuu Fu Wuu−1 0   [11 ( s ) 12 ( s )] = 
y 2

 21  22   W −1
F W −1
0 
 −Wyy C2 0 −Wyy 
uu u uu


[11 ( s ) 12 ( s) I]  [I  −111 ( s )12 ( s )  −111 ( s )]

 A + H y C2 − B2 Hy 0   I B2Wuu   A + H y C2 − B2 Hy 0   A + H y C2 + B2 Fu 0 Hy B2Wuu 
 W −1 F   = 
 uu u Wuu−1 0 I  0 Wuu   Wuu−1 Fu Wu−u1 0 I   Fu I 0 Wuu 

−1
 A + H y C2 + B2 Fu
s B2Wuu 
  11 ( s ) =  
 Fu Wuu 

−1
 A + H y C2 + B2 Fu
s Hy 
 K 0 ( s ) = CSDl (, 0) = − 11 ( s )12 ( s) = 
 − Fu 0 

u K0 (s) y

25
Robust and Optimal Control - A Two-port Framework Approach

Disturbance Feedforward (DF) problem CSDr CSDl

A B1 B2 
 P11 ( s ) P12 ( s )  s 
PDF ( s ) =   =  C1 D11 D12  with (A − B1C2 ) is Hurwitz
 21
P ( s ) P22 ( s )  C 0 
 2 I z u
 P12 P11 
w 0 I  w
A B1 B2  
C D11 D12  P1*
 P1*, DF ( s )  s  1 u u
P = 0 0 I   I
P
0
 2*, DF   0
( s )  P21 
K y w
 22
 I 0  P2*
C2 0 I 
 A + B2 Fu B2Wuu B1 
G11 ( s ) G12 ( s )  s 
G1, DF ( s ) =   = C1 + D12 Fu D12Wuu D11   RH 
 P1*, DF   G1, DF  −1  0 I  
P*, DF =   = G  M DF  0 0 I 
P
 2*, DF   2, DF 
 A + B2 Fu B2Wuu B1 
G2, DF ( s ) =  Fu 0   RH 
s
Wuu
 C2 0 I 

So far the design procedure is identical to the general approach !

26
Robust and Optimal Control - A Two-port Framework Approach

Lcf:  I − B2 − B1   A + B2 Fu B2Wuu B1 0 0 
0 W −1 0    F Wuu 0 I 0 
 uu   u

0 0 I   C2 0 I 0 I 
 A − B1C2 0 0 − B2 − B1 
  DF ( s )  DF ( s )  =  Wuu−1Fu 0 Wuu−1 0 
s
I
 C2 0 I 0 I 
 I 0 −1
where  DF =   and  DF = G 2, DF . Since (A-B1C2) is Hurwitz and  DF is
 0 I 
actually an identity matrix. Then the stabilizing controllers can be generated by

K = CSDl (G −12, DF ,  ) = CSDr (G2, DF , ),   RH 

 G G12    I 0  
z = CSDr   11  , CSDl   ,    = (G12 + G11) w
 0 I  
  0 I   

The central controller can be chosen such that z = G12 w 27

Robust and Optimal Control - A Two-port Framework Approach

Full Information (FI) problem CSDr CSDl

 A B1 B2  z u
   P12 P11 
 P11 ( s ) P12 ( s )  s  C1 D11 D12 
PFI ( s ) =  = I w 0 I  w
 21
P ( s ) P ( s )     0   0  
      
22

 0   I   0   P1*
u u
 A B2 B1   I 0
C D D  K y P P21  w
 1 12 11   22
 P1*, FI ( s )   0
s 0 I  P2*
 P (s) =  
 2*, FI   0 I 0 
 I   0   0    A + B2 Fu B2Wuu B1 
       G11 ( s ) G12 ( s )  s 
 0   0   I   G1, FI ( s ) =  = C1 + D12 Fu D12Wuu D11   RH 
 0 I  
 0 0 I 
 P1*, FI   G1, FI  −1  A + B2 Fu B2Wuu B1 
P*, FI =   = G  M FI  F
P
 2*, FI   2, FI 
s
 Wuu 0 
G2, FI ( s ) =  RH 
u

 I    
0 0 
      
  0   0   I  

The design procedure so far is also identical to the general approach !

28
Robust and Optimal Control - A Two-port Framework Approach

Lcf:
 I − B2 B2 Fu 0   A + B2 Fu B2Wuu B1 0 (0 0) 
0 W −1  
 −Wuu−1 Fu 0   Fu Wuu 0 I (0 0) 
uu

0 0 I 0   I  0  0   0   I 0 
   
0 0 0 I    0   
0
    
 I   0   0 I  
 A + B2 Fu 0 B1 − B2 ( B2 Fu 0) 
 
  FI ( s )  FI ( s)  = 
s 0 I 0 Wuu−1 ( −Wuu−1Fu 0 )
 I  0 0  0 I 0 
          
 0  0 I  0 0 I  

I
 FI ( s)  FI ( s)  = 
0 Wuu−1 ( −Wuu−1Fu 0 )

0 22 ( s)  21 ( s)  22 ( s) 

 G11 G12   I 0  
z = CSDr    , CSDl  0   ,    = (G12 + G11 22 ) w
 0 
 I  22  
The central controller is given by
CSDl ( FI ( s),0) =  Fu 0 , i.e., u (t ) = Kx(t ) = Fu x(t )
therefore z = G12 w
29
Robust and Optimal Control - A Two-port Framework Approach

State Feedback (SF) problem CSDr CSDl z

 P12 P11 
u

w 0 I  w

A B1 B2  P1*
 P11 ( s ) P12 ( s )  s 
D12 
u
PSF =   = C1
u
D11  I 0
 21
P ( s ) P22 ( s )  I 0 
K y P
 22 P21  w
 0 P2*

 A + B2 Fu B2Wuu B1   A + B2 Fu B2Wuu B1 
G11 ( s) G12 ( s)  s  
D11   RH  , G2, SF (s ) =  Fu 0   RH 
s
G1, SF ( s) =  = C1 + D12 Fu
I  
D12Wuu Wuu
 0  0 0 I   I 0 0 

 I − B2 B2 Fu   A + B2 Fu BWuu B1 0 0 
0 W −1 −Wuu−1 Fu    Fu Wuu 0 I 0 
 uu

0 0 I   I 0 0 0 I   SF ( s )  SF ( s) 
 A + B2 Fu 0 B1 − B2 B2 Fu 
  SF ( s )  SF ( s )  = 
s
0 I 0 Wuu −Wuu−1Fu 
−1 I 0 Wuu−1 −Wuu−1Fu 
= 
 I 0 0 0 I 
 0  22 ( s )  21 ( s )  22 ( s ) 
 G G12   I 0  
z = CSDr   11  , CSDl   ,    = (G12 + G11 22 ) w
 0  
 I  0 22  

The central controller is given by

CSDl ( SF ( s), 0) = Fu , i.e., u (t ) = Kx(t ) = Fu x(t )
therefore z = G12 w 30
Robust and Optimal Control - A Two-port Framework Approach

The proposed coupled CSD method [Method II]

G1
G1
z
 G11 G12 
  P*1
w z
 21
G G22I − P11 
M* 0 − P 
 G2 21  w
K
  −1 K = CSDr ( ,  )
P*2
u u u u
 11 12  P12  11 −112 
−1
0   12 
M
*   P22 − I   y

11

 22  y 

 21  22 
y y K 
 21 22   21
G2
G2 = 

z LFTl ( P, K ) = CSDl ( P*1 , CSDr ( P*2 , K ) )

 I G12 

0 G22 
 w ( )
= CSDl M * P*1 , CSDr ( M * P*2 , K )

= CSD ( G , CSD ( G , K ) ) .
l 1 r 2

= CSD ( G , CSD ( G , CSD (, ) ) ) w

u
11 12 
 0  l 1 r 2 r
I 
y

(
= CSDl G1 , CSDr ( ,  ) . ) 31
Robust and Optimal Control - A Two-port Framework Approach

The stabilization problem (Method II)

z
 I G12 
Dually, the I/O transfer relationship can be derived by   w
0 G22 
  G11 G12    11 12   
z = CSDl    , CSDl    ,    w.
 G  
  21 G22    21 22   11 12 
u

 0 
I 
y
Apparently, if one can characterize the particular 

 I G12    12 
coprime factors G1 =   and  =  11 ,
 0 G22   0 I 
then the input/output relation between w and z can be
easily determined as

  I G12   11 12   

z = CSDl   , CSDr   ,    = [( 11 + 12 ) G22 − G12 ]w
 0 G  
I   
 22   0

32
Robust and Optimal Control - A Two-port Framework Approach

State-Space Formulae of Stabilizing Controllers (Method II)

A B1 B2   x   A B1 B2   x 
  
D12    z  =  C1 D12   w
P ( s ) P ( s ) s
P( s) =  11 12
 =  C1 D11 D11
   
 21
P ( s ) P22 ( s )  C 0   y  C2 0   u 
 2 D21 D21

( A, B2 ) stabilizable and (C2 , A) detectable.

First the stacked matrix is arranged by P*1

z z
 I − P11 
y 0 − P  w
 21 
A 0 − B1 B2 0
P* ( s) =  P*1 ( s) P*2 ( s) =  C1 0  .
s
I − D11 D12 P*2
z u
C2 0 − D21 0 − I   P12 0
y P − I  y K
 22

33
 Robust and Optimal Control - A Two-port Framework Approach

Step 1: To find lcf with an upper block triangular CSD

G1
P*1
z
 I − P11 
M* 0 − P 
 21 
w
Let
 x I H z H y   x  P*2
u u
      P12 0
z
  = 0 Wzz W yz   ze  M* P
 22 − I  y   −1 y K
 y  0 0 Wyy   ye 
    G2

 P*1 P*2  = M *−1 G1 G2 

I H z H y   A 0 − B1 B2 0 0 0
 
G1 ( s ) G2 ( s ) M * ( s )  = 0 Wzz Wyz   C1 I 0 
s

 I − D11 D12 0
0 0 Wyy  C2 0 − D21 0 −I 0 I 
 

where H =  H z H y  is chosen such that A + H z C1 + H y C2 is Hurwitz and Wzz and Wyy are nonsingular,

34
Robust and Optimal Control - A Two-port Framework Approach

 Y*   Y* 
 
Dually. the stable left inverse   which satisfies G1 G2 M *   X  = I is given by
 X*   *

 A + B2 Fu + B1Fw − H zWzz−1 + H yWyy−1WyzWzz−1 − H yWyy−1 

 
 0 0 0 
 Fw 0 0 
 Y* ( s)  s  
 X (s)  =  Fu 0 0 
 *   0 0 0 
 
C1 + D12 Fu + D11Fw Wzz−1 0 
 C +D F −Wyy−1WyzWzz−1 Wyy−1 
 2 21 w

 I G12 
In order to make G1 =
satisfy 1 
G  , let H z = 0, Wyz = 0 and Wzz = I , then one has
 0 G22 

 A + H y C2 0 − ( B1 + H y D21 ) 
 I G12 ( s )  s  
G1 ( s ) =   =  C1 I − D11   RH 
 0 G 22 ( s )   W C 0 − W D 
 yy 2 yy 21 
 A + H y C2 B2 − H y   A + H y C2 0 Hy 
s
   I M 12 ( s )  
s

G2 ( s ) =  C1 D12 0   RH  , M * ( s ) =   =  C1 I 0   RH 
 Wyy C2 0 −W  0 M 22 ( s)   W C 0 Wyy 
 yy   yy 2
35
 Robust and Optimal Control - A Two-port Framework Approach

Step 2: To find rcf with an upper block triangular CSD

 A + H y C2 B2 −H y   A + B2 Fu B2Wuu H yWyy−1 
 C  
D12 0   I 0 0  C1 + D12 Fu D12Wuu 0 
    s 
1
  ( s )
 WyyC2 0 −Wyy    Fu Wuu 0   = 0 0 I 
   ( s )  
 0 I 0  C2 0 −Wyy−1   
 Fu Wuu 0 
 0 0 I   C2 0 −Wyy−1 


Step 3: K = CSDr (, ),   RH 

G1
z
 A + B2 Fu B2Wuu H yW −1
yy  I G12 
s
   
 ( s ) =  Fu Wuu 0 . 0 G22 
w

 C2 0 −Wyy−1  G2 K
   −1

u u
11 12   11 12 
−1
 11 12 
 0   
I 
 
 21  22 
y y
  21  22 

36
Robust and Optimal Control - A Two-port Framework Approach z
 I G12 
  w
 0 G22 
 A + H y C2 0 − ( B1 + H y D21 ) 
 I G12 ( s )  s  
G1 ( s ) =  =
  C 1 I − D 11   RH 
 0 G 22 ( s )   W C 0 − W D  u
 yy 2 yy 21
 11 12 
 0 
 A + B2 Fu B2Wuu H yWyy−1  I 
y
 ( s ) 12 ( s )  s   
( s ) =  11  = C1 + D12 Fu D12Wuu 0   RH 
 0 I 

 0 0 I 

K = CSDr (,  ),   RH  where

 A + B2 Fu H yWyy−1 
B2Wuu
  ( s ) 12 ( s)   s

 ( s ) =  11  =  Fu Wuu
0 .

 21 ( s )  ( s )   C
22
 2 −Wyy−1 
0
s A+ B F + H C −H y 
−1
Note that K 0 = CSDr (, 0) = 12  22 = 
2 u y 2

 Fu 0 

Noted that Fu and H y are chosen such that A + B2 Fu and A + H yC2 are Hurwitz.
Wuu and Wyy are nonsingular free parameters.
37
Robust and Optimal Control - A Two-port Framework Approach

Equivalent Framework
z
z w  I G12 
 P11 P12    w
y P P22  u 0 G22 
 21
u
11 12 
 0 
I 
y
K 

The stabilizing controllers are given by K = CSDr (, ) = LFTl ( P , )

u y
u u  P (s)
y u
 (s) (s)
y y
(s)

 A + B2 Fu + H yC2 −H y B2Wuu 
s A+ B F + H C −H y 
s
 
 P ( s) =  Wuu  .  K 0 ( s ) = LFTl ( P ( s), 0) = 
2 u y 2

0 
Fu 0
 Fu
 WyyC2 −Wyy 0  


38
Robust and Optimal Control - A Two-port Framework Approach

So far two alternative methods for finding all stabilizing controllers are
characterized. It should be emphasized that the right CSD associated with a left
one is indeed the dual topology of the left CSD associated with a right one. It can
be verified from

 A + B2 Fu B2Wuu H yWyy−1 
s
 s
 −1 ( s) =  Fu Wuu 0  =  ( s).
 C2 0 −Wyy−1 


 = I  CSDr (,  ) = CSDl (,  )

39
Robust and Optimal Control - A Two-port Framework Approach

Stabilization of Special
SCC Formulations

40
Robust and Optimal Control - A Two-port Framework Approach

In the general case

A B1 B2   x   A B1 B2   x 
 P11 ( s) P12 ( s)  s 
P( s ) =   =  C1 D11 D12    z  =  C1 D11 D12   w
   
 21
P ( s ) P22 ( s )  C 0   y  C2 0   u 
 2 D21 D21
one can use CSDr CSDl or CSDl CSDr arbitrarily and it has been shown that these
two method are essentially the same. However, for below six cases, one can choose a
appropriate method to make the analysis more effective.

Formulation of Formulation of
Corresponding Plant Corresponding Plant
System System

A B1 B2   A B1 B2 
PDF ( s ) =  C1 D12 
Disturbance
POE ( s ) =  C1 D11 I 
s s
D11 Output Estimation
Feedforward C2 I 0  C2 D21 0 
(OE)
(DF) with (A − B1C2 ) is Hurwitz with (A − B2C1 ) is Hurwitz

 A B1 B2 
C D12 
A B1 I 0 
Full Information PFI ( s ) = 
s D Full Control s
 
0 I 
1 11

  I  0 0  PFC ( s ) =  C1 D11

(FI)      
 0   I  0  
(FC) C2 D21 0 0

A B1 B2  A B1 I 
POI ( s ) =  C1 D11 0 
State Feedback Output Injection
PSF ( s) = C1 D12 
s s
D11
(SF)  I 0 0  (OI) C2 D21 0 
41
Robust and Optimal Control - A Two-port Framework Approach

Output Estimation (OE) problem (a dual part to DF)

A B1 B2 
 P11 ( s ) P12 ( s )  s  z' z
POE ( s ) =   =  C1 D11 I  with (A − B2C1 ) is Hurwitz
 P21 ( s ) P22 ( s )  C  I − P11 
 2 D21 0  y' 0 − P  w
 21 

One adopts CSDl CSDr

z' u
 P12 0
A 0 − B1 B2 0 P − I 
y' y K
 P*1,OE ( s) P*2,OE ( s)  =  C1 0 
s
 22
I − D11 I
C2 0 − D21 0 − I 

 A + H y C2 0 − ( B1 + H y ) 
 I G12 ( s )  s  
G1,OE ( s ) =   =  C1 I − D11   RH 
G1,OE 0 G22 ( s)   W C −Wyy 
 P*1,OE −1
P*2,OE  = M OE G2,OE   yy 2 0
 A + H y C2 B2 − H y 
s
 
G2,OE ( s ) =  C1 I 0   RH 
 Wyy C2 0 −Wyy 


So far the procedure is identical to the general approach !

42
Robust and Optimal Control - A Two-port Framework Approach

rcf:

 A + H y C2 B2 −H y   A − B2C1 B2 H yWyy−1 
 C  
 I 0   I 0 0   0 I 0 
  OE ( s)  s 
1

 Wyy C2 0 −Wyy    −C1 I 0  = 0 0 I 
    ( s )  
0   C2 0 −Wyy−1   
OE
 0 I  −C1 I 0 
 0 0 I   C 0 −Wyy−1 
 2

 I 0 −1
where  OE = 0 I  and  OE = G2, OE .Since (A-B2C1) is Hurwitz,OE derived for
 
this OE problem is actually an identity matrix. Then the stabilizing controllers can be

generated by K = CSDr (G2,−1OE , ) = CSDl (G2,OE , ),   RH 

  I G12    I 0  
z = CSDl   r  ,    = (G22 − G12 ) w
 0 G  
, CSD

 22   0 I   

43
Robust and Optimal Control - A Two-port Framework Approach

Full Control (FC) problem (a dual part to FI)

z' z
 I − P11 
A B1 (I 0 ) y' 0 − P 
 21 
w
 P11 ( s) P12 ( s)  s

PFC ( s) =   =  C1 D11 (0 I )
 21
P ( s ) P ( s )  C
(0 0 )
22 z' u
 2 D21  P12 0
y' P − I  y K
 22

One adopts CSDl CSDr

the left corpime factorization  P*1, FC P*2, FC  = M −FC1 G1, FC G2, FC  is given by

 A + H y C2 0 − ( B1 + H y D21 ) 
 I G12 ( s )  s  
G1, FC ( s ) =   =  C1 I − D11   RH 
0 G22 ( s)   W C 0 −W D 
 yy 2 yy 21 
 A + H y C2 ( I 0 ) − H y 
s
 
G2, FC ( s ) =  C1 ( 0 I ) 0   RH 
 Wyy C2
 ( 0 0 ) −Wyy 

44
Robust and Optimal Control - A Two-port Framework Approach

rcf:
 A + H y C2 (I 0) −H y 
 
 C1 (0 I) 0   I 0 0 0 
 Wyy C2 (0 0) −Wyy   H y C2 I 0 − H yWyy−1   11 0 
  
 0 
 0  I 0   0  0 0 I 0  I
 0     
 0 I   0    C2

−Wyy−1    FC ( s )   
  
0 0
 ( s)  =    − H yWyy  
−1
( 0 0 ) I 
 FC   11  
 0
 A + H y C2 I 0 0    0 
 C 0 
 −Wyy−1 
 1 0 I
 21
  FC ( s )  s  0 0 0 I 
  =  −1 
  FC ( s )   H y C 2 I 0 − H yW yy 
 0 0 I 0 
 
 C2 0 0 −Wyy−1 

  I G12   11 0   
z = CSDl   , CSDr    ,    = [11G22 − G12 ]w
 0 G 
 22   0 I  

H 
and the central controller is given by CSDr ( FC ( s), 0) =  y 
 0 
therefore z = −G12 w 45
Robust and Optimal Control - A Two-port Framework Approach

Output Injection (OI) problem (a dual part to SF)

z' z
A B1 I   I − P11 
 P11 ( s) P12 ( s)  S 
D11 0 
y' 0 − P  w
POI ( s) =   =  C1  21 

 21
P ( s ) P22 ( s )  C D21 0
 2
z' u
One adopts CSDl CSDr and the state space of rcf is given by  P12 0
y' P − I  y K
 22

 A + H y C2 I −H y   A + H y C2 Wuu 0 
 C  C 0 
0 0   I 0 0  0
    s 
1 1
  ( s )
 Wyy C2 0 −Wyy    H y C2 I − H yWyy−1    = .
OI
0 0 I
   ( s )  
0   C2 −Wyy−1    − H yWyy−1 
OI
 0 I 0  H y C2 Wuu
 I   C2 0 −Wyy−1 
0 0 

 11 0 
  I G12    0  
 OI ( s )   0 I 
 z = CSDl    , CSDr   11  ,    = [11G22 − G12 ]w
 ( s)  =   0 G   
 − H W −1
  22   0 I
 OI   11 y yy

 21 −Wyy−1 

The central controller is given by CSDr ( OI ( s ),0) = H y

therefore z = −G12 w 46
Robust and Optimal Control - A Two-port Framework Approach

Summary CSDr CSDl CSDl CSDr

Formulation of
Formulation of System Corresponding Plant Corresponding Plant
System

 A B1 B2   A B1 B2 
PDF ( s ) =  C1 D11 D12  POE ( s ) =  C1 D11 I 
s s
Disturbance
Output Estimation
Feedforward C2 I 0  (OE) C2 D21 0 
(DF)
with (A − B1C2 ) is Hurwitz with (A − B2C1 ) is Hurwitz

 A B2 
I 0 
B1
C A B1
D11 D12  s

PFI ( s) =  0 I 
s
Full Control
PFC ( s ) =  C1
1

I  D11
0 0 
Full Information (FI)
0 0
(FC)
   I  0  C2 D21
 0      

 A B1 B2  A B1 I 
POI ( s) =  C1 D11 0 
s

PSF ( s) = C1 D11 D12 

s
State Feedback (SF) Output Injection (OI)
 I C2 D21 0 
0 0 

47
Robust and Optimal Control - A Two-port Framework Approach

Summary CSDr CSDl CSDr CSDl

dual
DF OE

equivalent equivalent

dual
FI FC

simplified case simplified case

dual
SF OI
48