Chapter 9 Quantitative Feedback Theory

Multivariable Control
Systems
Ali Karimpour
Assistant Professor
Ferdowsi University of Mashhad
Chapter 9
Chapter 9
Multivariable Control System Design:

Quantitative Feedback Theory
Topics to be covered include:
• Introduction
• Uncertainty Model and Plant Templates
• QFT Design Procedure
• Example
• Extension to MIMO systems

2
Ali Karimpour June 2010
Chapter 9
• Introduction
• Example
3
Chapter 9
Introduction
Many design methods require design objectives to be stated in terms which are familiar
from classical SISO design methods.
Some of these specification, may be derived from an accurate knowledge of noise and
disturbance statistics, or of possible perturbations to the nominal plant model, but they
are more often obtained in a less quantitative manner.
Typically they are initially obtained from previous experience with similar plants, and
then refined in a specify-design-analyze cycle until derived acceptable C.L. behavior.
This approach has been forcefully criticized as inadequate by Horowitz (1982).
The basic reason for using feedback is:

Unpredictable noises or disturbances.
To combat uncertainty
Unpredictable variations in the behavior of the plant.
If we have a quantitative description of the amount of uncertainty which may be present,
and a precise specification of the range of behaviors which may be tolerated in the face
of such uncertainty, then we should aim to develop a design technique ……… 4
Chapter 9
• Introduction
• Example
5
Chapter 9
Uncertainty Model and Plant Templates
The various origins of model uncertainty:

I) Parametric uncertainty II) Non-parametric uncertainty
Parametric uncertainty implies The main source of non-parametric
specific knowledge of variations in uncertainty is error in the model.
parameters of the transfer function.
G( j1 )
6
Chapter 9

ab
I) Parametric uncertainty Nichols Chart for G( s) 
s( s  a)
a [1 4] b [1 5] Nichols Chart Templates for ab/(s(s+a))
f 0.01 0.02 0.1 0.2 0.5 1

50
40
  2 (0.01) 0 dB
30 0.25 dB
  2 (0.02) 0.5 dB
  2 (0.10)
20 1 dB
Open-Loop Gain (dB) 3 dB

  2 (0.20) 10
6 dB
  2 (0.50) 0
  2 (1.00) -10
-20
a [1 4] b  5
-30
a [1 4] b  1
-40
a  1 b [1 5]
-225 -180 -135 -90 -45
Open-Loop Phase (deg)
7
a  4 b [1 5] Ali Karimpour June 2010
Chapter 9

I) Parametric uncertainty Sometimes edges are not ok!
Nichols Chart Templates (Edges) for 1/(as+1)(bs+1)
-5
Nichols Chart for
a [1 3] b  1
1
G( s) 
(as  1)(bs  1) -10
Open-Loop Gain(db)
a [1 3] b [1 5] -15 b [1 5] a  3

b [1 5] a  1
  1rad / sec -20
a [1 3] b  5
-25
-160 -150 -140 -130 -120 -110 -100 -90
Open-Loop Phase(deg)
8
Chapter 9

I) Parametric uncertainty Sometimes edges are not ok!
Nichols Chart Templates (Edges and Complete) for 1/(as+1)(bs+1)
-5
Nichols Chart for
a [1 3] b  1
1
G( s) 
(as  1)(bs  1) -10 a [1 3] b [1 5]
Open-Loop Gain(db)
a [1 3] b [1 5] b [1 5] a  3

-15
b [1 5] a  1
  1rad / sec -20
a [1 3] b  5
-25
-160 -150 -140 -130 -120 -110 -100 -90
Open-Loop Phase(deg) 9
Chapter 9

How a QFT controller works?
k k
Nichols Chart for G ( s )  Nichols Chart for G ( s) 
s( s  a) s( s  a)
k  [10 20] a  [1  1] s 1
K (s)  3
s  10
Nichols Chart templates for k/(s(s-a)) Nichols Chart templates With Controller
40 40
0 dB 0 dB
30 0.25 dB 30 0.25 dB
0.5 dB
  0.5
0.5 dB
20 1 dB 20 1 dB
-1 dB -1 dB
 1
(dB)
(dB)
3 dB
(db)
3 dB 10
(db)
10
-3 dB -3 dB
6 dB 6 dB
Open-Loop Gain
Open-Loop Gain
Amplitude
2
Amplitude
0 -6 dB 0 -6 dB
 5
-10 -12 dB -10 -12 dB
-20 dB -20 -20 dB
  10
-20
-30 -30
-40 dB -40 dB
-40 -40
-360 -315 -270 -225 -180 -135 -90 -45 0 -360 -315 -270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg) Open-Loop Phase (deg)
Frequency (rad/sec) Frequency (rad/sec)

10
Chapter 9

System with and without Controller

k s 1
Nichols Chart for G ( s)  K (s)  3
s( s  a) s  10
  0.5 1 2 5 10
Nichols Chart templates With and Withoput Controller
40
0 dB
30 0.25 dB
0.5 dB   0.5
20 1 dB -1 dB
 1
Open-Loop Gain(db)
(dB)
10 3 dB
-3 dB
6 dB
2
Amplitude
0 -6 dB
-10 -12 dB  5
-20 -20 dB
  10
-30
-40 dB
-40
-360 -315 -270 -225 -180 -135 -90 -45 0
Frequency (rad/sec)
11
Chapter 9

Step Response of System with and without Controller (K(s)=1)

k s 1
Nichols Chart for G ( s)  K (s)  3
s( s  a) s  10
  0.5 1 2 5 10
Step Responses of All Plants Without Controller Step Responses of All Plants With Controller
15 1.8
1.6
10
1.4
5 1.2
Amplitude 1
Amplitude
0
0.8
-5 0.6
0.4
-10
0.2
-15
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0 0.5 1 1.5 2 2.5 3 3.5 4
12 4.5 5
Time (sec) Time (sec) Ali Karimpour June 2010
Chapter 9
• Introduction
• Example
13
Chapter 9
QFT Design Procedure
Choice of Frequency Array

An appropriate frequency band for a computing templates and bounds has to be
selected.
Choice of Nominal Plant
In order to compute bounds, it is necessary to choose a plant from the uncertainty
set as the nominal plant. It is common practice to select a nominal plant which
we think is most convenient for design.
QFT Bounds Computations

Given the plant templates, QFT converts closed-loop magnitude specifications into
magnitude and phase constraints on a nominal open-loop function.
QFT Loop-shaping
The final step in a QFT design involves the design (loop shaping) of a nominal
loop function that meets its bounds. The controller design then proceeds using the
Nichols chart and classical loop-shaping ideas. 14
Chapter 9
The QFT approach assumes that the plant uncertainty is represented by a set of templates
on the complex plane at some frequency ωk.
It also assumes that the design specification is in the form of bounds on the magnitudes
of the frequency-response transfer functions
S ( j)  M s a()  T ( j)  b()
The QFT technique leads to a design which satisfies these specifications for all
permissible plant variations.
Horowitz and Sidi (1972) have obtained sufficient conditions on frequency-domain

bounds which imply the satisfaction of time-domain bounds, the frequency-domain
bounds obtained in this way do not appear to be unduly conservative.
15
Chapter 9

Bounds for S
Let we need |s|<2.5 so: L must be outside of black curve.
Now consider the templates

at one frequency with Nichols Chart
50
nominal plant as blue curve.
40
ab a  [1 4] 0 dB
G( s)  30 0.25 dB
s( s  a) b  [1 5] 0.5 dB
20 1 dB -1 dB
Open-Loop Gain (dB)
  0.1 10 3 dB
-3 dB
a 1
6 dB
1
Gno min al ( s)  0 -6 dB
s( s  1) b 1
-10 -12 dB
Bounds for template is red -20 -20 dB
curve.
-30
-40 dB
-40 16
Effect of nominal plant? -270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg) Ali Karimpour June 2010
Chapter 9

Bounds for S
Let we need |s|<2.5 so: L must be outside of black curve.
Changing Nominal plant

Nichols Chart
50
ab a  [1 4]
G( s)  40
s( s  a) b  [1 5] 0 dB
30 0.25 dB
Gno min al ( s) 
1 a 1 20
0.5 dB
1 dB
s( s  1)
-1 dB
Open-Loop Gain (dB)
b 1 3 dB
10
-3 dB
  0.1
6 dB
0 -6 dB
-10 -12 dB
New bound
-20 -20 dB
Gno min al ( s) 
2.25 a  1.5 Pervious bound
s( s  1.5) b  1.5
-30
-40 dB
-40 17
-270 -225 -180 -135 -90 -45 0
Chapter 9

Bounds for T
A feedback configurations with two degree of freedom.

We need:
a(1 )  T ( j1 )  b(1 )
Since:
T ( s)  L( s)1  L( s)  P( s)
1
M2
If L would not intersect any pair of
M1
M-circles whose values differed by G( j1 )
more than
b(1 ) / a(1 )  M 2 / M1 Nominal plant
L( s )
 M1   M2
1  L( s ) 18
Chapter 9

Bounds for T
T ( s)  L( s)1  L( s)  P( s)
1

M-circles whose values differed by
more than
b(1 ) / a(1 )  M 2 / M1
L( s ) M2
 M1   M2
1  L( s ) M1
L( s ) G( j1 )
 a(1 )c(1 )   b(1 )c(1 )
1  L( s )
P(1 ) Nominal plant
1 L( s )
 a(1 )   b(1 )
c(1 ) 1  L( s ) 19
Chapter 9

Bounds for T

Suppose that we know the template
of all possible values of G at ω1:
But we need: L( j1 )
G( j1 )
a(1 )  T ( j1 )  b(1 )
Since: B(1 )
Nominal plant
T ( s)  L( s)1  L( s)  P( s)
1

M-circles whose values differed by
more than
b(1 ) / a(1 ) 20
Chapter 9
Bounds for T
Changing Nominal plant

L( j1 )
G( j1 ) New bound
B(1 )
Leads Different Bounds
Nominal plant B(1 )
Pervious bound
21
Chapter 9

Bounds for T
a(i )c(i )  L( ji )1  L( ji )   b(i )c(i )

1
In order to meet the design specifications
a(i )  T ( ji )  b(i )
the pre-filter is chosen to have the gain
P( ji )  c(i ) 
1
Similarly one can found bounds for S
22
Chapter 9

QFT Algorithm:
1. Formulating of the closed-loop control performance specifications,

i.e., stability margins, tracking and disturbance rejection.
2. Generating templates. For a given uncertain plant P s  P , select a
series of frequency points i , i =1, 2, ...,m according to the plant
characteristics and the specifications.
3. Computation of QFT bounds. Find the intersection of bounds. An
arbitrary member in the plant set is chosen as the nominal case.
4. Loop shaping for QFT controllers. The design of the QFT
controller, K(s) is accomplished on the Nichols Chart. The QFT
bounds at all frequencies must be satisfied and the closed-loop
nominal system is stable;
5. Design of prefilters P(s). The Final step in QFT is to design the
prefilter, P(s), such that the performance specifications are satisfied.
23
Chapter 9
• Introduction
• Example
24
Chapter 9
Example
Suppose that the set of our plants is:

ab
G( s)  a [1 4] b [1 5]
s( s  a)
Performance specification are:
a) |S|<2.5. (for robust stability) Constrain on S
b) Zero steady state error to step input.

Constrain on T
c) Less than 50% overshoot to step input.
d) Output must be above 90% after 1 second when step input applied.
25
Chapter 9
Example
a) |S|<2.5. (for robust stability) Constrain on S
b) Zero steady state error to step input.

Constrain on T
c) Less than 50% overshoot to step input.
d) Output must be above 90% after 1 second when step input applied.
1.5
n 2 1
T ( s)  2 0.9
s  2n s  n
2
0.5
Acceptable step response

26
1 2 3
Chapter 9
Example
n 2
T ( s)  2 Step Response Bounds
s  2n s  n
2 1.6
1.4
1.2
n  min max 
1
Amplitude
   min  max 
0.8
0.6
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time(sec) 27
Chapter 9
Example
n 2
T ( s)  2 Frequency Response Bounds
s  2n s  n
2 10
1
b(i )
n  min max  10
0
   min  max  10
-1
Amplitude(db)
a(i )  T ( ji )  b(i ) -2

10
f b/a
10
-3 a(i )
0.01 1.0011
0.02 1.0044 10
-4
0 .1 1.1141 i
-5
0 .2 1.5083 10
10
-2 -1
10 10
0 1
10 10
2
Frequency(Hz)
0 .5 3.0155
28
1 .0 17.770 Ali Karimpour June 2010
Chapter 9
Example
ab
Templates are: G( s)  a [1 4] b [1 5]
s( s  a)
f 0.01 0.02 0.1 0.2 0.5 1
Nichols Chart Templates for ab/(s(s+a))
50
40
0 dB
30 0.25 dB   2 (0.01)
0.5 dB
20 1 dB   2 (0.02)
Open-Loop Gain (dB)
10 3 dB   2 (0.10)
6 dB
0   2 (0.20)
-10
  2 (0.50)
-20
  2 (1.00)
-30
-40
-225 -180 -135 -90 -45 29
Chapter 9
Example
ab
Nominal Plant is: G( s)  a=1 and b=1
s( s  a)
Nichols Chart Templates for ab/(s(s+a))
50
40
0 dB
30 0.25 dB   2 (0.01)
0.5 dB
20 1 dB
  2 (0.02)
Open-Loop Gain (dB)
10 3 dB   2 (0.10)
6 dB
0
  2 (0.20)
-10
  2 (0.50)
-20
  2 (1.00)
-30
-40
-225 -180 -135 -90 -45
Open-Loop Phase (deg) 30
Chapter 9
Example
Bounds for S  2.5
Nichols Chart Constraint ( |s|<2.5 )

50
  2 (0.01)
40
0 dB
30 0.25 dB
  2 (0.02)
0.5 dB
20 1 dB -1 dB   2 (0.10)
Open-Loop Gain (dB)
10 3 dB
6 dB
-3 dB   2 (0.20)
0 -6 dB   2 (0.50)
-10 -12 dB
  2 (1.00)
-20 -20 dB
-30
-40 dB
-40
-270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg) 31
Chapter 9
Example
Bounds for a()  T ()  b()

Nichols Chart for Constraint ( a(w )<|T(w )|<b(w ) )
f b/a 50
0.01 1.0011 40
0 dB
  2 (0.01)
0.02 1.0044 30 0.25 dB
0.5 dB   2 (0.02)
0 .1 1.1141 20 1 dB -1 dB
Open-Loop Gain (dB)
  2 (0.10)
10 3 dB
0 .2 1.5083 6 dB
-3 dB
  2 (0.20)
0 -6 dB
0 .5 3.0155   2 (0.50)
-10 -12 dB
1 .0 17.770   2 (1.00)
-20 -20 dB
-30
-40 dB
-40
-270 -225 -180 -135 -90 -45 0
32
Chapter 9
Example
Intersecti on of Bounds for a()  T ()  b() and S()  2.5
Nichols Chart for Constraints ( |s|<2.5 & a(w )<|T(w )|<b(w ) )

50
40   2 (0.01)
0 dB
30 0.25 dB   2 (0.02)
0.5 dB
20 1 dB -1 dB
  2 (0.10)
Open-Loop Gain (dB)
10 3 dB
-3 dB
  2 (0.20)
6 dB
0 -6 dB   2 (0.50)
-10 -12 dB   2 (1.00)
-20 -20 dB
-30
-40 dB
-40
-270 -225 -180 -135 -90 -45 0
33
Chapter 9
Example
Three different controllers applied

4 5( s  2) 2 15(s  1)( s 2  3.6s  4)
K1 ( s )  K 2 ( s)  K 3 ( s) 
s s( s  5) s(s  3)( s  5)
Nichols Chart for Constraints ( |s|<2.5 & a(w )<|T(w )|<b(w ) ) and Some Different Controllers
50
40   2 (0.01)
0 dB
30
  2 (0.02)
0.25 dB 1
G ( s) 
20
0.5 dB
s ( s  1)   2 (0.10)
1 dB -1 dB
Open-Loop Gain (dB)
10 3 dB   2 (0.20)
-3 dB
6 dB
0 -6 dB
  2 (0.50)
-12 dB
  2 (1.00)
-10
-20 -20 dB
-30
-40 dB
-40
-270 -225 -180 -135 -90 -45 0 34
Chapter 9
Example
Step Response Bounds + Some Different Controllers

ab
G( s) 
1.6
s( s  a) 1.4
K 3 ( s)
a [1 4] b [1 5] 1.2
Three Different Controllers 1

Amplitude
P( s )  1 0.8
K 2 ( s)
4
K1 ( s )  0.6
s K1 (s)
5( s  2) 2
0.4
K 2 ( s) 
s( s  5) 0.2
15(s  1)( s 2  3.6s  4)

K 3 ( s)  0 35
s(s  3)( s  5) 0 0.5 1 1.5 2 2.5
Time(sec)
3 3.5 4 4.5 5
Chapter 9
Example
2
Frequency Response Bounds + Some Different Controllers
10
ab
G( s)  10
0
s( s  a)
K 3 ( s)
a [1 4] b [1 5] Amplitude(db) 10
-2
Three Different Controllers

-4
10 K1 (s)
P( s )  1 K 2 ( s)
4
K1 ( s )  10
-6
s
5( s  2) 2
K 2 ( s)  -8
s( s  5)
10
-2 -1 0 1 2
10 10 10 10 10
Frequency(Hz)
15(s  1)( s 2  3.6s  4)
K 3 ( s)  36
s(s  3)( s  5) Ali Karimpour June 2010
Chapter 9
Example
Step Response of All Possible Plants with Controller

ab
G( s) 
1.6
s( s  a) 1.4
a [1 4] b [1 5] 1.2
With Controller 1
Amplitude
0.8
P( s )  1
0.6
15(s  1)( s 2  3.6s  4) 0.4

K 3 ( s) 
s(s  3)( s  5)
0.2
0 37
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time(sec) Ali Karimpour June 2010
Chapter 9
Example
1
Frequency Response of All Possible Plants with Controller
10
0
10
ab
G( s) 
s( s  a) -1
10
a [1 4] b [1 5]
Amplitude(db)
-2
10
With Controller
-3
15(s  1)( s 2  3.6s  4) 10
K 3 ( s)  P( s )  1
s(s  3)( s  5)
-4
0.09s  1
10
Let P( s )  ?
0.45s  1 -5
10
0 -2 -1 0 1 2
10 10 10 10 10
Amplitude (dB) (dB)
Frequency(Hz)
-5
-10
-15
0
10 10
2 38
Frequency (rad/sec) Ali Karimpour June 2010
Chapter 9
Example
Step Response of All Possible Plants with Controller + Prefilter

ab 1.6
G( s) 
s( s  a) 1.4
a [1 4] b [1 5] 1.2
With Controller 1
Amplitude
0.09s  1
P( s )  0.8
0.45s  1
0.6
15(s  1)( s  3.6s  4)
2
K 3 ( s) 
s(s  3)( s  5) 0.4
0.2
0
0 0.5 1 1.5 2 2.5 3 3.5 4 39
4.5 5
Time(sec)
Chapter 9
Example
1
Frequency Response of All Possible Plants with Controller + Prefilter
ab 10
G( s) 
s( s  a) 0
10
a [1 4] b [1 5] -1
10
With Controller
Amplitude(db)
-2
10
0.09s  1
P( s ) 
0.45s  1 10
-3
15(s  1)( s 2  3.6s  4)

K 3 ( s)  10
-4
s(s  3)( s  5)
-5
10
-6
10
10
-2
10
-1
10
0
10
1 40 10
2
Frequency(Hz) Ali Karimpour June 2010

Chapter 9
• Introduction
• Example
41
Chapter 9
Extension to MIMO systems
This design method is extended to multivariable problems as follows.

We are going to find tuv (vth input to uth output)
I  GK y  GKP r
Gˆ  K y  KP r
yl  tlv rv If rj  0 for jv
Gˆ  K y    ( g
u ul  kul )tlv rv ( KP r )u  ( KP)uv rv   kul p lv rv
l l
Let kij  0
rv  gˆ ul tlv  rv gˆ uu  kuu tuv  kuu puv rv

l u
Let hij  1 / gˆ ij
huu k uu puv h d t lv
t uv   uu uv d uv  
1  huu k uu 1  huu k uu l u hul
42
Chapter 9
Extension to MIMO systems

huu k uu puv h d
t uv   uu uv
1  huu k uu 1  huu k uu
huu kuu puv huu t lv

d uv  
GKP G tuv  1
y r d d uv
1  GK 1  GK 1  huu kuu 1  huu kuu 43 l u
hul
Chapter 9
Refrences
Maciejowski J.M. (1989). Multivariable Feedback Design:

Adison-Wesley.
Control System Design – QFT. Bo Bernhardsson, K. J. Åström

Department of Automatic Control LTH, Lund University
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Chapter 9 Quantitative Feedback Theory

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Multivariable Control

Multivariable Control System Design:

• Uncertainty Model and Plant Templates

• QFT Design Procedure

• Extension to MIMO systems

Topics to be covered include:

• Uncertainty Model and Plant Templates

• QFT Design Procedure

• Extension to MIMO systems

The basic reason for using feedback is:

Topics to be covered include:

• Uncertainty Model and Plant Templates

• QFT Design Procedure

• Extension to MIMO systems

Uncertainty Model and Plant Templates

The various origins of model uncertainty:

Uncertainty Model and Plant Templates

f 0.01 0.02 0.1 0.2 0.5 1

Open-Loop Gain (dB) 3 dB

Uncertainty Model and Plant Templates

a [1 3] b [1 5] -15 b [1 5] a  3

  1rad / sec -20

Uncertainty Model and Plant Templates

a [1 3] b [1 5] b [1 5] a  3

  1rad / sec -20

Uncertainty Model and Plant Templates

-20 dB -20 -20 dB

Frequency (rad/sec) Frequency (rad/sec)

Uncertainty Model and Plant Templates

System with and without Controller

Uncertainty Model and Plant Templates

Step Response of System with and without Controller (K(s)=1)

Topics to be covered include:

• Uncertainty Model and Plant Templates

• QFT Design Procedure

• Extension to MIMO systems

QFT Design Procedure

Choice of Frequency Array

QFT Bounds Computations

QFT Design Procedure

S ( j)  M s a()  T ( j)  b()

Horowitz and Sidi (1972) have obtained sufficient conditions on frequency-domain

QFT Design Procedure

Let we need |s|<2.5 so: L must be outside of black curve.

Now consider the templates

Bounds for template is red -20 -20 dB

QFT Design Procedure

Let we need |s|<2.5 so: L must be outside of black curve.

Changing Nominal plant

QFT Design Procedure

A feedback configurations with two degree of freedom.

QFT Design Procedure

If L would not intersect any pair of

QFT Design Procedure

A feedback configurations with two degree of freedom.

If L would not intersect any pair of

A feedback configurations with two degree of freedom.

Changing Nominal plant