Autocontrol Eng

Copyright Hanyang University
1-90
. Control

Ch. 1 Introduction
Ch. 2 Basic Control Actions
Ch. 3 Root-locus
Ch. 4 Frequency Response
Ch. 5 Compensator Design
Ch. 6 Modern Control
1-91
Ch. 1 Introduction

Control : to decide input to get the desired output
Control System : collection of components to have desired response
(Plant, Controller, Sensor, Actuator)
Process(Plant) : the object of control

Open-loop Control
Closed-loop Control

- Closed-loop Control : Measure and feedback the output and
compare with the desired output (feedback control)

-
-
1-92
- Open-loop Control
No feedback of the output.
Feedforward using the prior knowledge of the system

1-93
Example of Control Systems
- Liquid level control

- Driving a car

- Toaster

Open loop
or
Closed loop ?
.
1-94
Motor speed control
Open-loop

Closed-loop

1-95
Traffic light control
Open-loop : fixed interval

Closed-loop : change interval depending on the traffic

Open-loop Closed-loop (feedback)
Simple
less expensive
Inaccurate
Sensitive to
parameter change
external disturbance
Stable

Complicated
Expensive
Accurate
less Sensitive to
parameter change
external disturbance
May be unstable
+
Special considerations required

1-96
Control System Design Procedure

Use a detailed model to predict the real responses and performance
1-97
mathematical model
- Represent the characteristics and behavior of a system in a
mathematical form
- Have to be detail to represent the real characteristics
- If too complicated, not good for controller design simple model
- Compromise between the two

Modeling procedure
- Derive the governing equations
- convert to Laplace Transform, Transfer function
State-space eqn.
Block diagram
Signal processing model

1-98
Linearization

point operating : ) , (
0 0
y x

Taylor Series Expansion of f(x) around
) , (
0 0
y x

+
c
c
+
c
c
+ =
=
2
0
2
2
0 0
) (
! 2
1
) ( ) ( ) (
0
x x
x
f
x x
x
f
x f x f
x x

y
0
y

) (
) ( of ion approximat Linear : ) (
0 0
0 0
0
x x K y y
x f y x x
x
f
y y
x x
=
=
c
c
~
=

Neglect higher-order terms
1-99

) ( ) (
20 2 2 10 1 1 0
x x K x x K y y + =

20 2
10 1
20 2
10 1
2
2
1
1
x x
x x
x x
x x
x
f
K
x
f
K
=
=
=
=
c
c
=
c
c
=

If the variables depart far from the operating point
) , (
0 0
y x
, the
linearized equation is not valid and the nonlinear equation should be
linearized again around the new operating point.

Example

Assume turbulent flow, H K Q =

( ) H H
H
Q
Q Q
H H
c
c
=
=

H 2
K
2
,
H
0
= = =
=H
H
K
where h q o o

1-100
Q
H
H
Q
H
K
H
q
h
R
2
2
2 1
= = = = =
o

1-101
Transfer function
Linear, Time-invarient, differential eqn Transfer function, G(s)

) (
) (
) (
input
output
s G =
:
describes characteristics of the system, independent of input

Example :

k bs ms s F
s Y
s G
+ +
= =
2
1
) (
) (
) (

) ( ) ( ) ( s F s G s Y =

f ky y b y m = + +
) ( ) ( ) (
2
s F s Y k bs ms = + +
Let initial conditions zero

1-102
n-th order differential equations => transfer function
x b x b x b x b y a y a y a y a
m m
m m
n n
n n
+ + + + = + + + +

1
) 1 (
1
) (
0 1
) 1 (
1
) (
0

n n
n n
m m
m m
a s a s a s a
b s b s b s b
s X
s Y
s G
+ + + +
+ + + +
= =
1
1
1 0
1
1
1 0
) (
) (
) (

: zero ()
: pole ()
) (
) (
) ( ) )( (
) ( ) )( (
) (
2 1
2 1
0
0
s D
s N
p s p s p s
z s z s z s A
a s a
b s b
s G
n
m
n
n
m
m
=

=
+ +
+ +
=
0 ) ( = s N
i
z s =
0 ) ( = s D
i
p s =
dif s
integ
s
1

1-103
Pole - zero plot
Example :
1 ) 1 (
2
2 2
2
) (
2 2
+ +
+
=
+ +
+
=
s
s
s S
s
s G

zero : s = -2 denote by o
pole : s = -1+i denote by

1-104

partial fractions

-1

real :
converges (stable)
diverges (unstable)
complex
) (
i i i
j p e o + =

+ + = ) sin cos ( ) (
2 1
t a t a e t y
i i
t
i
e e
o

stable
unstable
for stability
For stability, the real part of all the poles must be negative
=

=
=
2
2
1
1
2 1
2 1
) )( (
) )( (
) ( ) ( ) (
p s
a
p s
a
p s p s
z s z s A
s X s G s Y
) (t y
i
p
+ + =
t p t p
e a e a t y
2 1
2 1
) (
0 <
i
p
0 ) ( t y
0 >
i
p
) (t y
i
p
0 <
i
o
0 ) ( t y
0 >
i
o
) (t y
0 ] Re[ <
i
p
real or complex :
i
p
1-105
Operations of Block Diagram
Cascade Connection

Feedback connection

Error ,

) ( ) ( ) (
2
s X s G s Y = ) ( ) ( ) (
1
s F s G s X =
) ( ) ( ) ( ) (
2 1
s F s G s G s Y =
) ( ) ( ) ( ) (
) ( ) ( ) ( ) (
s E s G s H s F
s Y s H s F s E
=
=
) (
) ( ) ( 1
) (
) ( ) ( ) (
s F
s H s G
s G
s E s G s Y
+
=
=
1-106
: Closed-loop Transfer function

Basic Blocks
constant :

integrator :

differentiator :

Summer(summing point) :

) ( ) ( 1
) (
) (
) (
s H s G
s G
s F
s Y
+
=
) ( ) ( s KF s Y = ) ( ) ( t Kf t y =
) (
1
) ( s F
s
s Y =
}
=
t
dt t f t y
0
) ( ) (
) ( ) ( s sF s Y =
) ( ) ( t f t y

=
2 1
) ( F F s Y = ) ( ) (
2 1
t f t f y =
) (s G
) ( ) ( s H s G
: feed forward T. F
: open-loop T.F.
Where,
1-107
State-Space Approach
State variable : min number of variables to represent the states of a
system

Ex :

In Matrix form,

F kz z b z m = + +
= =
= =
z y z x
F u z x

Let
2
1
equation state
1
1
) (
1
2 1 2
2 1
2
1
+ =
=
+ + = =
=
u
m
x
m
k
x
m
k
x
x x
u
m
kz z b
m
z x
z x

1
Output x y =
| |
(
=
(
(
+
(
(
(

=
(
2
1
2
1
2
1
0 1

1
0

1 0
x
x
y
u
m
x
x
m
b
m
k
x
x

1-108
State-space representation

Vector State
x
x
x
(
=
2
1
,

State equation Laplace transform transfer function
L
zero i. c.

| | ) ( ) ( ) (
) ( ) ( ) (
) ( ) ( ) (
1
1
s U D B A sI C s Y
s Bu A sI s X
s Bu s X A sI
+ =
=
=

Transfer function :

+ =
+ =
Du Cx y
Bu Ax x
| | 0 , 0 1 ,
1
0
,
1 0
= =
(
(
=
(
(

= D C
m
B
m
b
m
k
A
+ =
+ =
) ( ) ( ) (
Bu(s) AX(s) sX(s)
s Du s CX s Y

)
`
+ =
+ =
Du Cx y
Bu Ax x
D B A sI C
s u
s Y
s G + = =
1
) (
) (
) (
) (
Space spanned by state vectors
State space
1-109
Ch. 2 Basic Control Actions
Basic elements of feedback control system

actuator : motor, hydraulic(pneumatic) motor, heater
sensor : position encoder, potentiometer, LVDT
velocity tachometer
pressure transducer, accelerometer, themometer
controller : computes control input u using the error signal and sends out to
the actuator

Basic industrial controllers
1. Two-position (on-off)

On-off with differential gap
1-110

2. Proportional Control(P-control)

3. Integral Control

4. P-I Control (Proportional plus Integral)

5. P-D Control (Proportional plus Derivative)

6. P-I-D Control
) ( y y K u
d p
=
}
= dt y y K u
d i
) (
)
1
1 ( ) (
s T
K
s
K
K s G
i
p
i
p c
+ = + =
) 1 ( ) ( s T K s K K s G
d d p c
+ = + =
|
1-111

)
1
1 (
) (
s T
s T
K
s
K
s K K s G
d
i
p
i
d p c
+ + =
+ + =
1-112
Example of P control

Example 1 = =
p
K J ,
:
r
u
step input
s
s
r
1
) ( = u

t t
s
s
s s s
s
cos 1 ) (
1
1 1
1
1
) (
2 2
=
+
=
+
=
u
u

Example of PD control

p d p
d p
d p
d p
r
K s T K Js
s T K
Js
s T K
Js
s T K
s
s
+ +
+
=
+
+
+
=
2
2
2
) 1 (
) 1 (
1
) 1 (
) (
) (
u
u

p
p
p
p
r
K Js
K
Js
K
Js
K
s
s
+
=
+
=
2
2
2
1
) (
) (
u
u
1-113

Derivative Control increases damping. improve stability

P-control under external disturbances

p
p
K bs Js
bs Js
K
bs Js
s D
s E
+ +
=
+
+
+
=
2
2
2
1
1
1
) (
) (

Assume reference input, r(t)=0 ( 0 ) ( = s R )
step disturbance
s
T
s D
d
= ) (

Steady state error
p
d d
p
s
s
ss
K
T
s
T
s
K bs Js
s sE e
=
+ +
=
=
2
0
0
1
lim
) ( lim

1-114
PI control under external disturbances

i
p
p
i
i p
T
K
s K bs Js
s
bs Js s T
s T K
bs Js
s D
s E
+ + +
=
+
+
+
+
=
2 3
2
2
1
) 1 (
1
1
) (
) (

s
T
s D
s R
d
=
=
) (
0 ) (

0 lim
2 3
0
=
+ + +
=

s
T
s
T
K
s K bs Js
s
e
d
i
p
p
s
ss

* Integral Control reduces the steady-state error,
But may cause instability.

1-115
Stability criterion

Closed-loop T. F.
) (
) (
) (
) (
0
0
s A
s B
a s a
b s b
s R
s C
n n
m
m
=
+ +
+ +
=

A(s)=0 closed-loop poles
Stability Real[Closed-loop poles] < 0 : asymptotically stable
0 : stable
Rouths Stability Criterion
Determine stability without computing the Poles
0
1
1 0
= + + +

n
n n
a s a s a

Condition 1 :
0 >
i
a

If any
0 s
i
a
, there exists at least one root with positive or zero
real part
Condition 2 : decide the number of unstable poles
1-116
Example
) 10 )( 1 (
10 7
+ +
+
=
s s
s
F
Y
,
s
F
1
=

t t
e e t y
10
3
2
3
1
1 ) (

=

Dominant pole: located close to the imaginary axis :
Can predict the response of a higher-order system by looking at the
dominant pole

Fast, well-damped system

2
1 , e
n
u
n
,e
4 . 0 > ,
time) (settling
4
o
<
s
t
1-117
Example

i) P-I control
) 1 ( ) (
s
K
K s G
i
c
+ =

i n n n
i n
KK s K s s
K s K
R
Y
2 2
2 3
2
) 1 ( 2
) (
e e ,e
e
+ + + +
+
=

For stability,
i n n n
KK K
2 2
) 1 ( 2 e e ,e > +

0 ,
1
2 >
+
<
i n i
KK
K
K
K ,e

ii) Integral control
s
K
s G
i
c
= ) (

0 2
2 2
2 3
= + + +
n i n n
K s s s e e ,e

n i
K ,e 2 0 < <

iii) P-control
K s G
c
= ) (

0 ) 1 ( 2
2
2
= + + +
n n
K s s e ,e

1 > K
2 2
2
2
n n
n
s s e ,e
e
+ +
1-118
Steady-state Error
Open-loop T.F.

) 1 ( ) 1 (
) 1 ( ) 1 (
) (
1
+ +
+ +
=
s T s T s
s T s T K
s G
p
N
m a
: Type N system

Type : no. of free integrators

) ( lim
) ( 1
1
) (
) (
0
s sE e
s G s R
s E
s
ss
=
+
=

Step input
s
s R
1
) ( =

1 ) ( = t r

p
s
ss
K G s G
e
+
=
+
=
+
=

1
1
) 0 ( 1
1
) ( 1
1
lim
0

const error position static : ) 0 ( ) ( lim
0
G s G K
s
p
= =

Type 0 system
) 1 (
) 1 (
) ( ) 0 (
+
+
= = =
s
i
p
T
s T K
s G K G K

" 2 Type
" 1 Type
system 0 Type
1-119
Type 1 or higher system
= = ) 0 ( G K
p

=
+
=
higher or 1 type : 0
0 type :
1
1
ss
ss
e
K
e

1-120
Performance Index

Quantitative measure of the performance of a control system
}
=
0
) ( dt e f J

1. I.S.E (Integral square Error)
}
=
0
2
dt e J

2. I.T.S.E (Integral of Time-multiplied square Error)

}
=
0
2
dt te J

3. I.A.E (Integral Absolute Error)
}
=
0
dt e J

4. I.T.A.E (Integral of Time-Multiplied Absolute Error)
}
=
0
dt e t J

1-121
5. others

dt e J or
dt e e J
] e [
] [
0
0
2 2
}
}
+ =
+ =

minimize
J
by choosing an appropriate controller and control
parameter.
1-122
Ch. 3. Root-Locus

Rouths stability Criterion : determine only stability
Root Locus method : plots trace of C.L. poles on s-plane as K varies.
stability + help to select controller and gain K
+ predict the system dynamics
Root Locus
Locus of C. L. poles in the s-plane as gain K is varied

Example

For stability 0 > K
i) K<1 , 2 real roots
ii) K=1 , s=-1
iii) K>1 , s=-1
1 K j

K s s
K
s R
s C
+ +
=
2 ) (
) (
2
K s s
K s s
=
= + +
1 1 ,
0 2
2 1
2
1-123
Root Locus
Feedback Control system
(negative feedback)

) ( ) ( 1
) (
) (
) (
s H s G
s G
s R
s C
+
=

closed-loop poles C.E :
0 ) ( ) ( 1 = + s H s G

1 ) ( ) (
T.F loop - Open
=

s H s G
traces of s satisfying the C.E.
Root Locus
s : complex
G(s)H(s) : complex function

Angle Condition
) , 2 1, 0, (K 360 180 ) ( ) ( = = K S H s G

Magnitude Condition
1 ) ( ) ( = s H s G

Traces of s satisfying the two conditions

1-124
Note
K = 0 K =
Departs from pole arrives at zero
Source Sink
Repel R.L. Attract R.L.
pole pole real axis break away pt.
zero zero real axis break in pt.

break-away & break in locus real axis 90

1-125
Double Pole
Example
2
) 4 )( 2 (
) 1 (
1 1
+ +
+
+ = +
s s s
s K
GH

Example
2
) (
1
s
a s K +
+

3
1 4
) 1 ( ) 4 4 2 0 (
180 , 60 asymptotes 3
1 4
=

=

= =
A
m n
o
1-126
Example
) 4 (
) 1 )(
2
1
(
1
2 2
2
+
+ +
+
s s
s s K

Example

-5 -4 -3 -2 -1 0 1 2 3 4
-2
-1. 5
-1
-0. 5
0
0. 5
1
1. 5
2
R eal A x is
I
m
a
g

A
x
i
s

1-127
Ch. 4 Frequency Response

Steady-state response of a system to a sinusoidal input

- Frequency response is easily obtained
no need for modeling
no need for characteristic eqn. .
no need for poles/zeros

At steady-state linear system : freq. of y is the same as freq. of x
nonlinear system : y contains many freqs. depending
on amp of x

1-128
T.F.
) (
) (
) (
s X
s Y
s G =

Input
t A t x sin ) ( e =

Output
) sin( ) ( | e + = t B t y

shift phase
) (
) (
) (
ratio) itude ratio(magn ampitude
) (
) (
) (
e
e
e |
e
e
e
j X
j Y
j G
j X
j Y
j G
A
B
= =
= =

T.F sinusoidal : ) ( ) (
e
e
j s
s G j G
=
=

Frequency Response Graphical expression :
) ( e j G
plot
1. Bode diagram : Already covered
2. Polar plot
3. Log-magnitude vs. phase plot
1-129
Polar plot (Nyquist plot)
) ( Im ) ( Re ) ( e e e j G j j G j G + =

i)
Z = = = = 90
1 1
j
1
) (
1
) (
e e e
e j j G
s
s G

ii)
e e j j G s s G = = ) ( ) (

iii)

2
2
2
2 2 2 2
2
1
2
1

1 1
1
1
1
) (
1
1
) (
|
.
|
\
|
= +
|
.
|
\
|

+
+
+
=
+
=
+
=
Y Y
T
T
j
T T j
j G
sT
s G
Y X

e
e
e e
e
1-130
Nyquist stability Criterion

Char. Eq. :
0 ) ( ) ( 1 = + s H s G

RHP) in 0 GH 1 of (zeros poles CL unstable of no. : Z
plane GH in 1 - of nt encircleme wise - clock of no. : N
GH of poles unstable of no. : P
= +

P N Z + =

Example
) 1 )( 1 (
) ( ) (
2 1
+ +
=
s T s T
K
s H s G

0 - (iii)
0
0 90 R (ii)
180 0
0 ) (i
= = =

= = =
Z = =
= =
e e e
| |
e e
|
j s
GH
e R s
GH K GH
j s
j
stable 0
1) - of nt encircleme (no 0
0
=
=
=
Z
N
P
1-131
Minimum phase system
No O.L. poles or zeros in RHP
) 1 )( 1 (
) 1 )( 1 (
2 1
sT sT s
sT sT K
GH
b a
+ +
+ +
=

0 = P

For stability, N=0 Z=0
polar plot
1

Relative stability
1. Polar plot GM / PM

=
180
1
GM
K
m
1-132
2. Gain Margin & Phase Margin in R-locus

K<2 for stability

3. Bode plot of GH Z

Stability Condition :
0 , 0
*
> >
m m
K |

2
) 1 ( +
=
s s
K
GH
1-133
Gain margin :
gain
=
=
180
) (
1
|
jw G
K
n

Phase margin :
Phase lag
1 ) (
) ( 180
=
Z + =
jw G
n
jw G |

Stable
0
0
>
>
n
n
K
|

1-134
Magnitude-phase plot

1-135
Bandwidth

Cutoff frequency(
0
w )
db
j R
j C
jw R
jw C
3
) (
) (
) (
) (
0
0
<

for
0
w w >

=
cutoff
w
Frequency for which
707 . 0
2
1
, 3 log 20 = = =
input
output
db
input
output

Bandwidth = Range of frequency where system tracks
input sinusoids.
Measure of speed of response ~ rise time
High bandwidth : better tracking properties for input of wide
frequency range
But, too high bandwidth

Noise problem
Higher cost
Closed-loop T.F
G
G
+ 1

1-136
Ch. 5 Compensator Design
Effect of additional poles : root locus .
Effect of additional zero : root locus .

Compensator : A controller to modify dynamics of a system to meet
specs.

1-137
Lead compensator

) 0 , 1 0 (
1
1
) ( p z
p s
z s
T
s
T
s
K s G
c c
< < < <
+
+
=
+
+
= o
o

Bode diagram of lead compensator (
) 1 . 0 , 1 = = o
c
K

m
|
: Maximum phase lead angle at
n
w w =

o
o
|
+
=
1
1
sin
m
Lead compensator : phase margin ,
Lead compensator :

1-138
Example

4 . 18
41 . 4
7 . 41 ) (
+
+
=
s
s
s G
c
) 4 . 18 )( 2 (
) 41 . 4 (
) (
+ +
+
=
s s s
s K
s G G
c

Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-150
-100
-50
0
50
100
From: U(1)
10
-2
10
-1
10
0
10
1
10
2
10
3
-200
-150
-100
-50
0
50
T
o
:

Y
(
1
)
Gc
G
GcG
Gc
G
GcG

1-139
Lag compensator
) , 1 (
1
1
) ( z p
p s
z s
K
T
s
T
s
K s G
c c c
< >
+
+
=
+
+
= |
|

Lag compensator : static error coeff.
Steady state error
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-20
-15
-10
-5
0
From: U(1)
10
-4
10
-3
10
-2
10
-1
10
0
-60
-40
-20
0
T
o
:

Y
(
1
)

Example

]

Type 1 system : step input
0 =
ss
e

-0.24+j0.86
1-140
Ramp input
1
1
= =
v
ss
K
e
(too big)
1 =
v
K

c c
s
c
s
v
K
s s s
T
s
T
s
sK s G s sG K |
|
=
+
+
+
= =

) 1 5 . 0 ) 1 (
1
1
1
lim ) ( ) ( lim
0 0
v
K

c
K
.
To reduce
ss
e
, increase
c
K |
to 5 for example
If
) 1 5 . 0 )( 1 (
5
, 5 ) (
1
+ +
= = =
s s s
G G G s G
c c

Lag compensator control
) 1 5 . 0 )( 1 )( 1 100 (
) 1 10 ( 5
) ( ) (
100
1
)
10
1
( 5 . 0
1 100
) 1 10 ( 5
) (
+ + +
+
=
+
+
=
+
+
=
s s s s
s
s G s G
s
s
s
s
s G
c c

1-141
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-200
-100
0
100
From: U(1)
10
-2
10
-1
10
0
10
1
10
2
10
3
-300
-200
-100
0
T
o
:

Y
(
1
)
Gc
G
GcG
Gc
G
GcG

Summary
p s
z s k
G
c
+
+
=
) (

Lead compensator : adds phase lead at
crossover
w

increase
,
without decreasing
n
w

Lag compensator : adds low frequency gain

r compensato lag p z
r compendato lead p z
:
:
>
<

Improve
ss
e

Disturbance reject
1-142
PID control
PID Turning
)
1
1 ( ) (
ds
i
p c
T
s T
K S G + + =

Parameter :
d i p
T T K , ,
trial & error
Ziegler Nichols rule
Plant step response parameter

1) (if no integrator)
plant response parameter

L L
L
T
L
L
T
L
T
T T K
d p
0.5 2 1.2 PID
0
3 . 0
0.9 PI
0 P

i

1-143
2)
P()
K
p
0 output

cr p
K K =

cr
P
:

cr cr cr
cr cr
cr
l p
P P K
P K
K
T T K
0.125 0.5 0.6 PID
0
2 . 1
1
0.45 PI
0 0.5 P

i

1. Ziegler-Nichols turning 25%
overshoot
2. plant model tuning
3. .
gain initial tuning trial & error
1-144
State Variable Feedback

Input : KX u =
K : Pole placement technique
LQR (Linear Quadratic Regulator)

Controllability ()
control input u ) 0 ( X ) (t X

controllable .
| |
le controllab 0 ) det(
n n :
1 2
=
=

c
n
c
P
B A B A AB B P

Pole placement problem
| | 0 1 C ,
1
0
,
1 0

2
1
=
(
(
(
(
=
(
(
(
(

=
=
+ =
=
(
=
(
=
m
B
m
b
m
k
A
CX Y
Bu AX X
f u
y
y
x
x
X

1-145
Example

(

=
(
+
(
=
(
o
o
0
2 1
0
1
3
0 2
2
1
2
1
c
P
u
x
x
x
x
=
(
=
(
=
o
o
2
0
1
,
3
0 2
AB
B A

able uncontroll 0
le controllab 0 ) det(
=
= =
o
o
c
P

2
x

Observability ()
Output y state variable x

observable 0 ) det(
n n :
1
=
(
(
(
(
Q
CA
CA
C
Q
n

2 2
3x x =
1-146
Example
| |
observable not 0 ) det(
0 1
0 1
0 1
1
1
1 1
0 1
2
1
2
1
2
1
=
(
=
(
=
(
+
(
=
(
Q Q
x
x
Y
u
x
x
x
x

controllable all roots of char. eqn. s-plane
& observable .
1-147
Optimal Control

CX Y
Bu AX X
=
+ =

min
}
=
f
t
dt t u X g J
0
) , , (

Control Law : state feedback ( state )

| |
Kx u
x
x
K K x K x K x K u
n
n n n
=
(
(
(
= =

1
1 2 2 1 1

Closed-loop system

X A X BK A BKX AX X
*
) ( = = =

Problem
J feedback gain K
i

e.g. desired
0 =
d
X
0 X

}
=
f
t
T
dt X X J
0
) (

X X PX X
dt
d
T T
= ) (

P

symmetric) : n (n
1-148
X PA P A X
X A P X PX X A
X P X PX X PX X
dt
d
T T
T T
T T T
) (
) ( ) (
) (
* *
* *
+ =
+ =
+ =

P
I PA P A
T
= +
* *

) 0 ( ) 0 ( ) (
0 0
PX X PX X dt PX X
dt
d
J
T T T
= = =

}
for stable system
0 ) ( lim =

t X
t

Example
u
x
x
x
x
(
+
(
=
(
1
0

0 0
1 0
2
1
2
1

state feedback law
2 2 1 1
x K x K u =

(

= =
2 1
1 0
K K
BK A A
K

I PA P A
T
= +
* *

P

2
22 12
2
2
2
11
1
,
2
1
,
2
2
K
P P
K
K
P = =
+
=

1-149
Performance Index
2
2
2
2
22 12 11
2
1 2
2
) 0 ( ) 0 (
K
K K
P P P
PX X J
T
+ +
=
+ + =
=

2 , 1
min 2
= = J K When

Optimal Control with Energy term

Control gain
Pb
r
K
T
1
=

where
P
is obtain from

equation Riccati : 0
1
= + + Q P Pbb
r
PA P A
T T

factor g weightin : r ) ( : . .
:
energy
2
0
dt ru X Q X J I P
KX u Control
bu AX X
T
+ =
=
+ =
}
=
1
1
) 0 ( x Assume
1-150
Ch. 6 Modern Control
1. Linear Quadratic Control
System model
0
), ( ) ( ) ( t t t u B t x A t x > + =
Performance index
}
+ +
=
T
t
T T
T
dt t u R t u t x Q t x
T x T S T x t J
0
)) ( ) ( ) ( ) ( (
2
1
) ( ) ( ) (
2
1
) (
0

0 , 0 , 0 ) ( > > > R Q T S
Riccati Education
Q S B R B S A S S A S
T T
+ + =
1

Algebraic Riccati Equation(ARE) (When T )
Q S B R B S A S S A
T T
+ + =
1
0
Feedback control gain
S B R K
T 1
=

1-151
2. Adaptive Control ()
.

1) Direct Adaptive control
1. -Output error controller gain adjust.
2) Indirect Adaptive control
- Plant model parameter adjust controller gain .

1) Gain scheduling
2) Model Reference Adaptive Systems
3) Self-Tuning Regulator
4) Dual Control
Controller
Desired
Reference model
Process
Adjustment
rule
y
m
y
r
u
e
y

+
-
< >
1-152
3. Intelligent Control
Control strategy and decision are made at a symbolic level through
perception and reasoning and learning.
Signal Symbol Control
Pattern recognition
Neural network
Rule-based control
Fuzzy logic control

A. Neural Network
Biological neurons are believed to be the structural constituents of the
brain. A neural network can:
- Learn by adapting its synaptic weights to changes in the
surrounding environments
- Handle imprecise, fuzzy, noisy, and probabilistic information
- Generalize from known tasks or examples to unknown ones

1-153
Membership Function

Neural Network Control

B. Fuzzy logic control
Control Decision system
Boolean Logic Fuzzy logic
Fuzzy Set
Membership Function
Fuzzy Logic

1-154
Fuzzy controller
Fuzzifier
Fuzzy Inference Engine
Fuzzy Rule Base
Defuzzifier

Merits of Fuzzy Controller
a. Linguistic control rules
b. Highly nonlinear
c. Fewer rules

Output
Defuzzifier
Fuzzy
Inference Engine
Fuzzy
Rule Base
Input 1
Fuzzifier
Input 2
< Block Diagram of fuzzy logic controller >

Autocontrol Eng

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