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x = Ax(t )
-norm
Consider LTI system
x = Ax(t ) +Bw(t )
z(t ) = Cx(t ) +Dw(t )
The H
norm of G
yw
is equivalent to solving
min s.t .
_
_
A
T
P +PA PB C
T
B
T
P I D
T
C D I
_
_
< 0, P > 0
i.e., minimization subject to LMI.
-optimal control,
can be obtained via LMI feasibility problem.
Lecture 8: LMIs, Model Reduction and Summary FEL3100 MIMO Control
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LMIs in contol - the Essence
x = Ax(t ) +Bu(t ) x R
n
,u R
m
y(t ) = Cx(t ) +Du(t ) y R
l
or, as input-output model
Y(s) =
_
C(sI A)
1
B +D
. .
G(s)
U(s)
x
r
= A
r
x(t ) +B
r
u(t ) x
r
R
k
,u R
m
y(t ) = C
r
x
r
(t ) +D
r
u(t ) y R
l
G
a
(s) = C
r
(sI A
r
)
1
B
r
+D
r
with k < n, such that the predicted input-output behavior is close
in some sense, e.g., G G
a
is small
Lecture 8: LMIs, Model Reduction and Summary FEL3100 MIMO Control
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Why Model Reduction?
x
1
= A
11
x
1
(t ) +A
12
x
2
(t ) +B
1
u(t )
x
2
= A
21
x
1
(t ) +A
22
x
2
(t ) +B
2
u(t )
y(t ) = C
1
x
1
(t ) +C
2
x
2
(t ) +Du(t )
We aim at removing the state vector x
2
, i.e., obtain a kth order model
from an nth order model
Truncation: let x
2
= 0, i.e., remove x
2
from state-space model
Residualization: let
x
2
= 0, i.e., x
2
becomes an algebraic
variable which depends on x
1
and u
Lecture 8: LMIs, Model Reduction and Summary FEL3100 MIMO Control
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Truncation
With x
2
= 0 we get
(A
r
, B
r
, C
r
, D
r
) = (A
11
, B
1
, C
1
, D)
i =1
c
i
b
T
i
s
i
i =k+1
c
i
b
T
i
s
i
G G
a
i =k+1
(c
i
b
T
i
)
|Re(
i
)|
note: must assume stable G(s)
Lecture 8: LMIs, Model Reduction and Summary FEL3100 MIMO Control
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Truncation contd
The H
error bound
n
i =k+1
(c
i
b
T
i
)
|Re(
i
)|
depends not only on eigenvalues of fast modes, but also on the
terms (residues) c
i
b
T
i
, i.e., the effect of inputs u on x
2
and effect
of x
2
on outputs y
At =
G
a
(i ) = G(i ) = D
Thus, no error at innite frequency
Lecture 8: LMIs, Model Reduction and Summary FEL3100 MIMO Control
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Residualization
With
x
2
= 0 we get (assume A
22
invertible)
x
2
(t ) = A
1
22
A
21
x
1
(t ) A
1
22
B
2
u(t )
and elimination of x
2
from partitioned model then yields
x
1
(t ) = (A
11
A
12
A
1
22
A
21
)x
1
(t ) + (B
1
A
12
A
1
22
B
2
)u(t )
y(t ) = (C
1
C
2
A
1
22
A
21
)x
1
(t ) + (D C
2
A
1
22
B
2
)u(t )
At zero frequency
G
a
(0) = G(0)
follows from the fact that
x
2
0 at steady-state
Lecture 8: LMIs, Model Reduction and Summary FEL3100 MIMO Control
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Comments on Truncation and Residualization
The state space model (A, B, C, D) with input u(t ) = 0 and initial
state x(0) = x
C
T
Ce
A
d
. .
Q(t )
x
C
T
Ce
A
d
Consider the nth order stable state space model (A, B, C, D) with
controllability and observability gramians P and Q, respectively
x
b
= TAT
1
x
b
(t ) +TBu(t )
y(t ) = CT
1
x
b
(t ) +Du(t )
has controllability and observability gramians
P = Q = diag(
1
, . . . ,
n
);
i
=
_
i
(PQ)
where the Hankel singular values
1
>
2
> . . . >
n
Each state x
bi
in the balanced realization is as observable as it is
controllable, and
i
is a measure of how controllable/observable
it is
1
0
0
2
_
where
1
= diag(
1
, . . . ,
k
) and
2
= diag(
k+1
, . . . ,
n
)
2
n
i =k+1
i
twice the sum of the tail
H
for a given order k of the reduced order model
For stable square G(s) the optimal Hankel norm kth order
approximation can be directly computed and has Hankel norm
error
G G
k
a
H
=
k+1
i =k+1
i
i.e., sum of the tails only
Lecture 8: LMIs, Model Reduction and Summary FEL3100 MIMO Control
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Unstable models
Balanced truncation and residualization and optimal Hankel norm
approximations applies to stable G(s) only. Two tricks to deal with
unstable models
1. Separate out unstable part before performing model reduction of
stable part
G(s) = G
u
(s) +G
s
(s) G
a
(s) = G
u
(s) +G
sa
(s)
2. Consider coprime factorization of G(s)
G(s) = M
1
(s)N(s)
with M(s) and N(s) stable. Apply model reduction to [M(s) N(s)]
and use
G
a
(s) = M
1
a
(s)N
a
(s)
Lecture 8: LMIs, Model Reduction and Summary FEL3100 MIMO Control
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Model Reduction in Matlab
Lecture 1:
the weighted H
-norm
SISO: RS + NP RP
MIMO: RS + NP = RP
Lecture 8: LMIs, Model Reduction and Summary FEL3100 MIMO Control
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synthesis: min
K
P
m
, m = 2,
H
2
- generalized LQG