2014 22nd Mediterranean Conference on Control and Automation (MED)
University of Palermo. June 16-19, 2014. Palermo, Italy
FINE TUNING THE TIME RESPONSE OF A ROBUST AND
ULTRAFAST COMPENSATOR
M. Hammami, D. Bensoussan, and Y. Sun
Abstract It has been shown that Quasi-linear feedback
control [1] enables the simultaneous improvement of the
time performance and the frequency performance of
feedback systems, by using compensators whose poles are
gain dependent. This paper presents and improved quasi-
linear controller that achieves a smaller settling time of the
time response without deteriorating stability margins and
sensitivity objectives.
Keywords--- Robust control; time performance; time response;
hard disk drive
I. INTRODUCTION
A new ultrafast and robust control method based on
optimization of energy gains has been recently proposed
[1]. It is our objective to explore ways by which this robust
and ultrafast algorithm can be further improved by phase
networks. In other words, the phase distribution of the
present compensator can be altered in specific frequency
domain ranges in order to get an improved time response.
Alternatively, a compromise between non-ideal optimized
energy gains and improved time response can be made. We
will keep in mind that new sensors have improved
accuracies and larger bandwidths, which allow the insertion
of compensators including high frequency components.
However, we do keep in mind that it is always possible to
reduce the compensator bandwidth if we are ready to
compromise on a slower time response. We intend to
simulate the ultrafast and robust controller recently
developed using the same gains that are used in the industry
in the case of a hard disk drive.
II. THE PROPOSED CONTROL METHOD
The method [1] aims at controlling an instable
invertible plant transfer function P(s). More specifically, the
application of the controller C(s) is restricted to a class of
plants P(s) which are linear time invariant, invertible, and
strictly proper. More specifically, the plant is invertible if it
has no right-half plane zeroes, i.e. its reciprocal P-1(s) is
holomorphic in Re (s) 0 The algorithm is based on
calculating a desired open loop transfer function J(s) which
M. Hammami is with Facult des Sciences of Universit de Sfax
Tunisia, Rte de Soukra km 3.5, B.P.802-3018 Sfax-Tunisia
(e-mail: hammami_maher@yahoo.fr)
D. Bensoussan is with the cole de technologie suprieure, 1100
Notre-dame street west, Montreal, Canada
(e-mail: david.bensoussan@etsmtl)
Y. Sun is with the cole de technologie suprieure, 1100 Notre-dame
street west, Montreal, Canada (e-mail: yulan.sun@etsmtl.ca)
978-1-4799-5899-3/14/$31.00 2014 IEEE
is the product of the following: a) high gain filter J1(s)
having a gain [1] sufficient that |J()|>[1+1/] when ||
1 wherein 1 is selected to obtain a desired time response
b) phase network J2(s) providing phase lead at intermediate
frequencies and c) low pass filter J3(s) selected such that
|1+J()|>1/M for all and J(s) is strictly proper. The
values < 1 and M>1 are selected to meet a desired
sensitivity requirement. The series compensator is given by
C(s) = H-1(s)J(s) where H(s) is easily shown to be a
modified version of P(s) which is identical to P(s)
whenever P(s) is minimum phase [2].
Let u(t) be the input signal to system, y(t) the output
signal from the plant, and e(t) the error signal representing
the difference between the input signal u(t) and the output
signal y(t) as calculated by a subtractor. The closed loop
feedback system is described by the group of equations
Y s P s C ( s) E ( s ) and E s U s Y s
(1)
where the signals U(s), Y(s) and E(s) represent the Laplace
transforms of the corresponding time domain functions u(t),
y(t) and e(t) respectively. The design objectives of the
controller include achieving a) fast and robust tracking b)
improved gain and phase stability margins c) improved
time domain measures and reduced rise times and d)
improved sensitivity of a variety of stable and unstable
systems associated with linear controllers.
We define
C s H 1 s J s (2)
Where H(s) represents a transfer function that behaves like
P(s) at high frequencies and J(s) approximates a function in
the manner now described. Writing s=j, the values of J()
lie in the right-half complex plane over a frequency range
given by || 1 and J() will have a high gain so that the
values of P() C() will be kept outside the sensitivity
circle centered at (-1, 0), the circle with radius 1/>1. Such
a design ensures that the sensitivity on the restricted
frequency range |s|<1 is less than i.e.
1
I P C
1 (3)
Moreover, the values of J(s) will be kept outside the M
sensitivity circle centered at (-1, 0) with radius 1/M < 1 at
all frequencies. Such a design restricts the H norm of the
maximal sensitivity to a value smaller than M at any
frequency i.e.
1
I P s C s M (4)
The sensitivity circle M could be represented on the
Nichols chart by representing the graph
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2

20 log cos cos 1 1/ M 2 if cos 1 1 M 2 .
Of note, the choice of 2i could be reduced in various
manners to improve implementation, such as a reduction in
Alternatively, the diagram of J-1(s) could be plotted on a energy requirements.
Nichols chart in which the classical M-circles (constant As an example, we could choose
k
magnitudes of the closed loop) represent this time the k 2 ( s z1)
sensitivity circles. The implementation of the compensation J ( s) 1 1 kq
( s 1 ) ( s 2 ) (s p1)
C(s) lends itself to a simple graphical conception using
classical control tools such as Bode, Nyquist, Evans or This controller has been shown to be more performant than
Black-Nichols diagrams and charts. The function J(s) can other methods (PID, State feedback, quasi-linear) when
be decomposed in three parts: every compensator uses the same open loop gain [3].
J s k1J1 s J 2 s J3 s III. FINE TUNING THE TIME RESPONSE
(5)
Where a) k1J1(s) is a high gain filter with a good time A simple graphical solution can be implemented:
response acting at low frequencies b) J2(s) is a phase a) check directly the sensitivity values at high frequencies
network that provides a phase lead in the intermediate and low frequencies on an inverse Nichols plot;
frequency range and c) J3(s) is a wideband low pass filter b) adjust the Bode plots of J(s) in the intermediary range,
that also ensures that the compensator is strictly proper. by providing lead networks using classical lead networks or
We assume the following behavior of the plant at high all pass filters;
frequencies: |P(s)|>c/|sq| for some constant c and integer q c) Nyquist encirclement criterion is to be respected in the
for high frequencies. The unstable plant may be reduced to case in which the compensator and/or the plant include
its minimum phase part P1(s) and its unstable part P2(s), right half plane poles. Moreover, the design of the solution
such that the cascaded elements represent the plant in the J(s) can be normalized to accommodate a large family of
following manner: plants. A family of such solutions could be developed to
P( s ) P1 ( s ) P2 ( s ) (6) address the energy requirements of the compensators
A further transfer function H(s) can be defined such that, involved.
for some value s0: Definition of the time response: Given a linear system
1 defined by its causal impulse response g(t) and transfer
c c
H (s) P2 s P s q' 1
P s q' q function G(s), and let y(t) be its output response. We define
s s0 s s0
q'
its time response Let t r be the average residence time
(7)
such that H(s) has the same behavior as P(s) at high [4,5] given by the relation (10):

y ( ) y() d t
frequency, i.e. y ( ) (10)
r
P ( s ) H ( s ) 1 1 (8) 0

Where is a value inferior to unity. Note that H(s) is It can be shown (10) that y ( ) G (0) and
'
holomorphic by construction and that its inverse is G (0)
holomorphically invertible in Re(s) 0. The controller C(s) tr where G'(0) is the derivative of G(s) at s = 0.
is built as follows: G(0)
It has also been shown that by cascading two systems with
1 time response t r 1 and t r 2 , their combined time response
C ( s ) H 1 s J s s s0 P11 s J s
q'

c is
(9)
Wherein J(s)=k1J1(s)J2(s)J3(s) and k1J1(s) is the transfer t r t r1 t r 2
function of a high gain filter having an ultra-fast time We now derive the time response of our compensator
response, e.g. J1(s) can have the form:
1 leading to an open loop gain J(s) :
k1 J1 ( s ) k1
s 1 J ( s ) k1 J 1( s) J 2( s ) J 3( s)
The compensating unit J2(s) comprises a chain of lead/lag m
n
s z i 2k
compensator elements as a n phase lead/phase lag
J ( s ) k 1 1 (11)
compensator acting in the frequency intermediary range,
s 1 i 1 s p i s
k
where the poles pi might be unstable 2
s zi n
J (s) T (s)
J2 s T ( s) 1
s pi i 1
1 J ( s ) T 2( s )
J3(s) is the transfer function of a low pass filter acting at a
with
very high frequency such that the transfer function of the n
controller C(s) remains strictly proper. The low pass filter k1 1m k2 s z i
J3(s) may be provided for in the general form: T 1( s )
i 1

2i

n n
s s p s 2 k1 1 2 s z i
k
J 3 s ik 1 kq T 2( s ) 1
m m k

s 2i i 1
i
i 1

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We first find T(0) : n n

n n n n

p n n p i
z p z m p k i 1
n 1
i 1


i
. i1
i

k11m k2 z i i i
z
j 1 j i1 i 1 p j i1
2
i 1 1 j 1
(0)

T (0) T 1
'
(0)
i 1
t r
T n n

n

T 2(0) n n T (0) z p k z

1m p i k2 k11m k2 z i
i i 1 i
i 1 i 1 i 1
i 1 i 1

T ( s ).T 2( s ) T 1( s ).T ( s )
' '
T (s)
' 1 2
2 And finally:
T 2( s )
with n
m n 1
1 k
n
1 n i 1 z i 1 i 1 p i 2
T 1(s) k1 1 2 (s z i) tr
' m k
(12)
j 1 s z j i 1 n
zi

and 1 k1 n
i 1

p
n i i 1
T ( s ) m s 1 ( s p ) s
m 1 k
'
2 i 2 Our optimization will aim at a minimal value of t r say 0.
i 1
n n
1 m 1 k
t r 0
1 (13)
n n
s 1 ( s p i) s 2 1 pi 2
k
m
i 1 zi i 1
j 1 s p i 1 For example: From equation (10) m=1 and n=1, we have
j
n
k 1
k s 1 (s p ) s 1 1 1 k
m
i 2 t r 0 (14)
i 1 z1 p1 1 2

1 n n For m=1 and n=2, we have
k1 ( m
s z i
) k
1 1 1 1 1 k
j 1 s z j i 1
1 2
t r 0 (15)
' z 1 p1 z 2 p 2 1 2
We second find T (0) :
IV. SIMULATION RESULTS
T 1(0).T 2(0) T 1(0).T 2(0)
' '
T (0)
'
2 Simulation results will focus on the stable case
T 2(0) such that in the case of a hard disk drive.
n 1 n Fig. 1 shows the step response for different values of 2,
with T 1' (0) k1 1m k2 z z i which imply in turn different cost of feedback, i.e.
j 1 j i 1 smaller gain for the compensators C(s). The simulations
and show that lead compensators in the B method are superior
in performance in the time domain. The settling times (0.21
n
n
1 n ms) are much smaller than the 8.5 ms that are obtained with
T 2(0) m 1 p i 2 1 2 p i
' m 1 k m k
other methods Chen [6], while acceptable gain and phase
i 1 j 1 p j i 1 margins are preserved.
In this simulation, we have used 1 50 , b 13 10
4
n 1 n n ,
k p i
m k 1
k1 z i
m k
1 2 1
j 1 z j i 1
2
p1 p 2 50, z1 z2 33 , k 6 , k1 6223.
i 1

The value of 2 is a submultiple of b .

System Respose to a Step Function System Respose to a Step Function

1.2 1.2

1 1

0.8 0.8
Y(t) (um)

Y(t) (um)

0.6 0.6

0.4 0.4

t=0.001 s t=0.001 s
0.2 No Corrector w2=wb 0.2
Corrector(wm=w2=wb)
No Corrector w2=2/3wb Corrector(wm=w2=2/3wb)
No Corrector w2=1/3wb Corrector(wm=w2=1/3wb)
0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4
-3 -3
Time (sec) (seconds) x 10 Time (sec) (seconds) x 10

(a) B method. (b) B method with lead corrector.

Figure 1. System response to a step function (The yellow line shows a target threshold of 1ms).

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In figures 2 to 8, frequency plots are compared B method of J(s). Figure 5 and 6 show the new sensitivity bound
compensators vs B method compensators with phase lead in which is 3dB instead of 6 dB. Figure 7 shows how the
the low frequency domain. Figure 2 shows how the gain insertion of a phase lead maintains the phase of the closed
and phase margins are modified after the insertion of the loop gain to 1 and its phase to 0o on a wider frequency
lead network to acceptable values. Figure 3 and 4 shows range. Finally, Figure 8 shows the Bode diagrams of the
how the closed loop gain is maintained to values close to 1 compensator C(s). Note that the invested gain is
after insertion of the phase lead and the gain k1 is adjusted substantially reduced and this constitutes a definite
advantage.
p1 2
to take into account the ratios and of the DC gain
z1 b
Bode frequency response for open-loop
50
Bode frequency response for open-loop
50
0
0
System: Corrector(wm=w2=1/3wb) System: Corrector(wm=w2

Magnitude (dB)
-50
System: No Corrector w2=1/3wb Gain Margin (dB): 13.3 Gain Margin (dB): 13.3
Magnitude (dB)

-50 System: No Corrector w2=w

Gain Margin (dB): 7.3 Gain Margin (dB): 16.8 At frequency (rad/s): 1.17e+004 At frequency (rad/s): 3.51e
At frequency (rad/s): 1.17e+004 -100 Closed loop stable? Yes Closed loop stable? Yes
At frequency (rad/s): 3.5e+
-100 Closed loop stable? Yes Closed loop stable? Yes
-150
-150 Corrector(wm=w2=wb)
No Corrector w2=wb -200 Corrector(wm=w2=2/3wb)
-200 No Corrector w2=2/3wb Corrector(wm=w2=1/3wb)
No Corrector w2=1/3wb -250
-250 0
0

-180 System: Corrector(wm=w2=1/3wb) System: Corrector(wm=w2=wb)

-180
System: No Corrector w2=1/3wb

Phase (deg)
Phase Margin (deg): 67.4 Phase Margin (deg): 66.4
Phase (deg)

Phase Margin (deg): 44.3 Delay Margin (sec): 0.000384 Delay Margin (sec): 0.000126
-360 Delay Margin (sec): 0.000131 -360 At frequency (rad/s): 3.06e+003 At frequency (rad/s): 9.2e+003
At frequency (rad/s): 5.89e+003 Closed loop stable? Yes Closed loop stable? Yes
Closed loop stable? Yes
-540 -540

-720 -720
-1 0 1 2 3 4 5 6 -1 0 1 2 3 4 5 6
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10
Frequency (rad/s) Frequency (rad/s)

(a) B method. (b) B method with lead corrector.

Figure 2. Bode diagrams of the open loop.
Nyquist Diagram Nyquist Diagram
1.5 1.5
2 dB 0 dB -2 dB 1/M=1/1.05 circle 2 dB 0 dB -2 dB 1/M=1/1.05 circle
1/M=1/1.4 circle 1/M=1/1.4 circle
4 dB -41/M=1/2
dB circle 4 dB 1/M=1/2
-4 dB circle
1 No Corrector w2=wb 1 Corrector(wm=w2=wb)
No Corrector w2=2/3wb Corrector(wm=w2=2/3wb)
6 dB -6 dB No Corrector w2=1/3wb 6 dB -6 dB Corrector(wm=w2=1/3wb)
0.5 0.5
10 dB -10 dB 10 dB -10 dB
Imaginary Axis

Imaginary Axis

20 dB -20 dB 20 dB -20 dB
0 0

-0.5 -0.5

-1 -1

-1.5 -1.5
-1.5 -1 -0.5 0 0.5 1 1.5 -1.5 -1 -0.5 0 0.5 1 1.5
Real Axis Real Axis

(a) B method. (b) B method with lead corrector.

Figure 3. Nyquist diagrams of J(s).
Nichols Chart
60 Nichols Chart
No Corrector w2=wb 60
Corrector(wm=w2=wb)
No Corrector w2=2/3wb
Corrector(wm=w2=2/3wb)
No Corrector w2=1/3wb
40 Corrector(wm=w2=1/3wb)
0 dB 40
0 dB
0.25 dB
0.5 dB 0.25 dB
20 0.5 dB
1 dB -1 dB 20
Open-Loop Gain (dB)

1 dB -1 dB
Open-Loop Gain (dB)

3 dB
6 dB -3 dB 3 dB
6 dB -3 dB
0 -6 dB
0 -6 dB
-12 dB -12 dB

-20 -20 dB -20 dB

-20

-40 -40 dB -40 -40 dB

-60 dB -60 dB
-60 -60
-315 -270 -225 -180 -135 -90 -45 0 -315 -270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg) Open-Loop Phase (deg)

(a) B method. (b) B method with lead correctors.

Figure 4. Nichols diagrams of the loop gain J (s).

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Nichols Chart Nichols Chart

60 60
No Corrector w2=wb Corrector(wm=w2=wb)
No Corrector w2=2/3wb Corrector(wm=w2=2/3wb)
No Corrector w2=1/3wb Corrector(wm=w2=1/3wb)
40 40
0 dB 0 dB
0.25 dB 0.25 dB
0.5 dB 0.5 dB
20 1 dB 20 1 dB

Open-Loop Gain (dB)

Open-Loop Gain (dB)

3 dB 3 dB
6 dB 6 dB
0 0

-20 -20

-40 -40

-60 -60
0 45 90 135 180 225 270 315 0 45 90 135 180 225 270 315
Open-Loop Phase (deg) Open-Loop Phase (deg)

(a) B method. (b) B method with lead corrector.

Figure 5. Nichols diagrams of the inverse of the loop gain J-1(s).
Bode E Bode E
10 10

0 0

Magnitude (dB)
Magnitude (dB)

-10
-10
-20
-20
-30
No Corrector w2=wb Corrector(wm=w2=wb)
-40 -30
No Corrector w2=2/3wb Corrector(wm=w2=2/3wb)
No Corrector w2=1/3wb Corrector(wm=w2=1/3wb)
-50 -40
90 90

45 45
Phase (deg)
Phase (deg)

0 0

-45 -45
-1 0 1 2 3 4 5 6 -1 0 1 2 3 4 5 6
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10
Frequency (rad/s) Frequency (rad/s)

(a) B method. (b) B method with lead corrector.

Figure 6. Bode diagrams of the sensitivity S(s).
Bode T Bode T
100 0

-50
0
-100
M agnitude (dB)
M agnitude (dB)

-100 -150

-200 -200

-250
No Corrector w2=wb Corrector(wm=w2=wb)
-300
No Corrector w2=2/3wb -300 Corrector(wm=w2=2/3wb)
No Corrector w2=1/3wb Corrector(wm=w2=1/3wb)
-400 -350
0 0

-180 -180
Phas e (deg)
Phas e (deg)

-360 -360

-540 -540

-720 -720
1 2 3 4 5 6 7 1 2 3 4 5 6 7
10 10 10 10 10 10 10 10 10 10 10 10 10 10
Frequency (rad/s) Frequency (rad/s)

(a) B method. (b) B method with lead corrector.

Figure 7. Bode diagrams of the closed loop T(s).

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Bode C Bode C
100 100

50
50

Magnitude (dB)
Magnitude (dB)

0
0
-50

No Corrector w2=wb -50

-100
No Corrector w2=2/3wb
No Corrector w2=1/3wb
-150 -100
360 360

270 270

180 180

Phase (deg)
Phase (deg)

90 90

0 0
Corrector(wm=w2=wb)
-90 -90 Corrector(wm=w2=2/3wb)
Corrector(wm=w2=1/3wb)
-180 -180
0 1 2 3 4 5 6 7 1 2 3 4 5 6 7
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10
Frequency (rad/s) Frequency (rad/s)

(a) B. method. (b) B. method with lead corrector.

Figure 8. Diagrams Bode C(s).

Table 1 shows the comparative results, i.e. how the

reduction of 2 acts on the rise times tr and settling times ts. V. CONCLUSION
NormOL, NormCL and NormC represent respectively the
open loop gain, the closed loop gain and the gain of the Lead network minimizing the average residence time
compensator C(s). Note also that closed loop gains closer to t r indeed overall robust and time performance of the
0 dB implies a reduced overshoot os of the time response. feedback control algorithm [1]. This method allows to study
Without a lead network, the overshoot increases rapidly the effect of lead networks in the low frequency domain
when 2 is decreased. The lead network makes it possible and could be combined with the lead networks in the high
to use smaller 2 and get acceptable results. Moreover, by frequency domain as proposed in [7].
reducing 2, the response is generally slower but is still
acceptable and the norm of the compensator decreases to a
very reasonable level. REFERENCES
[1] D. Bensoussan, System and method for feedback control
Table 1: Compensation - Method B. Patent Application 13/217.861, August 25, 2011.
B method B method with lead [2] D. Bensoussan, Sensitivity reduction in single-input single-
1 50 50 50 50 50 50 output systems, International Journal of Control 39: 321-
b 1.3 1.3 1.3 1.3 1.3 1.3 335, 1984.
x105 x105 x105 x105 x105 x105 [3] D. Bensoussan, Simultaneous improvement of time and
2 1.3 8.7 4.3 1.3 8.7 4.3 frequency performance, 7th IFAC Symposium on Robust
x105 x104 x104 x105 x104 x104 Control Design. Aalborg, Denmark, June 20-22, 2012.
[4] E. De Geest, Mthodes doptimisation pour le rglage de
k1 6223 6223 6223 6223 6223 6223
contrleurs PID, A.U : 2000/2001.
tr (ms) 0.32 0.23 0.20 0.153 0.228 0.446 [5] K.J. Astrm and T. Hgglund, PID Controllers Theory,
ts (ms) 0.45 0.32 1.3 0.214 0.317 0.970 Design, and Tuning 2nd edition, Instrument Society of
os(%) 0 0.13 28.2 1.57 1.75 2.26 America, 1995.
GM 6.9 4.6 2.3 4.6 4.6 4.6 [6] M. Chen Ben, Hard Disk Drive Servo System, Springer,
2006.
PM 74.2 66.3 44.3 66.3 66.6 67.4
[7] D. Bensoussan, Y. Sun, M. Hammami, Robust and ultrafast
NormOL 124.45 124.45 124.45 124.45 93.34 62.23 design of a control system based on optimal sensitivity and
NormCL 0.992 0.992 1.42 0.989 0.983 0.967 optimal complementary sensitivity, 14th international
NormC 490.95 61.67 3.58 736.4 61.67 1.79 conference on Sciences and Techniques of Automatic control
& computer engineering, STA2013 December 20-22, 2013,
Sousse, Tunisia.

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