Professional Documents
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To read:
Leith & Leithead, Survey of Gain-Scheduling Analysis & Design
To try out:
Matlab - Gain Scheduling
Operating
condition
Command
signal Control
signal
Controller Process Output
Production rate
Machine speed, e.g. DVD player
Mach number and dynamic pressure
GS Ref
FIC
FT
Process
uc c u v y
PI f 1 f G 0 (s)
10 f(u)
f (u)
0
0 0.5 1 1.5 2
Time
0.2
y
0 20 40 60 80 100
uc Time
1.1
1.0
y
0 20 40 60 80 100
Time
uc
5.1
5.0 y
0 20 40 60 80 100
Time
GS Ref
LIC
LT
GS Ref
TIC
TT FT
(a) Output c
cr
1.0
q = 0.5
0.5 q = 0.9
q = 1.1
0.0
q =2
0 5 10 15 20
Time
(b) Control signal cin
1.5 q = 0.9q = 0.5
1.0
0.5 q = 1.1
q=2
0.0
0 5 10 15 20
Time
Process model
1 Vm Vd
G(s) = es , T = ,
1 + sT q q
Vd
h=
nq
Sampled model becomes linear time-invariant
(a) 1 1
c cin
0 0
0 5 10 15 20 0 5 10 15 20
Time Time
(b)
1 1
cin
c
0 0
0 5 10 15 20 0 5 10 15 20
Time Time
(c)
1 1
c cin
0 0
0 5 10 15 20 0 5 10 15 20
Time Time
Pitch dynamics
q =
Nz e
Operating conditions
80
60
Altitude (x1000 ft)
40
3 4
20
1 2
0
0 0.4 0.8 1.2 1.6 2.0 2.4
Mach number
Pitch stick
Gear
VIAS
Position
Filter A/D K DSE
H M
H
T1s
K SG
1+ T1s
D/A
Acceleration
Filter A/D D/A
To servos
M Filter
Pitch rate
1
Filter A/D K Q1 K NZ
1+ T3 s
M H
T2 s
K QD
1+ T2 s
H M VIAS
K QD IAS K QD H
0.5
0.5
0 0
0 1000 0 10 20
V IAS (km/h) H (km)
LT LIC
Surge tank
FIC
FT
PIC
PT TIC
TT
Set point
Fuel/air
DH
network
PIC
PT TIC
TT XT
Set point
Fuel/air
DH
network
Most designs are done for the time-frozen system, i.e. as if scheduling
parameter is constant.
Theory and practice: This will work also when (t) is slowly varying.
But can go wrong for fast varying parameters.
Following example is from Shamma and Athans, ACC 1991
1 1 1
G (s) = 2 = C(sI A())1 B
s s + 0.2s + 1 + 0.5(t) s
with 1 (t) 1
Controller design: LQG + integrator on system input, LQG parameters
1.2
2 2
10 10
PS
S
0 0
10 10
0.8
-2 -2
10 0 2
10 0 2
10 10 10 10
0.6
2 2
10 10
0.4
CS
T
0 0
10 10
0.2
-2 -2
10 0 2
10 0 2
0 10 10 10 10
0 0.5 1 1.5 2 2.5 3 w w
1.5
0.5
-0.5
0 10 20 30 40 50 60 70 80 90 100
It can be shown that the open loop LTV system is unstable in this case.
Several theorems show that if varies slowly performance for the
frozen-system analysis is maintained for the true system
Small-gain theorem
Lyapunov theory using V = xT P x or V = xT P ()x
Bo Bernhardsson and Karl Johan strm Gain Scheduling
Gain-scheduling design
Shamma-Athans
Packard
Apkarian-Gahinet
Helmersson
...
x = A((t))x(t) + B((t))u(t)
y = C()x(t) + D((t))u(t)
Controller structure
T T
q q q y w = Pa (s) w w w u u
Bo Bernhardsson and Karl Johan strm Gain Scheduling
Main Result - a sufficency condition
The closed loop system is stable for all (t) with k(t)k < 1/ and
the L2 induced norm from w to q satisfies
http://se.mathworks.com/help/control/ug/gain-scheduled-control-of-a-
chemical-reactor.html