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1, JANUARY 2003
147
I. INTRODUCTION
-CONTROLLER DESIGN
(2)
148
Fig. 1.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 11, NO. 1, JANUARY 2003
The model uncertainty can be represented as a linear fractional transformation in the following way. Augment the model
(1) with a fictitious input and a fictitious output
(3)
(5)
Model Uncertainty
, where
is the
the number of linearized models, as
Let
exist for
and
and
, then
if the matrices
and
, where
and
satisfying (5)
are chosen as
, respectively. The
(4)
The following problem can be posed in the form of linear matrix inequalities and solved by convex optimization [3]: design
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 11, NO. 1, JANUARY 2003
, the
need to be scaled. This can
and take
as a first scaling. In (5),
and
with
and , respectively, solve it for
replace
in all operating points and find
. Then a
that
exists for all operating points if
satisfies (5) and
and
are chosen as
where
and
are matrices whose entries are the
maximum and minimum values, respectively, of the correover
. This choice
sponding entries of
leads to an uncertainty representation that is approximately
centered within the admissible parameter range (see Fig. 4 and
comments below).
and
Computing the singular value decomposition of
leads to
149
150
Fig. 6.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 11, NO. 1, JANUARY 2003
Thus
, and considering the rapid decrease in magnitude
its numerical rank was taken as
.
of singular values of
Carrying out the scaling procedure described in the previous
the numerical values
section yields for
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 11, NO. 1, JANUARY 2003
Fig. 7.
System response to a 5% disturbance step of model linearized in different operating conditions. (a)
= 0:6. (c) P = 1:0; Q = 0:5; X = 0:7.
Q = 0:0; X
Fig. 8.
151
= 0:8;
= 0:4;
Tradeoff between control effort and maximum regulation error for the nominal system (OC1), using as design parameter.
152
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 11, NO. 1, JANUARY 2003
TABLE I
COMPARISON OF RESULTS WITH LMI-BASED DESIGN AND QFT DESIGN