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Performance assessment of MIMO control systems with time-variant disturbance dynamics

COMPUTERS & CHEMICAL ENGINEERING 2008年第9期32卷 2144-2154页

作者： Xu, Fangwei Huang, Biao Tamayo, Edgar C. Univ Alberta Dept Chem & Mat Engn Edmonton AB T6G 2G6 Canada

In this paper, we consider performance assessment problem for multivariable control systems subject to piecewise constant time varying disturbance dynamics. The problem is motivated by the observation that most industrial controllers are linear time invariant (LTI) but the process, particularly the disturbance dynamics, can be time varying. We consider a class of disturbance dynamics that can be modelled by piecewise linear disturbance models, namely piecewise linear time varying (LTV) disturbance dynamics. The problem is formulated as searching for a multi-input multi-output (MIMO) benchmark control that is LTI but optimal in regulating the LTV disturbances. The single-input single-output (SISO) case has been previously solved by minimizing the variance of a most representative disturbance or by the minimization of the sum of the weighted variances of all but one of major disturbances, while satisfying a structured regulatory performance requirement for the major disturbance. In this paper, the previous results are extended to MIMO systems. The counterparts of the two SISO benchmarks are defined as the regular linear time varying disturbances (LTVDs) benchmark and the weighted LTVD benchmark for MIMO control systems, respectively. In addition, a new yet more practical LTVD benchmark, the generalized LTVD benchmark, is also proposed, which minimizes the maximum total variance among all different disturbance dynamics. These three LTVD benchmarks are compared by simulation and industrial application examples. The results show that the weighted and generalized LTVD benchmarks can always lead to better trade-offs on the total output variances. (C) 2008 Elsevier Ltd. All rights reserved.

关键词： controller performance assessment linear time varying disturbance multivariable control system

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H-INFINITY-ROBUST control DESIGN FOR LINEAR FEEDBACK-systemS

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JOURNAL OF GUIDANCE control AND DYNAMICS 1993年第6期16卷 1131-1137页

作者： YANG, JS University of Minnesota Duluth Minnesota 55812

This paper deals with the problem of designing, for a linear time-invariant multivariable plant, a feedback controller that minimizes the H(infinity) norm of a quadratic combination of the sensitivity and complementary sensitivity functions. With the parameterization of the controller and quadratic cost, a design procedure based on a gain equalization test for computing the optimal controller is described in detail. A design algorithm, which is implementable in computers. is presented. The pitch-axis controller design for a digitized version of the Grumman F-14 aircraft is given. The performance robustness under the external disturbances and large aircraft parameter variations are shown to demonstrate the effectiveness of this approach.

关键词： Closed Loop Transfer Function Single Input Single Output multivariable control system Computing Robotics Angle of Attack White Noise Computer Aided Design Newton's Method Feedback control system

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APPLICATION OF STRUCTURED SINGULAR-VALUE SYNTHESIS TO A FIGHTER AIRCRAFT

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JOURNAL OF GUIDANCE control AND DYNAMICS 1993年第5期16卷 940-947页

作者： SPARKS, A BANDA, SS WRIGHT LAB DIV FLIGHT CONTROLSWRIGHT PATTERSON AFBOH 45433

The results of a design study to examine the control of a fighter aircraft at high angles of attack are presented. The flight condition considered represents an extreme point along a demanding, large angle maneuver. The control objective is to attain acceptable flying qualities despite variations and uncertainty in the aircraft's aerodynamic coefficients. control laws are developed for a linear model of the aircraft using structured singular value synthesis to take the parameter uncertainty structure into account. Desired flying qualities are embedded in ideal models of the angle of attack, sideslip angle, and stability axis roll rate responses to pilot inputs. The control objective is met by minimizing the weighted error between the ideal model outputs and the plant outputs and including structured parameter uncertainty in the design model. Analysis of the closed-loop system assuming interdependent parameter variations is done to evaluate conservativeness. Low-order optimal Hankel norm approximations of balanced realizations of the control laws are found that maintain the performance and robustness characteristics of the full-order controllers.

关键词： Fighter Aircraft Angle of Attack Linear Quadratic Regulator Sideslip Angle Pilot Flying Qualities Aerodynamic Coefficients Flight control Design multivariable control system Aerospace Engineering

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Quantitative parameter tuning scheme for a class of multiloop control systems

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IET control THEORY AND APPLICATIONS 2007年第5期1卷 1413-1422页

作者： Chen, P. Zhang, W. Gu, D. Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China

A quantitative parameter tuning scheme for a class of multiloop control systems is designed by Internal Model control (IMC) method. IMC method is a common-used design method for multivariable control systems. This design method provides a single controller parameter for each control loop. The existing trial and error method for tuning these parameters are conservative and time-consuming. An analytical tuning scheme is proposed to tune these parameters quantitatively. Differing from the trial and error method, the interaction information is considered quantitatively in the tuning procedure. The proposed tuning scheme consists of calculation method of the tuning bound, parameter estimation method and dominant pole adjustment method. The quantitative relationships between the variation of the dominant pole and the time-domain design specifications are also studied. Numerical examples are given to demonstrate the validity of the proposed tuning scheme.

关键词： multivariable control system quantitative parameter tuning scheme analytical tuning scheme time-domain design specification internal model control common-used design method multivariable control systems control loop interaction information multiloop control system parameter estimation controller parameter

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SUPPRESSION OF UNDESIRED INPUTS OF LINEAR-systemS BY EIGENSPACE ASSIGNMENT

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JOURNAL OF GUIDANCE control AND DYNAMICS 1990年第2期13卷 330-336页

作者： ZHANG, Q SLATER, GL ALLEMANG, RJ UNIV CINCINNATI AEROSP ENGN & ENGN MECHCINCINNATIOH 45221 UNIV CINCINNATI MECH ENGNCINCINNATIOH 45221

In this paper, a method using output feedback is proposed to suppress the response of linear systems to undesired inputs and, in particular, to reduce the vibration response of flexible structures to these inputs. This method does not need to measure undesired inputs (or external forces). The analysis assumes that the location of the undesired inputs are known, although the general time dependency is unknown. The feedback gain matrix is calculated to assign the eigenvalues and left-hand eigenvectors of the closed-loop system to specified values. The effect of the undesired inputs on a closed-loop system can be altered or significantly reduced by properly choosing the left-hand eigenvectors of the system. The stability of the control system is guaranteed by properly choosing the output matrix, which can decouple the controlled modes from the uncontrolled modes. An example of forced vibration of a simple flexible structure is presented to demonstrate the proposed method. © 1990 American Institute of Aeronautics and Astronautics, Inc., All rights reserved.

关键词： Linear Quadratic Regulator Output Feedback Finite Element Modeling Flexible Structures Structural system Singular Value Decomposition Forced Vibrations Singular Perturbation White Noise multivariable control system

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SELF-TUNING multivariable POLE PLACEMENT control OF A MULTIZONE CRYSTAL-GROWTH FURNACE

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INTERNATIONAL JOURNAL OF ADAPTIVE control AND SIGNAL PROCESSING 1992年第2期6卷 127-138页

作者： BATUR, C SHARPLESS, RB DUVAL, WMB ROSENTHAL, BN UNIV AKRON DEPT MECH ENGNAKRONOH 44325 NASA LEWIS RES CTRCLEVELANDOH 44135

This paper presents the design and implementation of a multivariable self-tuning temperature controller for the control of lead bromide crystal growth. The crystal grows inside a multizone transparent furnace. There are eight interacting heating zones shaping the axial temperature distribution inside the furnace. A multi-input, multi-output furnace model is identified on-line by a recursive least squares estimation algorithm. A multivariable pole placement controller based on this model is derived and implemented. Comparison between single-input, single-output and multi-input, multi-output self-tuning controllers demonstrates that the zone-to-zone interactions can be minimized better by a multi-input, multi-output controller design. This directly affects the quality of crystal grown.

关键词： CRYSTAL GROWTH control multivariable control system

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Stability properties of non-linear model predictive control of variable speed hydropower

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IET RENEWABLE POWER GENERATION 2020年第19期14卷 4019-4028页

作者： Reigstad, Tor Inge Uhlen, Kjetil Norwegian Univ Sci & Technol NTNU Dept Elect Power Engn NO-7491 Trondheim Norway

This study presents a method for small-signal analysis of an advanced, multi-variable control system for variable speed hydropower (VSHP) plants. A model predictive controller (MPC) optimises the power plant performance. In parallel, a virtual synchronous generator-type (VSG) converter control ensures that the VSHP contributes to virtual inertia and frequency control of the power system. The aim of the small-signal analysis is to parametrise the cost function of the MPC to minimise oscillatory modes between the VSHP hydraulic system and the power system. A state-space representation of the MPC is developed by assuming a stable steady-state operating point equal to the reference values of the MPC cost function, and that no constraints are active. This state-space representation allows for small-signal analysis of the power system, including the MPC. The results show that the modes between the hydraulic system and the power system are well-damped and negligible when the costs of deviations in the hydraulic system are low compared to the cost of deviations in the VSG power reference. Thus, these modes do not constrain the tuning of the VSG. The VSHP power output can, therefore, be optimised independently through the VSG controller to damp power oscillations and reduce frequency deviations.

关键词： nonlinear control systems state-space methods power generation control invertors predictive control synchronous generators power system stability frequency control power system control voltage control stability damping VSHP hydraulic system power system state-space representation steady-state operating point MPC cost function small-signal analysis VSG power reference VSHP power output VSG controller power oscillations nonlinear model predictive control multivariable control system variable speed hydropower plants model predictive controller power plant performance virtual synchronous generator-type converter control virtual inertia frequency control

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MULTIINPUT MULTIOUTPUT AUTOMATIC DESIGN SYNTHESIS FOR PERFORMANCE AND ROBUSTNESS

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JOURNAL OF GUIDANCE control AND DYNAMICS 1986年第3期9卷 281-287页

作者： GORDON, VC COLLINS, DJ Naval Postgraduate School Monterey California

A direct-design method for solving the problem of robustness to cross-coupling perturbations in multivariable control systems is presented. The method uses numerical optimization procedures to manipulate the system feedback gains as direct design variables. The manipulation is accomplished in a manner that produces desired performance by pole placement and robustness by modification of the minimum singular values of the system return difference matrix. Channels affected by cross-coupling perturbation may be recognized by the character of their transfer function plots. The pole placement and robustness routine uses gain equalization and zero assignment to modify the characteristics of the system in the design. A modification of the pole placement and robustness routine that may be applied to the design of robust observers is also presented.

关键词： Pole Zero Plot Numerical Optimization Robust Design multivariable control system Full State Feedback Sequential Quadratic Programming Sequential Linear Programming Lagrange Multipliers Search Algorithm Frequency Domain

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POLE ASSIGNMENT WITH CONSTRAINTS USING OUTPUT-FEEDBACK

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AUTOMATICA 1988年第3期24卷 423-424页

作者： RAJAGOPALAN, T APPUKUTTAN, KK Indian Institute of Technology IITPO Madras 36 India

In this paper the pole assignment with constant gain output feedback is studied for a SIMO system. A reduced order system with the set of unassigned poles satisfying the constraint conditions, obtained by removing the polynomial with the set of assigned poles, simplifies the design procedure. The root locus method is adopted for the proper fixation of the feedback gain.

关键词： closed-loop system constraint theory control system design eigenvalue assignment multivariable control system output feedback Pole placement root locus

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IMPROVED TIME-DOMAIN STABILITY ROBUSTNESS MEASURES FOR LINEAR REGULATORS

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JOURNAL OF GUIDANCE control AND DYNAMICS 1989年第4期12卷 595-598页

作者： PETKOVSKI, DB University of Novi Sad Novi Sad Yugoslavia

The robustness of multivariable control systems, i.e., their ability to maintain performance in the face of uncertainties and perturbations, has been extensively studied in the past. The recently published literature on robustness analysis of linear time-invariant systems can be viewed from three perspectives: 1) the frequency domain approach, 2) the time domain approach, and 3) the frequency domain approach, which uses a state space representation of the system. Recently, new bounds on linear time-invariant perturbations that do not destabilize the system were given, based on the frequency domain approach that uses a state space representation of the system. It was shown that these bounds are superior to time-domain stability robustness criteria in the sense that they are less conservative and that they can be applied to a more general class of systems and perturbations. In this Note, authors present a new time domain stability criterion for linear state space models. A computationally effective algorithm is proposed, which leads to perturbation bounds that are superior to those based on the frequency domain approach and the time-domain approach.

关键词： Linear Time Invariant system Full State Feedback Frequency Domain Robust Design multivariable control system Proportional Navigation Iterative Algorithm Flight Path Angle Optimal control Automatic control

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