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Modern Control Report

This chapter discusses robust control systems and addresses three main topics: 1. It appreciates the role of robustness in control system design and discusses sources of uncertainty in process models. 2. It covers various uncertainty models including additive, multiplicative, and parameter uncertainty. 3. It examines methods for robust control design using tools like root locus, frequency response, and PID control to ensure acceptable performance despite model inaccuracies or changes.

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Jaden Moniez
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89 views38 pages

Modern Control Report

This chapter discusses robust control systems and addresses three main topics: 1. It appreciates the role of robustness in control system design and discusses sources of uncertainty in process models. 2. It covers various uncertainty models including additive, multiplicative, and parameter uncertainty. 3. It examines methods for robust control design using tools like root locus, frequency response, and PID control to ensure acceptable performance despite model inaccuracies or changes.

Uploaded by

Jaden Moniez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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CHAPTER 12

ROBUST CONTROL
SYSTEMS
This chapter seeks to

1. Appreciate the role of robustness in


control system design
2. Be familiar with uncertainty models,
including additive uncertainty,
multiplicative uncertainty, and parameter
uncertainty
3. Understand the various methods of
tackling the robust control design problem
using root locus, frequency response, ITAE
methods for PID control, internal model,
and pseudo – quantitative feedback
methods
The process model will always be an
inaccurate representation of the actual
physical system because of

1. Parameter changes
2. Unmodeled dynamics
3. Unmodeled time delays
4. Changes in equilibrium point
5. Sensor noise
6. Unpredicted disturbance inputs
The goal of robust system design is to retain
assurance of system performance in spite of
model inaccuracies and changes. Thus, a
system is robust when the system has
acceptable changes in performance due to
model changes and inaccuracies.
Robust Control Systems and System
Sensitivity

A control system is robust when


(1) It has low sensitivities
(2) It is stable over the range of parameter
variations
(3) The performance continues to meet the
specifications in the presence of a set of
changes in the system parameters
For small – parameter peturbations,
differential sensitivities is use a measure of
robustness .

The system sensitivity is defined as

Figure 12.2
The root sensitivity is defined by
Consider the system shown, where
and a PID controller
The system is stable for a gain
-2 < K < 1

The steady state error due to a negative unit


step input
ANALYSIS OF ROBUSTNESS

Figure 12.1
For physically realizable systems, the loop
gain L(s) = Gc(s)G(s) must be small for high
frequencies. This means that S(j)
approaches 1 at high frequencies.

An additive perturbation characterizes the


set of possible processes as follows (assume
Gc(s) = 1)

Ga(s) = G(s) + A(s)


Where G(s) is the nominal process and A(s) is
the perturbation that is bounded in
magnitude. We assume that Ga(s) and G(s)
have the same number of poles in the right-
hand s plane. Then the system stability will
not change if

A(j) < 1 + G(j) for all 

This assures stability but not dynamic


performance.
A multiplicative perturbation is modeled as

Gm(s) = G(s)[1 + M(s)]

The perturbation is bounded in magnitude,


and it is assumed that Gm(s) and G(s) have
the same number of poles in the right-hand
s-plane. Then the system stability will not
change if
Example 1
System with Multiplicative Perturbation
SYSTEMS WITH UNCERTAIN PARAMETERS

Many systems have several parameters that


are constants but uncertain within a range.
For example, consider a system with a
characteristic equation
The analysis of only four polynomials is
sufficient, and they are readily defined for a
third – order system with characteristic
equation
Example 2
Stability of uncertainty system
THE DESIGN OF ROBUST CONTROL SYSTEMS
THE DESIGN OF ROBUST PID-CONTROLLED
SYSTEMS
Example 3 Robust control of temperature

Consider a temperature controller with a


control system as shown in the figure below

and a process

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