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RobustControlSystems HW3

This document describes a homework assignment to design an H-infinity optimal controller for a system with input uncertainty and disturbances. The system consists of a plant G(s) with 1% uncertainty at low frequencies increasing to 100% at high frequencies, a measurement system H(s), and an unknown disturbance. The controller F(s) must reject disturbances below 10rad/s, have less than 0.1% steady state error to a step, and overshoot less than 50%. Weighting functions Wp and Wi are proposed to model performance specifications and plant uncertainty. A generalized plant is formed and its transfer function found. An H-infinity controller is designed and closed loop responses are plotted.

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Kamer Bibuçukvolt Semercioglu
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109 views

RobustControlSystems HW3

This document describes a homework assignment to design an H-infinity optimal controller for a system with input uncertainty and disturbances. The system consists of a plant G(s) with 1% uncertainty at low frequencies increasing to 100% at high frequencies, a measurement system H(s), and an unknown disturbance. The controller F(s) must reject disturbances below 10rad/s, have less than 0.1% steady state error to a step, and overshoot less than 50%. Weighting functions Wp and Wi are proposed to model performance specifications and plant uncertainty. A generalized plant is formed and its transfer function found. An H-infinity controller is designed and closed loop responses are plotted.

Uploaded by

Kamer Bibuçukvolt Semercioglu
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ROBUST CONTROL SYSTEMS HOMEWORK

(Deadline: December 27, 2014)


Consider the system described by the following block diagram:

F(s)

G(s)

H(s)
where r is the reference input, y is the output of the system, and d represents disturbances. Here, G(s) represents a
system with multiplicative input uncertainty, H(s) represents the dynamics of the measurement element and F(s) is the
controller. Assume that nominal system transfer function is found to be

G0 ( s ) =

s+2
s + 2s 2
2

The uncertainty on this system model is around 1% for low frequencies (w=0). For higher frequencies (w > 100
rad/s), however, the uncertainty on the model increases up to 100%. Transfer function of the measurement apparatus
is given by

H (s) =

100
s + 100

It is required to design an H optimal controller F(s) such that for all possible perturbations on the nominal plant the
following specifications are met:
i. Disturbances with angular frequency less than 10 rad/sec should be rejected.
ii. Steady state error with respect to a unit step input should be less than 0.1%.
iii. Overshoot should be less than 50%.
Implement the following steps:
a.
b.
c.
d.
e.
f.
g.

Propose a weighting function (Wi) for the plant uncertainty.


Propose a weighting function (Wp) to meet the performance specifications.
Propose a generalized plant to solve this problem.
Find the transfer function of the generalized plant.
Find the closed-loop system transfer function in terms of G, H, Wp, and Wi. Discuss why the generalized
plant you propose represents the problem at hand.
Find an H optimal controller that solves this problem.
Draw the closed-loop system response with respect to a unit step input for the nominal system and at
least 2 perturbed systems such that ||Tzw|| =1.

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