Scribd
Upload
101 views

Design of Robust Control Systems

The document discusses the design of a robust control system for a second order sun seeker system. A phase lag controller is initially used but results in sensitivity to parameter variations. To improve robustness, a controller is designed with two zeros placed near the desired closed loop poles. This places the characteristic equation roots closer to the nominal values over a range of k values, improving the system's insensitivity to disturbances and parameter variations.

Uploaded by

pooja_2408
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
101 views

Design of Robust Control Systems

The document discusses the design of a robust control system for a second order sun seeker system. A phase lag controller is initially used but results in sensitivity to parameter variations. To improve robustness, a controller is designed with two zeros placed near the desired closed loop poles. This places the characteristic equation roots closer to the nominal values over a range of k values, improving the system's insensitivity to disturbances and parameter variations.

Uploaded by

pooja_2408
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 5

DESIGN OF ROBUST CONTROL SYSTEMS In many control system applications,not only must the system satisfy the damping

and accuracy specifications, but the control must also yield performance that is robust(insensitive) to external disturbance and parameter variations. Consider the second order sun seeker system which is compensated with phase lag control as described earlier. The forward path transfer function of uncompensated system is Gp (s) = 2500*K / s(s+25) Where K=1. The forward path transfer function of the phase lag compensated system with T=100 and a=0.1 is G(s) = Gc(s)Gp(s) =2500*k*(1+10s)/ (s(s+25)(1 + 100s)) Since the phase lag controller is a low pass filter, the sensitivity of the closed loop transfer function M(s) with respect to k is poor.Figure below shows the unit step responses of the system when k=1, the nominal value,and k=0.5 and 2.0. It is to note that if for some reason, the forward gain k is changed from its nominal value, the system response of the phase lag compensated system would vary substantially. k=[0.5 1 2]; t=0:0.005:1; for i=1:3 num=[25000*k(i) 2500*k(i)]; den=[100 2501 25+25000*k(i) 2500*k(i)]; sys=tf(num,den); step(sys,t); xlabel('Time(sec)'); ylabel('output');

title('Unit step response of 2nd order sun seeker system with phase lag controller'); hold on; end

K=2 K=1 K=0.5

The attributes of the step responses and the characteristic equation roots are shown in table below. K 2.0 1.0 0.5 Maximum overshoot 12.6 2.6 1.5 Rise time Settling time 0.2323 0.2020 0.4646 Roots of characteristic equation -0.1005, -12.45j18.51 -0.1009, -12.45j9.62 -0.1019,-6.76, -18.14

0.07854 0.1519 0.3383

The figure below shows the root loci of the system with the phase-lag controller.

sys=zpk(-0.1,[0,-25,-0.01],2500); rlocus(sys); xlabel('real axis'); ylabel('imaginary axis'); title('Root loci of 2nd order sun seeker system with phase lag controller');

The design strategy of the robust controller is to place two zeros of the controller near the desired closed loop poles,which according to the phase lag compensated system are s=-12.45j9.62. Thus we let the controller transfer function be Gc(s)
( )( )

The forward path transfer function of the system with the robust controller is G(s) =
( ( ) )

The figure below shows the root loci of the system with robust controller. By placing the two zeros of Gc(s) near the desired characteristic equation roots,the sensitivity of the system is greatly improved.It shows that when k approaches infinity, the two characteristics equation roots approach -13 j10. num=[9.2937 241.6362 2500.0053]; den=[1 25 0]; sys=tf(num,den); rlocus(sys);

Since the zeros of the forward path transfer function are identical to the zeros of the closed loop transfer function, the design is not complete by using only the series controller Gc(s), since the closed-loop zeros will essentially cancel the closed loop poles.This means that wev must add the forward controller, where Gcf(s)=
( )

The closed loop transfer function of the compensated system with k=1 is
( )

The unit step responses of the system for k=0.5,1.0, and 2.0 are shown and their attributes are given in table below.

K 2.0 1.0 0.5

Maximum overshoot 1.3 0.9 0.5

Rise time

Settling time 0.2121 0.2222 0.2525

0.1576 0.1664 0.1846

Roots of characteristic equation -12.97j9.32 -12.95j8.66 -12.91j7.39

As shown, the system is now very insensitive to the variation of k.

You might also like