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CHAPTER 5

H-INFINITY CONTROLLER

5.1 INTRODUCTION

This chapter focuses on control Structure of H-Infinity controller

and their basic operation. H-Infinity controller is a robust control technique
which is a division of control theory that openly deals with improbability in
its approach to controller design. Robust control methods are designed to
function correctly so long as tentative parameter or turbulence are within
some typically limits. Robust methods endeavor to achieve robust
performance or stability in the occurrence of bounded modeling errors.In
difference with an adaptive control policy robust control is static rather than
adapting to capacity of variations. The controller is designed to work
assuming that positive variable will be unknown H infinity loop shaping is a
planned methodology in modern control theory. It combines the fixed insight
of classical control methods H- infinity optimization techniques to accomplish
controllers whose stability and performance properties hold good in spite of
bounded differences between the nominal plant assumed in design and the
real plant encountered in practice. The control system designer describes the
desired reaction and noise-suppression properties by weighting the plant
transfer function in the frequency domain the resulting ‘loop-shape’ is then
‘robustified’ through optimization. The general structure of H-infinity control
is illustrated as shown in Figure 5.1. (Alcantara et al 2011).
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Figure 5.1 Control Block Diagram of H-Infinity Controller

5.2 H-INFINITY CONTROL FORSWITCHED RELUCTANCE

MOTOR

Over the past decades, the SRM have been the focus of several
researches. The SRM is a doubly salient device, in which a torque is created
by the tendency of the rotor to move to a position where the inductance of the
excited windings is increased. The smooth production of electromagnetic
torque is an enviable characteristic of any motor. The benefit of SRM are low
manufacturing cost, excellent reliability, fault tolerance, wide range of
operational speeds and torque, and fast dynamic responses. The SRM is
convenient to numerous applications because of its simplicity and low-priced.
The higher torque ripple, vibration, and acoustic noise are the major
drawbacks that heavily disturbing the performance of SRM during high speed
application. Thus, an exact knowledge of the rotor position is necessary for
achieving an enhanced performance of the SRM drive. Due to the simple
motor structure and power converter requirements, SRM drives have been
found to be competitive with conventional ac and dc drives. An excellent
electromagnetic operation of an SRM can be achieved only by the appropriate
excitation control, but this is quite complex to attain only from experiments.

Moreover, during speed control, the SRM has undergone some

troubles due to its nonlinear characteristics. For example, the function of flux
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correlation based on phase current and rotor position represents the key
characteristic of the SRM, but it is tricky to depict such a relationship due to
the effects of magnetic saturation and double saliency of the construction. The
SRM is a powerful, reliable and almost maintenance free device for variable
speed application. The non-linear methods namely, sliding mode, artificial
neural network (ANN), fuzzy logic and gain tuning Proportional Integral (PI)
controllers are often utilized for SRM control. The traditional control
techniques are incompetent in providing superior damping performance.
Robust H-infinity control can give a perfect control to linear systems and high
robustness to stabilize in unfavourable operating conditions such as parameter
change, high disturbance environment actuator saturation, and model
uncertainty. The H-infinity control theory makes it possible to apply
multivariable control with frequency domain design technique and to obtain
efficient stable control systems (Rajendran & Padma 2012).

The SRM controlling problem is one of the mixed sensitivity

control problems. The H-infinity control technique is proposed for controlling
the rotor speed of SR motor. The function of the proposed control technique is
to identify the position of the rotor. The rotor position variation is identified
from the speed performance of the motor. The speed of the motor is compared
with the reference speed and the actual speed of the rotor is determined.
Based on the rotor position, the controller weight is adjusted. By satisfying
the control strategy condition, the rotor speed of the motor is maintained as
stable. From the controlled output, the torque, speed, and current
characteristics are analyzed. The details of the problem statement and the
proposed H-infinity controller based speed control technique are described
below. H infinity controller used to increase the ability of Motor performance
and increase the robustness of Switched reluctance motor Implement the H
infinity controller based SRM by using Matlab software and get waveforms.
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5.3 ROBUST CONTROLLER FORMULATION FOR SRM

H-Infinity is one of the robust control techniques, used to

synthesize controllers for achieving robust performance of SRM. To use H-
infinity method, a control designer first expresses the control problem as a
mathematical optimization problem and then finds the controller that solves
this problem. The H-infinity control technique is readily applicable to solve
problems involving multivariable systems (Ramya 2012). Also, the non-linear
constraints are handled well. In the proposed SRM speed control, the H-
infinity control structure is based on a standard feedback structure. It consists
of a plant ' P' , a controller ' K ' , reference speed ‘ω commanded input i.e.,
manipulated variable’u’, output ‘z’ and error speed 'e' . In order to include
some performance objectives in the system model, the standard feedback
structure is modified by adding weighting functions. The weight function
measures the components in different metrics. The standard feedback
H-infinity control structure configurations are shown in Figure 5.2.

Figure 5.2 H-infinity Feedback Control Structure Configuration

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The general formula for the above system is illustrated below,

[ ] ( )[ ] (5.1)

where, and are the error and output of the H infinity feedback control
system.

The value of P(s)is the transfer function of SRM, which is given as,

( )
( ) (5.2)
( )

where, the Rm be the transfer function resistance, the condition for satisfying
the closed loop system is,

Tzω(s) ‖∞ ≤ γ (5.3)

where, Tzω(s) is the closed-loop transfer function matrix and γ the machine
impedance angle. The weight of the matrix is adjusted to control the output of
the motor. The weight adjustment process is repeated till the SRM speed
reaches a stable condition that is described in equation (5.3). The output of
the system is represented in the frequency domain. The input and output
weight of the system are WP and Wu. Usually, the H-infinity control problem
is solved using Riccati equations. Here, the control problem is considered as
the mixed sensitive problem. The closed loop stable speed condition of SRM
is described as,

WpGS Wp S
Tz   (5.4)

WuT Wu KS 

where, GS , S , T and KS are the pre-specified templates of all the closed

loop transfer function of SRM. The sensitive weight functions WP and Wu are
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defined as follows. The inverse of the weighting function WP(jω) is used to

impose a performance specification in terms of the sensitivity functions.

( )
( ) (5.5)
( )

The control output u is weighted according to the SRM limitations.

( )
( ) ( )
(5.6)

Where, Mu, Ms are the mutual inductance of the output and

saturation conditions, As is the specific electrical loading of the system, ωb,
ωbc are the angular velocity parameters of SRM, is the damping ratio. Then,
using the sensitive function equations (5.5) and (5.6) the sensitivity of the
SRM is maintained. So, the steady state error of the system is reduced and the
controller gain is ensured. The purpose of ensuring the controller gain is to
make the speed of the SRM in a stable range at any speed variation. The
speed variation is compensated by reducing the uncertainty of the system by
means of adding weight. The weight matrix of the system is defined based on
the rated speed of SRM. Once the weight function is defined, then the output
speed of the SRM is applied to the H-infinity controller. The H-infinity
control strategy is compared with the actual speed of the motor from the
reference speed. According to the speed variation, the weight is added and the
motor speed is regulated. The updating of weight is performed by the Riccati
equation, which is used to analyze the inequalities of the weight matrix for the
requirements.
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5.4 H-INFINITY CONTROLLER BLOCK DIAGRAM

Here, the angular velocity is controlled by the H-infinity controller.

Through the control value of angular velocity, the friction of the system is
reduced. The block diagram of drive system is shown in Figure 5.3.

Figure 5.3 H-Infinity controlled SRM Drive System

5.5 SIMULATION AND RESULTS

The proposed H-infinity robust controller based SRM rotor position

speed control technique is simulated in matlab working platform (version
7.12). From the simulated model, the rotor speed control performance of the
proposed control technique is analyzed. Then, the speed controlcharacteristics
of the H-infinity control technique are compared with the existing speed
control technique such as PI controller and fuzzy controller. After that, the
torque, flux, and transfer function of the SR motor are described. The
simulink model of the proposed control system is illustrated in Figure 5.4.
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Figure 5.4 Simulink Model of the H-Infinity Controller

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The simulation model of the H-infinity controller Sub system is

shown in Figure 5.5.

Figure 5.5 Simulink Model of H-infinity Controller sub system

5.6 SIMULINK MODEL DESCRIPTION

The proposed control system contains a current-controlled 60-kW

6/4 SRM drive. The SRM is fed by a three-phase asymmetrical power
converter having three legs, each of which consists of two IGBTs and two
free-wheeling diodes. Here, DC supply voltage of 240 V is used. The
converter turn-on and turn-off angles are kept constant at 45 deg and 75 deg,
respectively, over the speed ranges. The reference current is 200 A and the
hysteresis band is chosen as 10 A. The desired speed of the SRM is settled as
above 4500 rpm. Then, the SRM transfer function model is derived in terms
of resistance ( Rm ) and inductance (L) . The derived model is described as,

( ) (5.7)
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From the above derived model, the rotor angular speed, torque, and voltage
characteristics are obtained. The obtained characteristics are illustrated below.
The rotor angular speed of SRM, flux, torque and current graphs are obtained
and shown in Figures 5.6, 5.7, 5.8, 5.9, 5.10 and 5.11 respectively.

Figure 5.6 shows the Speed Control of H - Infinity controller for

SRM. Initially speed is increased from 0 to 4500rpm at small time interval.
After 0.04 sec SRM maintained the constant Speed of 4500 rpm.

Figure 5.6 Rotor Speed control of H-infinity control

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Figure 5.7 shows the SRM current of H- Infinity controller. Initially

starting flux nearly 0.4 Wb and finally settled at 0.25Wb.

Figure 5.7 SRM Flux variation of H-infinity control

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Figure 5.8 shows the SRM torque of H-Infinity controller. Initially

starting Torque nearly 150Nm and finally settled at 75Nm.

Figure 5.8 SRM torque of H-Infinity control

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Figure 5.9 shows the SRM current of H-Infinity controller. Initially

starting current nearly 250A and finally settled at 75A.

Figure 5.9 SRM current of H-Infinity control

H - Infinity controller of SRM, the rotor speed control performance

accuracy and controlling time are analyzed. In Figure 5.6, the rotor speed of
SRM is smoothly controlled by H-infinity controller.
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The PI controller has smoothly controlled the rotor speed but it is

inefficient in achieving the desired rotor speed. So, the performance of the
SRM would be affected. In Figure 5.10 the fuzzy control technique has taken
more time for achieving desired rotor speed. Among the control techniques,
the proposed H-infinity control technique has controlled the rotor speed
robustly and the control action response is quick compared to PI and fuzzy
controller. The speed control action time performance of the H-infinity, PI,
and fuzzy controller are described as follows.

Performance of Speed Control

35
Time
30

25
Time in sec

20

15

10

0
Fuzzy PI H-infinity

Figure 5.10 Performance of Speed Control Action in Time.

The fuzzy control technique has taken 4.3038 seconds extra time
compared to H-infinity controller. Similarly, compared to PI controller, the H-
infinity control has taken 0.0609 seconds less for making robust speed
system. Hence, the H-infinity control strategy is more efficient for creating
robust system than the PI and fuzzy controller. Then, the SRM rotor speed
control action of the H-infinity control technique is compared with the PI and
fuzzy controller, which are shown in Figure 5.9. From the above performance
analysis, the H-infinity controller has achieved a remarkable level in reducing
the robustness.
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5.7 SUMMARY

In this chapter discussed the PI controller and Fuzzy logic

controller, H-Infinity controller for Switched reluctance motor. Compare with
PI and Fuzzy logic controller, fuzzy logic controller shows the minimum
torque ripple, reduced speed oscillation, low starting time and reduced speed
oscillation. comparison between H - infinity controller and FLC, H -Infinity
controller gets low steady state error, better speed performance and minimum
torque ripple .The performance of H infinity controller based switched
reluctance motor is better than other controllers.