Control 4

Summary

Themes
 Feedback
 Stability
 Robustness
 Performance
 Frequency response d

 Loop shaping y
r u
F C P
-
n

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 Control 4

Summary of Feedback

Benefits Closed-loop Stability Required

 disturbance rejection
 robustness Good tracking and disturbance
 linearity improvement attenuation are retained as long
 bandwidth improvement as
 closed-loop system remains
stable
 the gain remains high

Under these conditions high-gain

feedback implies robustness with
respect to loop uncertainty
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 Control 4

Pitfalls of High Gain Feedback

Potential problems
 naively making the gain large
can easily result in an
unstable feedback system
 even if feedback system is
stable, overly large plant
inputs may arise that exceed
the plant capacity
 measurement noise causes
loss of performance

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5. FREQUENCY-RESPONSE DESIGN GOALS Control 4

Design Issues (recap)

Targets Limitations
 Closed-loop stability  Plant capacity
 Disturbance attenuation  Measurement noise
 Good command response
 Robustness
 stability
 performance

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 Control 4

System functions: L and S

Loop gain L  Sensitivity function S

1
L  PC y d
1 L
S

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 Control 4

Disturbance Attenuation and Bandwidth

Disturbance Attenuation Bandwidth

 The smaller |S(j)| is the more  L can only be made large over
disturbances are attenuated at a limited frequency band
frequency   The size of this band is called
 |S| is small if the magnitude of the bandwidth B
the loop gain L is large
 L needs to be made large for
frequencies where disturbance
attenuation is needed
 However, this is limited by
plant capacity

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 Control 4

Bandwidth and Crossover Region (S)

 Typical shape of magnitude of the sensitivity function:

 low at frequencies up to the bandwidth
 near 1 at frequencies above the bandwidth
 The frequency range around B is the crossover region
 “peaking” of S should be avoided
 otherwise disturbances are amplified

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 Control 4

System functions: TF and T

 Closed-loop transfer Complementary sensitivity

function TF function T

L L
y Fr TF  F
1 L 1 L
TF T

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 Control 4

Command Response (T,F)

 Recall that T = 1 - S
 T determines the command response - it is close to 1 up to B
 When F = 1, closed-loop transfer function TF is low pass with the
same bandwidth as the band for disturbance attenuation
 If a different command response is required, F can compensate for
this

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 Control 4

Measurement noise (T)

 T determines
measurement noise
sensitivity
 high frequencies: T
should decrease as
quickly as possible
 low frequencies: T is
1 PC PC
y d Fr  n close to 1 - this
1  PC 1  PC 1  PC emphasises the need
for good low-noise
S T T sensors

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 Control 4

System functions: Su

 Control sensitivity function Su

C
u ( Fr  n  d )
1  CP
Su

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 Control 4

Plant Capacity (Su)

Note that T  Su P  To prevent overly large inputs Su (T)

should not be too large
Thus, requirements on Su can be
 At low frequencies the loop gain
translated into requirements on T should be high for low sensitivity,
and the magnitude of T is close to 1
 This can lead to plant capacity
being exceeded
 At high frequencies Su should
decrease as fast as possible,
otherwise measurement noise
affects the input - this is consistent
with the robustness requirement
that T decrease fast

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 Control 4

Plant Capacity (Su) - r.h.p. zeros

1  Unstable open loop plant

When L  CP  1 then Su 
P zeros limit the closed-loop
If the plant P has zeros in the right bandwidth
half plane, 1 P is unstable  Su may only be made equal to
1/P up to the frequency which
equals the magnitude of the
r.h.p. zero with the smallest
magnitude

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 Control 4

Stability Robustness

 Robustness
 For loop gain perturbations T needs to be
small
 For inverse loop gain perturbations S
needs to be small
 Performance
 At high frequencies T needs to be small
 At low frequencies S needs to be small
 Perturbations
 High frequency uncertainty (parasitics)
causes significant loop gain perturbations
 low frequency uncertainty (load changes
etc.) causes significant inverse loop gain
perturbations
 Crossover
 Neither S nor T can be small, they must
therefore be prevented from peaking.
Good stability margins help to ensure this

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 Control 4

Performance Robustness
 Performance is determined by S, T,
Su and TF Denote nominal quantities by S o etc.
 Since Su and TF depend on S and T,
we need only consider the effect of Relative changes in 1 S and 1 T
perturbations on S and T 1 1 1 1
 
S So So  S L  Lo L L
 For robust S we need To small   To  To o
1 S Lo 1
 For robust T we need So small
So L
1 1 1 1
 Normally, S is small at low  
frequencies, making T robust at low T To T  To L  Lo L Lo
frequencies - this is the region where   So  So
1 T L 1
T’s values are significant
To Lo
 Conversely, T is normally small at
high frequencies, making S robust at
high frequencies - the region where S
is significant

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 Control 4

Vector margin related to peak S

Complementary vector margin related to peak T

1 1
sm  rm 
max So ( j ) max To ( j )
 

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 Control 4

Review of Design Requirements

Sensitivity S small at low In the Crossover Region peaking

frequency to achieve of both S and T should be
 disturbance attenuation avoided to prevent
 good command response  overly large disturbance
 robustness at low frequencies sensitivity
 excessive influence of
measurement noise
Complementary sensitivity T
 loss of robustness
small at high frequencies to
prevent
 exceeding plant capacity
 adverse affects of
measurement noise
 loss of robustness at high
frequencies
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6. LOOP SHAPING Control 4

Loop Gain L

 Feedback system design can

be seen as a process of loop
shaping
1 L
S , T , L  CP
1 L 1 L
 Performance and robustness
requirements result in Low frequencie s :
specifications on S in the require S  1, T  1  L( j )  1
low frequency region and on
T in the high frequency
region High frequencie s :
require T  1, S  1  L( j )  1
 This results in bounds on the
loop gain L

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 Control 4

Loop shaping

Low frequencies: large

loop gain
High frequencies: small
loop gain

 In the crossover region the phase

is constrained because of
stability

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 Control 4

Crossover Region

 The more closely the Nyquist 1

S ,
plot of L approaches -1 the 1 L
more S peaks
L 1
 If the plot of L approaches -1 T 
1 L 1
so does the plot of 1/L. Hence 1
the more closely the plot of L L
approaches -1 the more T
peaks
 Thus to avoid peaking we
need good stability margins
 But gain and phase are not
independent

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