现代控制理论课件msw-lecture-5.pptVIP

Modern Control TheoryLecture-5 Content: I.5 Design of Linear Optimal Control I.5 Design of Linear Optimal Control I.5.1 The Flow-chart for Design I.5.2 Modeling of Linearized Control System I.5.3 Solution of Riccati Equation I.5.4 Optimal Fast Turbine Control for Large Turbo-generator I.5.1 The Flow-chart for Design Example1 Example2 I. 5.2 Modeling of Linearized Control System Explanation: I.5.3 Solution of the Riccati Matrix Equation The flow chart 2. Eigenvalue method. Proof (continue) I.5.4 The optimal fast turbine valve control of large turbo-generator Step 2. Set up the mathematical model in time-domain. On steam system (2) How to translate the “s-domain model” into “t-domain model”? On generator system Approximate Linearization: On the model of the whole system Step 3 Construct the optimal controller Homework Please read the related part in Ref [22](Riccati Equation). Please consider the design problem for the inverted pendulum via linear control approach. Please … Bye ! * * Set up the mathematical model for the linear or linearized system under consideration Input the data of the system to form matrices A and B Choose the quadratic performance index and the weighting matrices Q and R. Check if the system controllable: Matrix D=[B AB A2B …An-1B] possesses full rank . If yes Solve the Riccati equation P* Calculate the feedback gain matrix K*=R-1BTP* Design the optimal controller according to U*=-K*X(t) Test the stability dynamic performance of the controlled system How to solve the optimal control law? Solution: A=(1) B=(1) Q=(1) R=(1) Riccati equation: can be written as: rankD=rank[B|AB|…|An-1B]=rank[1]=1 (A,B) is controllable, so Riccati Equation has a positive-definite solution In fact : The optimal control law: The model The matrix form The optimal control problem Where Riccati Equation Judgment So the Riccati equation has a positive definite solution The optimal control law 1.S