Loop transfer recovery (LTR) procedures.PPT

Multivariable Control Systems Ali Karimpour Assistant Professor Ferdowsi University of Mashhad Chapter 8 Design example Loop transfer recovery (LTR) procedures Recovery at the plant output Closed-loop step responses to step responses to different inputs. Design example Loop transfer recovery (LTR) procedures Recovery at the plant output The closed-loop poles are located at 1.1 ###Control System Design### {{{Control, Design}}} Shaping the principal gains (singular values) Let Ff as the return difference of Kalman filter, and define Then we can show that Exercise I : Derive equation I . (Hint Maciejowski 1989 pp. 227-231) Modify the matrices W and V Suppose we choose V=I. Then from which it follows that Exercise II: Derive equation II . So we can reduce by increasing , etc. But the point is not merely to reduce all the singular values of , but to reduce the largest one, relative to smallest. One way is: Suppose we need adjustment at ω1 Now let So so the jth singular value has been changed by a factor (1+α), while all the other singular values have been left unchanged. Shaping the principal gains (singular values) Modify the matrices W and V Example: Let Shaping the principal gains (singular values) Modify the matrices W and V Singular value of GfW1/2 is: We want to change 7.6 to 3*7.6 so we change W1/2 by Now let So so the jth singular value has been changed by a factor (1+α), while all the other singular values have been left unchanged. The problem with this approach is that uj is usually a complex vector, whereas we wish to keep W1/2 real. Once again we are faced with the problem of approximating a complex matrix by a real matrix, and as before we can employ the align algorithm. In this case other algorithms may be more appropriate, however, since we really want to approximate uj rather than align it. In particular, Re{uj} is sometimes an adequate approximation. A further possibility is to appro