Multivariable Control Systems：多变量控制系统.pptVIP

Multivariable Control Systems Ali Karimpour Assistant Professor Ferdowsi University of Mashhad Chapter 2 Multivariable Connections Multivariable Poles Multivariable Zeros Directions of Poles and Zeros Smith Form of a Polynomial Matrix Smith-McMillan Forms Matrix Fraction Description (MFD) Scaling Performance Specification Trade-offs in Frequency Domain Bandwidth and Crossover Frequency Matrix Fraction Description (MFD) A model structure that is related to the Smith-McMillan form is matrix fraction description (MFD). Right matrix fraction description (RMFD) Left matrix fraction description (LMFD) Let is a matrix and its the Smith McMillan is Let define: Matrix Fraction Description (MFD) We know that This is known as a right matrix fraction description (RMFD) where Matrix Fraction Description (MFD) We know that This is known as a left matrix fraction description (LMFD) where Matrix Fraction Description (MFD) We can show that the MFD is not unique, because, for any nonsingular matrix we can write G(s) as: Where is said to be a right common factor. When the only right common factors of and is unimodular matrix, then, we Say that the RMFD is irreducible. It is easy to see that when a RMFD is irreducible, then Matrix Fraction Description (MFD) Example 2-16 RMFD: Matrix Fraction Description (MFD) Example 2-16 LMFD: Scaling Performance Specification Nominal stability NS: The system is stable with no model uncertainty. Nominal Performance NP: The system satisfies the performance specifications with no model uncertainty. Robust stability RS: The system is stable for all perturbed plants about the nominal model up to the worst case model uncertainty. Robust performance RP: The system satisfies the performance specifications for all perturbed plants about the nominal model up to the worst case model uncertainty. Performance Specifica