AAC Part 1b.ppt - Politecnico di Milano · 2018-03-15 · 35 dqg 635 wudqvihu ixqfwlrqv...
Transcript of AAC Part 1b.ppt - Politecnico di Milano · 2018-03-15 · 35 dqg 635 wudqvihu ixqfwlrqv...
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Advanced Aerospace Control
Advanced Aerospace Control: Absolute Stability
Marco LoveraDipartimento di Scienze e Tecnologie AerospazialiPolitecnico di [email protected]
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In many problems of practical interest feedback systems can be modelled as
A frequent problem is to study the effect of inserting a nonlinearity in an otherwise known linear feedback system.
Introduction
LTIsystem
(t,y)- y
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Absolute stability
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Problem statement
Consider the feedback system given by
where u,y 2 R and (¢,¢) satisfy a condition like
(sector-bounded nonlinearity)
where , , a, b ( > , a < 0 < b) are constant.
Aim: study stability of the equilibrium at x=0.
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Sector-bounded nonlinearities
Example of a sector-bounded nonlinearity:
y
y
y
(y)
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Absolute stability
The feedback system is called absolutely stable if x=0 is globally (uniformly) asymptotically stable for all (¢, ¢) in the assigned sector.
Stability analysis using Lyapunov methods allows to relate absolute stability to properties of the linear loop trasfer function.
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PR and SPR transfer functions
Consider a LTI system described by the transfer function:
G(s) is Positive real (PR) if:
G(s) is real for all real s;Re[G(s)] ¸ 0 for all s: Re[s] > 0;
Strictly positive real (SPR) if:there exists >0 such that G(s-) is PR.
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PR and SPR transfer functions
Geometrically the PR condition means that function G(s) maps the closed right-half plane to itself;
Origin of the definition: circuit theory. It can be proved that passive electrical networks (resistors+inductors+capacitors) always have PR transfer functions.
In general:Linear systems that do not generate energy are PR;Dissipative linear systems are SPR.
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A condition for PR
Theorem:A transfer function G(s) is PR if and only if:
G(s) is real for all real s;
G(s) is stable;
Poles of G(s) with null real part are either distinct or have real and non-negative residuals.;
Re[G(j)] ¸ 0 8 such that j is not a pole of G(s).
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Note: PR and Nyquist plots
If G(s) is PR, then the Nyquist plot of G(j) is in the closed right-half plane.
This implies that if G(s) has relative degree > 1 then it is not PR (the Nyquist plot violates the previous condition).
Therefore the relative degree of a PR G(s) is 0 or 1.
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A sufficient SPR condition
Theorem:A transfer function G(s) is SPR if:
G(s) is asymptotically stable;Re[G(j )] > 8 , > 0;
Main difference between PR and SPR: in the PR case poles on the imaginary axis are «allowed»; a SPR G(s) must be asymptotically stable.
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A SPR condition (grel=0)
Theorem:A transfer function G(s) with relative degree 0 is SPR if and only if:
G(s) is asymptotically stable;
Re[G(j)] > 0 8 .
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A SPR condition (grel=1)
Theorem:A transfer function G(s) with relative degree 1 is SPR if and only if:
G(s) is asymptotically stable;
Re[G(j)] > 0 8 ;
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Examples
G(s)=1/s is PR:
G(s)=1/s however is not SPR, as
has a pole with positive real part for all > 0.
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Examples
G(s)=1/(s+a), a>0, is PR
G(s)=1/(s+a) is also SPR, as
has a pole with negative real part for all < a.
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The Kalman-Yakubovich-Popov Lemma
Lemma: the controllabile and observable LTI system
with asymptotically stable A, and transfer function
is SPR if and only if there exist matrices P=PT>0, W and L and a constant > 0 such that
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The Kalman-Yakubovich-Popov Lemma (2)
When D=0 the Lemma becomes simpler:
Lemma: the controllabile and observable LTI system
with asymptotically stable A, and transfer function
is SPR if and only if there exist matrices P=PT>0 and L such that
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The Kalman-Yakubovich-Popov Lemma (3)
This Lemma characterises the SPR property in state space form;
It is useful to construct Lyapunov functions to study absolute stability;
It can be generalised to the PR condition;to the study of MIMO systems.
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Absolute stability analysis
The KYP Lemma allows to relate absolute stability and the PR, SPR properties.
The frequency-domain interpretation of SPR allows to work out a sufficient condition for absolute stability, based on the Nyquist criterion, known as the circle criterion.
We start from a particular case with asymptotically stable A and =0.
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Sufficient condition for absolute stability(A a.s. and =0)
The system
with A asymptotically stable, (A,B) controllable, (A,C) observable, and (t,y) sector-bounded with =0, is absolutely stable if
is SPR, where
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Proof
The sector-bound condition (=0) can be written as
Indeed for α=0 the sector condition reduces to
and dividing by y we have
for positive y and
\beta yfor negative y. Combining the two pairs of inequalities one gets
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Proof
Consider now the Lyapunov function candidate
The derivative along the trajectories is given by
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Proof
Applying the Lemma KYP to Z(s), which has state space form [A, B, C, 1] (grel=0), we have
Substituting in the expression for the derivative we get
The last three terms form a quadratic form
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General case
The =0 requirement on the nonlinearity can be removed:
G(s)(t,y)-
- -
T(t,y) GT(s)
G(s)(t,y)- y
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General case
where
and T is now sector-bounded with =0.The upper bound of the sector for T is of course -.
G(s)(t,y)-
- -
T(t,y) GT(s)
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G(s)(t,y)-
- -
T(t,y) GT(s)
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General case
Assuming that GT(s) is a.s. we can conclude that the feedback system is asymptotically stable if the transfer function
is SPR.
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Sufficient condition for absolute stability(general case)
The system
with (A,B) controllable, (A,C) observable, and (t,y) sector-bounded is absolutely stable if:
is asymptotically stable;
is SPR.
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The circle criterion
Since ZT(s) has grel=0, the condition
is equivalent to
A geometric interpretation can be given.
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The circle criterion
Let
Then
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The circle criterion
Evaluating the real part
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The circle criterion
Therefore we have that the condition
Can be written as
So, for > > 0
And for > 0 >
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The circle criterion: case > > 0
Assume that > > 0; then
In the complex plane:- < /2)
G(j)
must not enter the circle D(,).
-1/-1/ Re
Im
D(,)G(j)
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The circle criterion: case > > 0
A.s. of ZT(s) is equivalent to a.s. of
So ZT(s) is a.s. if and only if G(s) satisfies the Nyquist criterion with respect to point (-1/,0).
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The circle criterion: case > = 0
Assume that > = 0; then the condition is
In the complex plane:G(j)must lie to the right of the line with abscissa -1/.
-1/ Re
Im
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The circle criterion: case > = 0
A.s. of G(s) can be checked directly.
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Assume that > 0 > ; then
In the complex plane: G(j)
must lie inside thecircle D(,).
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The circle criterion: case > 0 >
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The circle criterion: case > 0 >
If G(j) is inside D(, ) then it can’t encircle -1/;
Therefore GT(s) is a.s. if G(s) is.
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Example 1
Consider the system
Since G(s) is a.s. we can apply the criterion in two cases:
> 0 > ; > = 0;
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Example 1
With =-= we construct a circle enclosing the Nyquist diagram:
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Example 1
With >0 costruct a line limiting the Nyquist diagram to the left:
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Example 1
Consider now a saturation nonlinearity; as >1, the feedback system
will have a GAS equilibrium at x=0.
Limiter1
uMax={1}
Limiter1
TransferFunct...
b(s)
a(s)k={-1}
Gain1
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Example 1
0 2 4 6 8 10 12 14 16 18 20-200
-150
-100
-50
0
50
100
150
200
250TransferFunction1.x[1] TransferFunction1.x[2] TransferFunction1.y
0 2 4 6 8 10 12 14 16 18 20-1.2
-0.8
-0.4
0.0
0.4
0.8
1.2
TransferFunction1.inPort.signal[1]
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Example 2
Consider the system
under feedback with u=-sat(y):
and study for which values of x=0 is GAS.
Limiter1
uMax={1}
Limiter1
TransferFunct...
b(s)
a(s)k={-1}
Gain1
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Example 2
u=-sat(y) is sector bounded with =1 and =0.
So we must check that:
G(s) is a.s.;
The Nyquist diagram of G(j) is to the right of the line with abscissa -1.
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Example 2
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Example 2
G(s) is a.s. regardless of ;
The Nyquist diagram of G(j) is to the right of the line with abscissa -1 for sufficiently small (es. =2).
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Example 2
Simulation for =2. What happens for larger values of ?
0 10 20 30 40 50 60 70 80 90 100
-0.06
-0.04
-0.02
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14TransferFunction1.y
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Example 2
Simulation for =5 and =10:
0 10 20 30 40 50 60 70 80 90 100-3.0
-2.5
-2.0
-1.5
-1.0
-0.5
0.0
0.5
1.0
1.5
2.0
2.5
3.0TransferFunction1.y TransferFunction1.y
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Notes
Absolute stability can be extended to MIMO systems.
In the MIMO case the graphical interpretation becomes less intuitive.
However one can solve numerically the SPR conditions given by the KYP Lemma in a very efficient way.
All the above results apply to locally sector-bounded nonlinearities.