Embedded Control Systems (EI7262)

Lecture 5

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Recap Control Basics

Transfer function (Input-Output relation):

State-space model:
State-space to transfer function:

Characteristic Polynomial:
System Poles:

Roots of the characteristics polynomial

Stability condition:
(asymptotic stability)
[System pole lies in the left side of the complex plane]

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Recap Continuous-time Control Design

Given system:

Control law:

Objectives
(i) Place system poles
(ii) Achieve y r as t
(iii) Design K and F

1. Check controllability of (A,B). Must be controllable. must be invertible.

2. Choose closed loop poles

3. Apply Ackermanns formula

4. Feedforward gain

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Recap Discretization

Continuous-time State-space model

Taking Laplace transform

Taking inverse Laplace transform

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Discretization Basic Maths

To prove:
Negative Binomial Expansion for Matrices:

Matrix exponential expantion

Taking inverse Laplace transform

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Discretization Basic Maths

To prove:
Inverse Laplace Transform of product of two functions

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Discretization Basic Maths

ZOH

[Changing limits of integration]

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Discretization Basic Maths

Periodic sampling: tk+1 tk = h (sampling period -- constant)

We have

Replacing (tk+1 tk) with sampling period h in

We obtain

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Recap Discrete-time Control Design (Ideal Case)

Given system:

Control law:

Objectives
(i) Place system poles
(ii) Achieve y r as t
(iii) Design K and F

1. Check controllability of (A,B) ! must be controllable. must be invertible.

2. Choose closed loop poles

3. Apply Ackermanns formula

4. Feedforward gain

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Discretization Basic Maths

Z-transform:
Inverse Z-transform:

Time shifting property of Z-transform:

Z-transform of constant value:
Discrete time systems can be represented in form of difference equation: e.g.

Transfer function:

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Recap Discrete-time Control Design (Ideal Case)

Closed-loop
system
Taking z transform

F should be chosen such that y[k] r (constant) as k i.e.,

Using final value theorem

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Discrete-time System Stability

Transfer function:

Negative binomial theorem:

Taking inverse Z-transform

Stability condition:

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Discrete-time System Stability

Stable system
Absolute values of all poles lesser than unity
Marginally stable system
Absolute values of one or multiple poles are unity
Unstable system
Absolute values of one or more poles are greater than unity
1
Marginally stable

Stable

Unstable
1

Unit circle

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Recap Discrete-time Control Design (Delay Case)

What is happening within one sampling period?

x(tk)

Tc

x(tk+1)

Dc

tk

tk+1

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Recap Discrete-time Control Design (Delay Case)

Continuous-time equation:

ZOH + Delay:

Sampling Period (tk+1 tk = h)

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Recap Discrete-time Control Design (Delay Case)

Continuous-time model

ZOH sampling with period h and

constant sensor-to-actuator delay Dc

Sampled-data model
(Delay Case)

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Recap Discrete-time Control Design (Delay case)

We define new system states:

With the new definition of states, the state-space becomes

where the augmented matrices are defined as follows

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Recap Discrete-time Control Design (Delay case)

Given system:

Control law:

1. Check controllability of
follows

Objectives
(i) Place system poles
(ii) Achieve y r as t
(iii) Design K and F

. Must be controllable. must be invertible where is defined as

2. Choose poles
3. Apply Ackermanns formula

4. Feedforward gain

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Discrete-time Control Design for one

sampling period sensor to actuator delay

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Timing Details

x(t)

Sampling period = h

x(tk)

Ts

tk

Tc

Deadline Dc

x(tk+1)

Ts

tk+1

x(tk+2)

Ts

tk+2

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Timing Details

x(tk)

Tc

Deadline Dc

Ts

tk

x(tk+1)

Ts

tk+1

x(tk+2)

Ts

tk+2

The u(tk) is computed based on one sampling period old measurement x(tk-1)
and u(tk) is applied at t = (tk + h) =tk+1.

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Implementation setting

Physical
System

actuator
actuate()

sensor
measure()

Ts

Ta
u[.]

Tc
x[.]

Task scheduler or Real-time operating system (RTOS)

Input buffer

! Globally accessible to all tasks

Output buffer

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Design problem: control system perspective

Given system:

Control law:

Objectives
(i) Place system poles
(ii) Achieve y r as t
(iii) Design KT and FT

1. Check controllability of (,). Must be controllable. must be invertible.

Is it helpful any more?

Answer: No
When can we design a controller for the above system with delayed input?
Answer: we have to go for elaborate stabilizability check

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Analysis and design based on the delayed input

u[k] = KT x[k-1]
Step I: Transformation to canonical form
Step II: Analysis and design of system in
controllable canonical form

Step III: Gain transformation

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Step I: Transformation to canonical form

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Transformation to Canonical form

We have a discrete-time system

We wish to obtain the states z[k] = T x[k]

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Since z[k] = T x[k],

Clearly,

What is T?

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Transformation Matrix T
Assume
We know,

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Transformation Matrix T
We know,

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Transformation matrix T (Summary)

Assume that the non-delayed (ideal) system is controllable with det() 0

where is given by

Reading reference: http://www.atp.ruhr-uni-bochum.de/rt1/syscontrol/node104.html

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Summary: Step I

Continuous-time
model

Discrete-time
model

Transformation
complete

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Step II: Analysis and design of controller

u[k] = K z[k-1] for systems in controllable canonical
form

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System in controllable canonical form

We have the following system:

Since the system is controllable, we can start with a controllable canonical

form for a system with dimension n:

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System states

We have n system states

With controllable canonical form

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The delayed input

The delayed input with only feedback part

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Closed-loop system
Putting u[k] = Kz[k-1]

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Augmented states

Introduce a new state

We have (n+1) system states

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Augmented system

The closed-loop system has (n+1) system states

The stability properties of this system depends on cl

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What do we have so far

We have a discrete-time system: z[k+1] = c z[k] + c u[k]

Control input: u[k] = K z[k-1]

The augmented closed loop system: Z[k+1] = cl Z[k] where

What is left: how to design K such that cl has poles at the desired locations?

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Characteristics equation (recall: lecture 1)

For system Z[k+1] = cl Z[k], the characteristics equation is obtained by making det(I - cl ) = 0

Thus, we obtain,

We obtain the characteristics equation of the augmented system:

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Stabilizability

The system is stabilizable if there exists a feedback gain K with control input u[k] = K z[k-1] that
places all the system poles
circle

of the closed-loop system within the unit

The first question is if it is possible to place (n+1) poles arbitrarily or not. If it not possible to place the
poles arbitrarily then what is the condition of pole choice. This ends up in the question of
stabilizability.

The next question is of course how to choose the feedback gain K if the system is stabilizable.

Therefore, the remaining questions are

(i) Part 1: what is the condition for stabilizability
(ii) Part 2: if stabilizable, how to design the feedback gain K

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Pole placement

Suppose (n+1) desired closed-loop poles are given by,

Therefore, the desired characteristics equation is given by:

Please note that

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Comparing desired with actual

Comparing the characteristics equations

We can computing the feedback gain:

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Part 1: Stabilizability condition

The part of the characteristics equation that is not modified by the input signal u[k] = K z[k-1] is given
by,

For stabilization

The above condition implies

Clearly, the condition for stabilization with one sampling period

delayed input:

and

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Part 2: Designing feedback gain K

Step1: choose the desired closed-loop poles

such that

Step2: We can computing the feedback gain:

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Summary: Step II
Discrete-time system
in Canonical form

Stabilizability

Feedback control

Desired poles

and

Gain computation

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Step III: Gain transformation

u[k] = K z[k-1] to u[k] = KT x[k-1]

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What we have

We have discrete-time system in canonical form

We apply u[k] = K z[k-1]

We have seen in Step II how to compute the stabilizing feedback gain K

But the original system is not in Canonical form

for the above system we need to apply u[k] = KT x[k-1] .

Question is how to compute KT given K is already computed

as per Step II

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Transformed feedback gain

We have the transformed states z[k] = T x[k]

Thus, we have the following:

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Overall feedback controller design with Dc = h

Continuous-time
model

Discrete-time
model

Step I

Step II

Step III

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computing Feedforward gain: FT

u[k] = KT x[k-1] + FT r

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Augmented closed-loop system

We have

Augmented closed-loop system

Feedforward gain

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