CoDyPower

TM

Demo Example
for the QFT Control Toolbox

This document presents a simple demo example to run the QFT Control Toolbox,
or QFTCT, for Matlab. The toolbox includes the latest quantitative robust control
techniques within a user-friendly and interactive environment. The toolbox, devel-
oped by Prof. Mario Garcia-Sanz, has been tested in numerous courses, universi-
ties, companies and centers over the years. A complete study of the QFT robust
control methodology with the toolbox is presented in the book: Mario Garcia-
Sanz, Robust Control Engineering: practical QFT solutions, CRC Press, Taylor &
Francis, 2017.[1]
The professional or full version of the toolbox can be requested at
http://codypower.com.[2] Additional information can be found at the sites:
http://crcpress.com and http://cesc.case.edu.
The QFTCT project file for this example is: ExampleDemo.mat
To run it:
1. Open the QFT Control Toolbox by typing QFTCT in Matlab.
2. Click File, Open project, and select ExampleDemo

A. Description
Consider the second order plant with parametric uncertainty shown in Eq.(1).
y(s) k1
= P( s) = ;
u (s) s2 2 d
+
p1
s + 1 (1)
2 np1
np1
with k1 [3, 4], np1 [1, 2], d p1 = 0.4

http://codypower.com
2 Example Demo, QFTCT

Fig. 1. 2-Degree-Of-Freedom (2DOF) feedback control system.

The control system block diagram is shown in Fig.1. Design a G(s) feedback
controller and a prefilter F(s) to regulate automatically the plant output y(s) by
varying the plant input u(s), and following the next three specifications:

-Type 1: Stability specification

P ( j ) G ( j )
T1 ( j ) = 1 ( ) = Ws = 1.181
1 + P ( j ) G ( j ) (2)
[0.01 0.05 0.1 0.5 1 1.5 2 3 4 5 10 20 30 40 50 100] rad/sec
which is equivalent to PM = 50.10, GM = 5.33 dB see Eqs.(2.30), (2.31) in [1].

-Type 3: Sensitivity or Disturbances at plant output specification see Fig.2.

s

a
y ( j ) 1 d
T3 ( j ) = = 3 ( ) = ; ad = 2
d o ( j ) 1 + P ( j ) G ( j ) s (3)

a +1
d
[0.01 0.05 0.1 0.5 1 1.5 2 3 4] rad/sec

-Type 6: Reference tracking specification see Fig.3.

P ( j ) G ( j )
6 _lo ( ) < T6 ( j ) = F ( j ) 6 _up ( )
1 + P ( j ) G ( j ) (4)
[0.01 0.05 0.1 0.5 1 1.5 2 3 4 5 10] rad/sec

http://codypower.com
Demo example QFTCT 3

(1 lo )
6 _lo ( s ) = 2
; aL = 1; lo = 0 (5)
s
+ 1
aL
s
+ 1 (1 + up )

aU 1.25 aU
6 _up ( s ) = ; aU = 1.2 ; = 0.8 ; n = ; up = 0.02 (6)
s 2
2 s
+
n + 1
n

Bode Diagram

0
(s)
3
-5

-10
Magnitude (dB)

-15

-20

-25

-1
10 10 0 10 1 10 2
Frequency (rad/s)

Fig. 2. Disturbance rejection specification (at plant output), or Sensitivity. Eq.(3).

Step Response

1.2
- (s)
6 up

0.8
Amplitude

0.6

- (s)
0.4 6 lo

0.2

0 1 2 3 4 5 6 7 8 9

Time (seconds)

Fig. 3. Reference tracking specifications. Eqs.(4) to (6).

http://codypower.com
4 Example Demo, QFTCT

B. Solution
Figures 4 to 20 show how to apply the QFT Control Toolbox to the design and
validation of a controller G(s) and prefilter F(s), to meet the specifications
Eqs.(2) to (6), for all the plants within the uncertainty Eq.(1).

Fig. 4. Plant definition window. Introducing plant model and uncertainty, Eq.(1).

Fig. 5. Templates window. Plant model with uncertainty in the Nichols Chart.

http://codypower.com
Demo example QFTCT 5

The required specifications [Eqs.(2) to (6)] are introduced in Figs. 6 to 8.

Fig. 6. Specifications window. Stability: Eq.(2).

Fig. 7. Specifications window. Sensitivity: Eq.(3).

http://codypower.com
6 Example Demo, QFTCT

Fig. 8. Specifications window. Reference tracking: Eqs.(4) to (6).

The QFT bounds, which combine the specifications and the plant model uncer-
tainty, are shown in Figs. 9 to 12.

Fig. 9. Bounds window: Stability bounds in the Nichols chart.

http://codypower.com
Demo example QFTCT 7

Fig. 10. Bounds window. Sensitivity: bounds in the Nichols chart.

Fig. 11. Bounds window. Reference tracking: bounds in the Nichols chart.

http://codypower.com
8 Example Demo, QFTCT

Fig. 12. Bounds window. Intersection of all bounds in the Nichols chart.
Figures 13 to 15 show some steps of the design of the feedback controller G(s)
= PID in the Nichols chart (loop-shaping): Derivative time from Td = 0.4 to 1.4.
The right figures show the close-loop step response with nominal plant and G(s).

Fig. 13. Controller design window: design of G(s), derivative time Td = 0.4.

http://codypower.com
Demo example QFTCT 9

Fig. 14. Controller design window: G(s) with derivative time Td from 0.4 to 1.4.

Fig. 15. Controller design window: design of G(s), derivative time Td = 1.4.

http://codypower.com
10 Example Demo, QFTCT

Figures 16 and 17 shows some steps of the design of the prefilter F(s) in the
Bode diagram: first with F(s) = 1, and then with F(s) = first-order low-pass filter
see also Eq.(8).

Fig. 16. Prefilter design window: F(s) = 1.

Fig. 17. Prefilter design window: F(s) = 1 / [(s/1.5) + 1], Eq.(8).

http://codypower.com
Demo example QFTCT 11

Fig. 18. Analysis window. Stability frequency domain, with G(s).

Figures 18 and 19 show respectively that the stability and sensitivity specifica-
tions of the closed-loop system are met for all the plants within the uncertainty: the
solid line (worst case within the uncertainty) is below the spec (dashed line).

Fig. 19. Analysis window. Sensitivity frequency domain, with G(s).

http://codypower.com
12 Example Demo, QFTCT

.
Fig. 20. Analysis window. Reference tracking time domain, with G(s), F(s).
Figure 20 shows that the reference tracking specification of the closed-loop
system is met for all the plants within the uncertainty: the solid lines (100 plants)
are between the upper and lower specifications (dashed lines).
The expressions found for the feedback controller G(s) and prefilter F(s) are
shown in Eqs. (7 ) and (8).

Controller expression (designed in Figs. 13 to 15):

1 1.4 s
G ( s ) = PID = 0.65 1 + + (7)
0.85 s 1.4
s + 1
30

Prefilter expression (designed in Figs. 16 and 17):

1
F (s) = (8)
s
+ 1
1 . 5

http://codypower.com
Demo example QFTCT 13

C. References
[1]. Garcia-Sanz, M. (2017). Robust Control Engineering: Practical QFT Solu-
tions. A CRC Press book, Taylor and Francis, USA.
[2]. Garcia-Sanz, M., (2008 - present). The QFT Control Toolbox for Matlab
QFTCT. http://codypower.com.
[3]. Garcia-Sanz, M. (2015). Quantitative Feedback Theory. Chapter in Encyclo-
pedia of Systems and Control. Editors: Tariq Samad, John Baillieul. Article ID:
366609, Chapter ID: 238. Springer Verlag.
[4]. Garcia-Sanz, M. and Houpis C.H. (2012). Wind Energy Systems: Control En-
gineering Design. A CRC Press book, Taylor and Francis, USA.
[5]. Houpis C.H., Rasmussen S.J., and Garcia-Sanz, M. (2006). Quantitative
Feedback Theory: Fundamentals and Applications. 2nd Edition. A CRC Press
book, Taylor and Francis, USA.

http://codypower.com