lect 02 hand out
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Artificial Intelligence slide about Expert systemsTRANSCRIPT
Control Theory (035188)lecture no. 2
Leonid Mirkin
Faculty of Mechanical EngineeringTechnion — IIT
Outline
Goals and means of loop shaping
M- and N-circles
Nichols chart
Bode’s gain-phase relation
Philosophical remark: Bode’s sensitivity integral
Typical requirements on loop L.j!/
low frequencies
high frequencies
0Mag
nitude
(dB)
crosover region
�180
Phase(deg
)
!c
Frequency (rad/sec)
Typical operations with L.j!/
low frequencies
high frequencies
0
Mag
nitude
(dB)
crosover region
�180
Phase(deg
)
!c
Frequency (rad/sec)
We might need to:
I set required crossover freq. !c
(means: proportional controller)
I increase phase around !c
(means: lead controller)
I increase low-frequency gain(means: lag controller)
I decrease high-frequency gain(means: low-pass filter)
Lead controller
General form: Clead.s/ Dp˛ s C !m
s Cp˛ !m, where ˛ > 1 is a parameter.
Mag
nitude
(dB)
Phase(deg
)
Frequency (rad/sec)
10 lg ˛
0
0
�10 lg ˛
�m ´ arcsin ˛�1˛C1
0:01!m 0:1!m !m 10!m 100!m
Bode Diagram of Clead.s/
Lead controller for different ˛
Frequency (rad/sec)
−15
−10
−5
0
5
10
15
10−2
10−1
100
101
102
0
30
60
90
Mag
nitude
(dB)
Phase(deg
)
Bode diagrams of Clead.s/ for !m D 1 and ˛ D f2; 4; 10; 20g
Phase lead of lead controllers
Maximal phase lead, �m D arcsin ˛�1˛C1 , is achieved at ! D !m:
1 2 3 4 5 7 10 14 20 30 ˛0
19:5
30
36:941:8
48:6
54:960:164:869:3
�m
.˛/
Practically, the valuesI ˛ > 20 unsuitable,
because of implementation problems and the low slope of the curve abovefor large ˛. If �m > 60ı required, use 2 or more lead controllers.
Clead: properties and usage
Pros:I increases �ph,
thus helping to increase the distance of L.j!/ from the critical point.
Cons:I decreases the low-frequency gainI increases the high-frequency gainI decreases �g
(because, typically, !c < !� and jClead. j!/j > 1 for ! > !m)
Usage (some rules of thumb):I choose !m � the intended crossover frequency !c
I choose ˛ < 20(if phase lead > 60ı needed, several lead controllers may be used)
Lag controller
General form: Clag.s/ D10s C !m10s C !m=ˇ
, where ˇ > 1 is a parameter.
Mag
nitude
(dB)
Phase(deg
)
Frequency (rad/sec)
20 lg ˇ
10 lg ˇ
0
� �5:7ı
��m
0:001!m 0:01!m 0:1!m=p
ˇ 0:1!m !m 10!m
Bode Diagram of Clag.s/
Lag controller for different ˇ
0
10
20
30
40
50
10−3
10−2
10−1
100
−90
−45
0
Mag
nitude
(dB)
Phase(deg
)
Frequency (rad/sec)
Bode diagrams of Clag.s/ for !m D 1 and ˇ D f2; 4; 10; 30; 1g
Clag: properties and usage
Pros:I increases the low-frequency gain of L.j!/
Cons:I adds phase lag
thus might decrease the distance of L.j!/ from the critical point.
Usage (rule of thumb):I choose !m � the intended crossover frequency !c
(this will add a phase lag of at most 5:7ı at !c)
I add � 5:7ı to lead controller (if lag to be added after lead)
Low-pass filters
Might be of the form Clp.s/ D!b
s C !bor Clp.s/ D
!2bs2 C 2�!bs C !2b
, with
Bode Diagrams of Clp1
and Clp2
(with ζ=0.5)
−40
−20
0
−180
−135
−90
−45
0
Mag
nitude
(dB)
Phase(deg
)
Frequency (rad/sec)
0:1!b !b 10!b
Clp: properties and usage
Pros:I decreases the high-frequency gain of L.j!/
Cons:I adds phase lag
thus might decrease the distance of L.j!/ from the critical point.
Usage (rule of thumb):I choose !b � decade above crossover frequency !c
(this will still add some phase lag at !c)
I add additional phase lead to lead controller
Loop shaping design: possible steps
The design steps:
1. Add proportional gain to get required crossover frequency !c
2. Add (if necessary) lead controller to improve �ph
3. Add (if necessary) lag controller to provide desired low-frequency gain
4. Add (if necessary) low-pass filter to decrease high-frequency gain
5. Run simulations to verify that everything is as expected
Remark:Sometimes (e.g., if an integral action is required) steps 2. and (3.,4.) may beexchanged
Outline
Goals and means of loop shaping
M- and N-circles
Nichols chart
Bode’s gain-phase relation
Philosophical remark: Bode’s sensitivity integral
M-circles
M-circles are contours of constant closed-loop magnitude on Nyquist plane.
Let L.j!/ D x C jy. Then T .j!/ D xC jy1CxC jy . Hence,
jT .j!/j2 DM 2 ” M 2.1C x/2 CM 2y2 D x2 C y2” .1 �M 2/x2 � 2M 2x C .1 �M 2/y2 DM 2:
Then two cases are possible:
M D 1 then x D �12
(vertical line)
M ¤ 1 then .1 �M 2/�x2 � 2 M2
1�M2x ˙ M4
.1�M2/2C y2� DM 2, so we get:
�x � M2
1�M2
�2 C y2 D � M
1�M2
�2
(circle centered at M2
1�M2 with radius Mj1�M2j )
M-circles (contd)
−2 −1.5 −1 −0.5 0−1
−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
1
0 dB
−20 dB
−6 dB
−3 dB
−12 dB
20 dB
6 dB
3 dB
12 dB
Real Axis
Ima
gin
ary
Axis
M-circles on Nyquist diagram
M-circles: how to read
−1 0
0
−12dB
−6dB
−3dB
3dB6dB
12dB
Re
Im
L.j!/
!1!2
!3
−20
−12
−6
−3
0
3
6
12
Frequency (rad/sec)
Ma
gn
itu
de
(d
B)
jT .j!/j
!1 !2 !3
N-circles
N-circles are contours of constant closed-loop phase on Nyquist plane:
−2 −1.5 −1 −0.5 0−1
−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
1
−350o
−10o
−315o
−45o
±90o
Real Axis
Ima
gin
ary
Axis
N-circles on Nyquist diagram
Outline
Goals and means of loop shaping
M- and N-circles
Nichols chart
Bode’s gain-phase relation
Philosophical remark: Bode’s sensitivity integral
Motivation
For L.s/ D 12960000.sC5/.s2C0:8sC16/.s2C1:52sC1444/.sC10/.sC100/.s2C3sC9/.s2C0:48sC9/.s2C0:8sC1600/2 e
�0:075s:
Nyquist Diagram
Real Axis
Imagin
ary
Axis
−20 −15 −10 −5 0 5 10
−20
−15
−10
−5
0
5
10
15
20
Nyquist Diagram
Real Axis
Imagin
ary
Axis
−2 −1.5 −1 −0.5 0−1
−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
1
Pitfalls of the Nyquist plot:I becomes messy for systems with multiple crossover frequenciesI crossover region is imperceptible for systems with large resonant peaksI lacks system composition (superposition) properties of Bode diagrams
Remedy: Nichols chart
Nichols chart of transfer function L.s/ is plot of jL.j!/j (in dB) vs. †L.j!/(in degrees) as frequency ! changes from 0 to1.
Nichols Chart
Open−Loop Phase (deg)
Op
en
−L
oo
p G
ain
(d
B)
−720 −630 −540 −450 −360 −270 −180 −90 0−40
−30
−20
−10
0
10
20
30
40
6 dB
3 dB
1 dB
0.5 dB
0.25 dB
0 dB
−1 dB
−3 dB
−6 dB
−12 dB
−20 dB
−40 dB
Nichols chart: advantages
Since phase scale is linear rather than polar,I Nichols chart is typically cleaner than Nyquist plot
especially for systems with large phase lags, like time-delay systems.
As magnitude scale is in dB, regions with large magnitude don’t dominate,hence
I the crossover region is more visible.
Also the consequence of the logarithmic scale of jL.j!/j is thatI multiplication of systems results in superposition
on Nichols chart, almost as easy as on the Bode diagrams.
M-circles on Nichols charts
−360 −270 −180 −90 0 90 180 270 360−15
−10
−5
0
5
10
15
6 dB
3 dB
−3 dB
−6 dB
−12 dB
Open−Loop Phase (deg)
Op
en
−L
oo
p G
ain
(d
B)
M-circles on Nichols chart
N-circles on Nichols charts
−360 −270 −180 −90 0 90 180 270 360−15
−10
−5
0
5
10
15
−10o
−45o
−180o
−350o
−315o
Open−Loop Phase (deg)
Op
en
−L
oo
p G
ain
(d
B)
N-circles on Nichols chart
M-circles on Nichols charts: how to read
−250 −200 −150 −100 −50 0−25
−20
−15
−10
−5
0
5
10
−20dB
−12dB
−6dB
−3dB
0dB3dB
6dB
Open−Loop Phase (deg)
Op
en
−L
oo
p G
ain
(d
B)
L.j!/
!1!2!3
−20
−12
−6
−3
0
3
6
12
Frequency (rad/sec)
Ma
gn
itu
de
(d
B)
jT .j!/j
!1 !2 !3
Nichols charts of elementary systems
L.s/ Bode Nyquist Nichols
ks
−20
−15
−10
−5
0
5
10
15
20
Ma
gn
itu
de
(d
B)
10−1
100
101
−91
−90.5
−90
−89.5
−89
Ph
ase
(d
eg
)
Bode Diagram
Frequency (rad/sec)
−2 −1.5 −1 −0.5 0 0.5 1 1.5 2 2.5 3−3
−2.5
−2
−1.5
−1
−0.5
0
0.5
10 dB
−20 dB
−6 dB
−3 dB
−12 dB
20 dB
6 dB
3 dB
12 dB
Nyquist Diagram
Real Axis
Imagin
ary
Axis
−360 −315 −270 −225 −180 −135 −90 −45 0−20
−15
−10
−5
0
5
10
Nichols Chart
Open−Loop Phase (deg)
Open−
Loop G
ain
(dB
)
k�sC1
−15
−10
−5
0
5
10
Ma
gn
itu
de
(d
B)
10−1
100
101
−90
−45
0
Ph
ase
(d
eg
)
Bode Diagram
Frequency (rad/sec)
−2 −1.5 −1 −0.5 0 0.5 1 1.5 2 2.5 3−3
−2.5
−2
−1.5
−1
−0.5
0
0.5
10 dB
−20 dB
−6 dB
−3 dB
−12 dB
20 dB
6 dB
3 dB
12 dB
Nyquist Diagram
Real Axis
Imagin
ary
Axis
−360 −315 −270 −225 −180 −135 −90 −45 0−20
−15
−10
−5
0
5
10
Nichols Chart
Open−Loop Phase (deg)
Open−
Loop G
ain
(dB
)
k!2n
s2C2�!nsC!2n
−40
−30
−20
−10
0
10
Ma
gn
itu
de
(d
B)
10−1
100
101
−180
−135
−90
−45
0
Ph
ase
(d
eg
)
Bode Diagram
Frequency (rad/sec)
−2 −1.5 −1 −0.5 0 0.5 1 1.5 2 2.5 3−3
−2.5
−2
−1.5
−1
−0.5
0
0.5
10 dB
−20 dB
−6 dB
−3 dB
−12 dB
20 dB
6 dB
3 dB
12 dB
Nyquist Diagram
Real Axis
Imagin
ary
Axis
−360 −315 −270 −225 −180 −135 −90 −45 0−20
−15
−10
−5
0
5
10
Nichols Chart
Open−Loop Phase (deg)
Open−
Loop G
ain
(dB
)
e�sh −1
−0.5
0
0.5
1
Ma
gn
itu
de
(d
B)
10−1
100
101
−630
−540
−450
−360
−270
−180
−90
0
Ph
ase
(d
eg
)
Bode Diagram
Frequency (rad/sec)
−2 −1.5 −1 −0.5 0 0.5 1 1.5 2 2.5 3−3
−2.5
−2
−1.5
−1
−0.5
0
0.5
10 dB
−20 dB
−6 dB
−3 dB
−12 dB
20 dB
6 dB
3 dB
12 dB
Nyquist Diagram
Real Axis
Imagin
ary
Axis
−720 −630 −540 −450 −360 −270 −180 −90 0−20
−15
−10
−5
0
5
10
Nichols Chart
Open−Loop Phase (deg)
Open−
Loop G
ain
(dB
)
Gain and phase margins on Nichols chart
Gain margin (�g) and phase margin (�ph) are easily calculable from Nicholscharts:
I �g is the vertical distance from the critical point;I �ph is the horizontal distance from the critical point.
Nichols Chart
Open−Loop Phase (deg)
Open−
Loop G
ain
(dB
)
−360 −315 −270 −225 −180 −135 −90 −45 0−30
−25
−20
−15
−10
−5
0
5
10
15
20
�ph
�g
Nichols chart of lead controller
Lead controller: Clead.s/ Dp˛ s C !m
s Cp˛!m, ˛ > 1.
Frequency (rad/sec)
−15
−10
−5
0
5
10
15
10−2
10−1
100
101
102
0
30
60
90
Mag
nitude
(dB)
Phase(deg
)
Bode diagrams of Clead.s/ for !m D 1 and ˛ D f2; 4; 10; 20g
Open−Loop Phase (deg)
Op
en
−L
oo
p G
ain
(d
B)
−180 −135 −90 −45 0 45 90 135 180−20
−15
−10
−5
0
5
10
15
20
6 dB
3 dB
1 dB
Nichols chart of Clead.s/ for !m D 1 and ˛ D f2; 4; 10; 20g
Nichols chart of lag controller
Lag controller: Clag.s/ D10s C !m10s C !m=ˇ
, ˇ > 1.
0
10
20
30
40
50
10−3
10−2
10−1
100
−90
−45
0
Mag
nitude
(dB)
Phase(deg
)
Frequency (rad/sec)
Bode diagrams of Clag.s/ for !m D 1 and ˇ D f2; 4; 10; 30; 1g
Open−Loop Phase (deg)
Open−
Loop G
ain
(dB
)
−180 −135 −90 −45 0 45 90 135 180
−5
0
5
10
15
20
25
30
6 dB
3 dB
1 dB
0.5 dB
Nichols chart of Clag.s/ for !m D 1 and ˇ D f2; 4; 10; 30; 1g
Outline
Goals and means of loop shaping
M- and N-circles
Nichols chart
Bode’s gain-phase relation
Philosophical remark: Bode’s sensitivity integral
Dream loop shape
We’d prefer to have narrow crossover region, somethng like this:
low frequencies
high frequencies
0
Mag
nitude
(dB)
!c
Intuitively, it is hard to believe that this is possible (too good to be true:-). Itturns out that this “intuition” can be rigorously justified.
Bode’s gain-phase relation: minimum-phase loop
Let L.s/ be stable and minimum-phase and such that L.0/ > 0. Then 8!0
argL.j!0/ D 1
�
Z 1
�1d lnjL.j�/j
d�ln coth
j�j2d�; where �´ ln !
!0
(coth x´ exCe�x
ex�e�x ). Function ln coth j�j2D ln
ˇ̌!C!0
!�!0
ˇ̌:
−3 −2 −1 0 1 2 30
1
2
3
4
5
�
lnco
thj�j 2
Bode’s gain-phase relation: what does it mean
Since ln coth j�j2
decreases rapidly1 as ! deviates from !0,
I argL.j!0/ depends mostly on d lnjL. j�/jd� near frequency !0.
On the other hand,
Id lnjL.j�/j
d�is actually the slope of Bode plot of L.j�/.
It can be shown that
argL.j!0/ <
8<̂
:̂
�N � 65:3ı; if roll-off of jL.j!/j is N for 13� !
!0� 3
�N � 75:3ı; if roll-off of jL.j!/j is N for 15� !
!0� 5
�N � 82:7ı; if roll-off of jL.j!/j is N for 110� !
!0� 10
In other words,I high negative slope of jL.j!/j necessarily causes large phase lag.
1Think of it as � ı.! � !0/.
Bode’s gain-phase relation: implication
For systems with rigid loops, it is advisable toI keep loop roll-off 6� 1 in the crossover region2
to guarantee that L.j!/ is far enough from the critical point. This, in turn,means that
I low- and high-frequency regions should be well-separated.
This is the reason why our “dream shape” is not an option.
2I.e., not much smaller than �20dB/dec slope of jL. j!/j.
Gain-phase relation: one nonminimum-phase zero
Let L.s/ has one RHP zero at ´ > 0. Then
L.s/ D �s C ´s C ´ Lmp.s/
for a minimum-phase Lmp.s/. Sinceˇ̌� j!C´
j!C´ˇ̌ � 1, jL.j!/j D jLmp.j!/j and
argL.j!0/ D argLmp.j!0/C arg � j!0C´j!0C´
D 1
�
Z 1
�1d lnjL.j�/j
d�ln coth
j�j2d� � 2 arctan !0
´:
Thus,I nonminimum-phase zero adds phase lag (especially at ! > ´)
imposing additional constraints on the slope of jL.j!/j in crossover region.
Gain-phase relation: complex nonminimum-phase zeros
Now, let L.s/ has a pair of RHP zero at ´r ˙ j´i, ´r > 0. Then
L.s/ D �s C ´r C j´i
s C ´r C j´i
�s C ´r � j´i
s C ´r � j´iLmp.s/
and we have:
argL.j!0/ D 1
�
Z 1
�1d lnjL.j�/j
d�ln coth
j�j2d� C arg
�j!0 C ´r ˙ j´i
j!0 C ´r ˙ j´i
D 1
�
Z 1
�1d lnjL.j�/j
d�ln coth
j�j2d�
� 2�arctan !0 C ´i
´rC arctan
!0 � ´i
´r
�:
This harden constraints when !0 > ´i, though may soften when !0 � ´i.
Phase of all-pass systems
−180
−150
−120
−90
−60
−30
0
0:1´ 0:5´ ´ 10´
Frequency (rad/sec)
Phase(deg
)
−360
−300
−240
−180
−120
−60
0
� D 1
� D 0:01
0:1!n !n 10!n
Frequency (rad/sec)
Phase(deg
)
arg �sC´sC´ arg s2�2�!nsC!2
ns2C2�!nsC!2
n
Gain-phase relation: multiple nonminimum-phase zeros
In this caseL.s/ D �s C ´1
s C ´1�s C ´2s C ´2
� � � �s C ´ks C ´k
Lmp.s/
and we have:
argL.j!0/ D 1
�
Z 1
�1d lnjL.j�/j
d�ln coth
j�j2d� �
kX
iD1arg�j!0 C ´ij!0 C ´i
;
which further harden constraints.
Limitations due to nonminimum-phase zeros
For systems with a single crossover frequency3 RHP zeros near !c
I impose additional limitations on the roll-off in the crossover region.
Consequently, a well-known rule of thumb says that for RHP systemsI crossover frequency !c should be < the smallest RHP zero.
Also, it is safe to claim (regarding RHP zeros) thatI closer to the real axis H) more restrictive crossover limitations
3For systems with resonant frequencies it sometimes might be desirable to inject a phaselag by adding RHP zeros. Yet this must be done with maximal care (don’t try it at home!)
Outline
Goals and means of loop shaping
M- and N-circles
Nichols chart
Bode’s gain-phase relation
Philosophical remark: Bode’s sensitivity integral
Bode’s sensitivity integral
Let L.s/ be loop transfer function with pole excess � 2, then, provided S.s/is stable,
Z 1
0
lnjS.j!/jd! D(0 if L stable
�PmiD1Repi otherwise (pi—unstable poles of L)
0
+
−
jS.j!/j > 1
jS.j!/j < 1
Frequency, !
lnjS.
j!/j
What does it mean ?
Some conclusions:I Since �
PRepi � 0, jS.j!/j cannot4 be < 1 over all frequencies.
I Improvements in one region inevitable cause deterioration in other.(so-called waterbed effect)
On qualitative level,I controller can only redistribute jS.j!/j over frequencies
and the art of control may thus be seen as art of redistribution of jS.j!/j.
4If pole excess of L.s/ is � 2, of course. Yet this is typical in applications.