EL2520 Control Theory and Practice - Välkommen till KTH · 2013-04-22 · EL2520 Control Theory...

EL2520 Control Theory and Practice Mikael Johansson mikaelj@ee.kth.se

EL2520 Control Theory and Practice

Lecture 8:

Linear quadratic control

Mikael Johansson School of Electrical Engineering KTH, Stockholm, Sweden

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

x 10-3

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

x 10-3

Linear quadratic control Allows to compute the controller Fy(s) that minimizes for given (positive definite) weight matrices Q1 and Q2. Easy to influence control energy/transient performance trade-off

Linear quadratic control

Disadvantage of linear-quadratic control: –  Robustness and frequency-domain properties only indirectly

Challenge: framework developed for stochastic disturbances

–  Need to review stochastic disturbance models –  Have to skip some details

(continuous-time stochastic processes technically tricky)

Relation to H1 control will be explored in next lecture.

Learning aims

After this lecture, you should be able to •  model disturbances in terms of their spectra •  use spectral factorization to re-write disturbances as filtered white noise •  compute the LQG-optimal controller (observer/controller gains) •  describe how the LQG weights qualitatively affect the time responses

Material: course book 5.1-5.4 + 9.1-9.3 + 9.A

State space description of multivariable linear system

• x(t) is called the state vector,

• systems on state-space form often written as (A,B,C,D)

Transfer matrix computed as

State-space form

Controllability

The state is controllable if, given x(0)=0, there exists u(t) such that x(t)= for some t<1. The system is controllable if all are controllable. The controllability matrix •  Controllable states can be written as for some α2 Rmn •  System is controllable if S(A,B) has full rank

(i.e., for each x there exists α such that x=S(A,B)α)

Observability

The state is unobservable if and u(t)=0 for t>0 implies that y(t)=0 for t¸ 0. The system is observable if no states are unobservable The observability matrix •  Unobservable states are solutions to •  System is observable if O(A,C) has full rank

(i.e., only solves )

Modifying dynamics via state feedback

Open loop system can be controlled using state feedback u(t)=-Lx(t) è Q: can we choose L so that A-BL gets arbitrary eigenvalues? A: if and only if the system is controllable.

Observers

The state vector of the system can be estimated using an observer Q: can we choose K so A-KC gets arbitrary eigenvalues? A: if and only if system is observable

Control objective concerns only outputs z of system, i.e., controllability and observability of all states may not be so important.

Exception: must be able to control and observe unstable modes!

A system (A,B) is stabilizable if there is L so that A-BL is stable

A system (A,C) is detectable if there is K so that A-KC is stable

Stabilizability and detectability

Today’s lecture

•  Recap: State-space represenation, state feedback and observers •  Review: Modeling disturbances as filtered white noise •  Linear quadratic Gaussian (LQG) control

Disturbances

Disturbances model a wide range of phenomena that are not easily described in more detail, e.g.

–  load variations, measurement noise, process variations, …

Important to model

–  Size, frequency content and correlations between disturbances.

Signal sizes

So far in the course, we have used the 2-norm If the integral does not converge, we can use A crude measure “size” (disregards frequency content of signal)

More informative measure

How are z(t) related to z(t-τ)? One measure is For ergodic stochastic processes, we have (i.e., the covariance function of the signal)

Vector valued signals

For vector-valued z, coupling between zi and zj can be described by Can be combined into matrix For ergodic stochastic processes, we get

Signal spectra

Translating the signal measure to the frequency domain

is called the spectrum of z. Interpretation •  measures the energy content of zi at frequency •  measures coupling of zi and zj at frequency •  implies that zi and zj are uncorrelated A signal with constant for all is called white noise, (in this case, we call the covariance matrix of z)

�z(!)

�z(!) =

�1Rz(⌧)e

i!⌧ d⌧

[�z(!)]ii[�z(!)]ij[�z(!)]ij = 0

�z !�z

Examples: signals and spectra

Disturbances as filtered white noise

Fact (spectral factorization): any spectrum which is rational in , can be represented as white noise filtered through a stable non-minimum phase linear system. (see course book Theorem 5.1 for a precise statement)

w,�w(!)

w,�w(!)v,�v(!) = I

�(!)!2

State-space model with distubances

If disturbances w1 and w2 are not white, but have spectra that can be obtained via wi = Givi where vi is white noise, then we can re-write system as Note: is x augmented with the states from G1, G2; are A, B,… augmented with state-space descriptions of Gi

Today’s lecture

•  Recap: State-space represenation, state feedback and observers •  Recap: Modeling disturbances as filtered white noise •  Linear quadratic Gaussian (LQG) control

Linear quadratic Gaussian control Model: linear system with white noise where v1, v2 are white noise with Objective: minimize effect of v on z, punish control cost LQG: Linear system, Quadratic cost, Gaussian noise

Solution structure

Optimal solution satisfies separation principle, composed of •  Optimal linear state feedback (Linear-quadratic regulator) •  Optimal observer (Kalman filter)

Kalman filter

Optimal solution

State feedback where S is the solution to the algebraic Riccati equation Kalman filter where K=(PCT+NR12)R2

-1 and P is the solution to

Example: LQR for scalar system

Scalar linear system with cost Riccati equation has solutions so the optimal feedback law is

Example: LQR for scalar system

Closed loop system Note: if system is unstable (a>0), then •  if control is expensive then the minimum control input to

stabilize the plant is obtained with the input u=-2|a|x, which moves the unstable pole to its mirror image –a

•  if control is cheap ( ), the closed loop bandwidth is roughly

⇢ ! 0

Scalar linear system with covariances E{v1

2}=R1, E{v22}=R2, E{v1v2}=0.

Riccati equation gives and estimation error dynamics Interpretation: measurements discarded if too noisy.

Example: Scalar system Kalman filter

The Servo Problem

Preferred way: augment system with reference model where the reference model states are measurable, and use However, when r is assumed to be constant the solution is where Lref is determined so that static gain of closed-loop (rzàz) equals the identity matrix

LQG and loop shaping

LQG: simple to trade-off response-time vs. control effort –  but what about sensitivity and robustness?

These aspects can be accounted for using the noise models –  Sensitivity function: transfer matrix wuàz –  Complementary: transfer matrix nàz

Example: S forced to be small at low frequencies by letting (some component of) w1 affect the output of the system, and let w1 have large energy at low frequencies, (delta small, strictly positive, to ensure stabilizability)

LQG Control: pros and cons

Pros: •  Simple to trade off response time vs. control effort •  Applies to multivariable systems

Cons: •  Often hard to see connection between weight matrices

Q1, Q2, R1, R2 and desired system properties (e.g. sensitivity, robustness, etc)

•  In practice, iterative process in which Q1 and Q2 are adjusted until closed loop system behaves as desired

•  Poor robustness properties in general

Summary

•  State-space theory recap: –  Controllability, observability, stabilizability, detectability –  State feedback and observers

•  Modeling disturbances as white noise –  Mean, covariance, spectrum –  Spectral factorization: disturbances as filtered white noise

•  Linear-quadratic controller –  Kalman-filter + state feedback –  Obtained by solving Riccati equations –  Focuses on time-responses –  Loop shaping and robustness less direct

EL2520 Control Theory and Practice - Välkommen till KTH · 2013-04-22 · EL2520 Control Theory...

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