Escolar Documentos
Profissional Documentos
Cultura Documentos
Again consider the < system in normal form, ON < M
9 ) 46UXW
BY1 ) 46UV7Z B [
a`
where
4 O4 RTRSR 4 are real numbers. ^ ^ ^ Dene an error b
for !e"f$g"h' (by construction), we Since Od@ can rewrite our control as
) 46UV7Z B [ !
b Y B 3 1 ` 9: ) 46UXW i\j^
Note that if b 2 for all then the above control reduces to the same control to force perfect tracking ; at the output. Note also that we can express in the original coordinates as
k m n 7D B [ ! B
po k m q ` n B_ klOk m n W ^ ] 8 \ <
b CBc
So if the output is to ) track then the )
; exactly, 6
; # initial system state must be where
can be chosen arbitrarily. Once weve selected 6
@6A , then the input to enforce
perfect tracking is
yields Using < this control in our equation for b OpJr B B RTRSR B b B
b ^ ^ ^
which implies that s b 7 b 7 ^
RSRTR 7 ^
b
7
The preceding dynamics correspond to the dynamics describing the internal behavior of the system when initial state and input have been chosen to constraint :
to follow . Note that the above two equations represent a system ) with input , state 6 , and output , whereas our original system in normal form is a system with input , state 6 , ) and output . So the preceding system is like an inverse to our original system. Asymptotic Output Tracking: In practice, setting 6
to a specied value is impossible, so we now consider tracking to when we arent free to specify the internal state. In this case we seek
that forces HGI as JGLK . This is the problem of asymptotic tracking.
b
So the error function satises a linear differential equation of order ' whose coefcents can be arbitrarily chosen to force asymptotic output tracking. Asymptotic Model Matching: Sometimes the reference outut is the output of a reference model which is deriven by some input t . So we can pose the problem of nding a feedback control that causes cGu for any t and any initial condition. We call this asymptotic model matching.
To solve the asymptotic model matching problem we might try the same input as before, ! o B k m n 7D k l k mL n zo k m B [ q ` n Bc i\8V^ where we replace with outputs of our model so that ] F y#w v 87%y#w x t 7 RSRTR N{ 7#y#wYx t 87(y#x t But this requires differentiating the input t which in practice makes the system very sensitive to noise on the input signal t . But what if we suppose our model has a relative degree larger or equal to ' (relatice degree of the original system). Then for our linear system N y#xf2y#wzxf RTRSR |y#w xf which implies that ] y w v # } " $"}' B ~ y w v # 87%y#w x t
If we rewerite the state euations choosing the same coordinates used for the normal form, we see that n k m n 7 kl n 7 k n k m n N A similar situation happens for the oter normal states N through O . So we get< ONP Q < RSRTR RSRSR O
< For s state equation we get k m n 7 k l k mLn k k mL n . The remaining equabecause we required 6 tions for will have t in them.
So our system in < normal form is < N ONP OQ
Replacing this into our control yields, ! B k m n 7%y#w v j7(y#w x t klOk mL nD v o k m B [ q ` n By#w ]\8 ^ By this construction we can guarantee _G; for any t driving our special reference model. Disturbance Decoupling Problem: Consider a system of the form < V7D: 78 t C n where t is a disturbance. We want to examine conditions under which there exists a feedback law,
< Then these equations become, < N N Q < S R RTR < M < 6 RTRSR => ) 46UV7% ) 46U t
87Z a
that results in a closed loop system whose output is independent (i.e., decoupled) from the disturbance t . This problem is called the disturbance decoupling problem. Well look ath the normal form of the system. Let the system have relative degree ' at
and suppose the vector eld j is such that k3k m n for all "($"%' B ! and all near
.
in which we easily see that t is decoupled from the output . k k m n So the condition is sufcient for disturbance decoupling. It is also suppose to be possible to show that this condition is necessary too.