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6 views

ME311-Autumn2024-Wk2-IntroToBlockDiagramAlgebra

Uploaded by

vidyanand.techfest.iitb
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You are on page 1/ 14

Week #2

Block Diagram Algebra


(for Multiplication Operators)
AND
Intro to Feedback Control Objectives and Tradeoffs

0
Block Diagram Capturing Information Flow
Desired Disturbances
Desired Actual
Output/
Control Control
Reference Controlled output
Input Input
Controller Actuator Plant

Measured output
Sensor

input output
Block

q Information (ie “arrows”) flow in a control system is often viewed as


an interconnection of info flowing through blocks
q“Block”: captures behavior/operation as an input-output map ie an
operator that transforms an “input” variable to an “output” variable
q
1
Blocks as Operators

u y
P

q y = P(u); Operator P acts on u to ‘produce’ y

q Multiplication Block/Operator: y = P(u) = P x u

q Integral Block: y = P(u)= ∫ u dt

q If P is a multiplication operator, what is P(u1+u2)? y = P x (u1+u2) =


P(u1)+P(u2)

2
Cascade Interconnection

u y1 y
K P

q If P, K are multiplication blocks, how are u & y related

q y = P(y1)= P(K(u))= P x K(u) = P x K x u = (P x K) u = (PK)u

n If P, K are both integral operators, how are u & y related?

y = P(K(u))= ∫ K(u) dt = ∫ ∫u dt

3
Feedback Interconnection

e y
r
G

H
q If G, H are multiplication blocks, how are r & y related
q e = r-H(y) = r-H(G(e))= r-HG(e) = r-HGe; e = (1/(1+HG) ) r; y = G(e) = (G/(1+HG)) r

qIf G is an integral block and H is a multiplication block,


how are r and y related? (think about what e is)
q e = r-H(y) = r-H(G(e)) = r-H(\int e) = r-H ∫e
5
Feedback Interconnection of Multiplication Blocks: The Setting

d
r e udes uac y
K A(=1) P
ym
n
S(=1)
n Assumptions
q All blocks represent multiplication operations
n Eg udes = K(e) = K.e
q r, d, n, y, ym, udes, uac, e respectively represent reference/desired output,
disturbance, sensor noise, output/controlled output, measured output, desired
control input, actual control input and “error”
q K, A, P, S respectively represent controller, actuator, plant, sensor operators. A, S
assumed to have a multiplication factor of 1 for this discussion.
q Summing junctions are “additions” unless otherwise shown

6
Feedback Interconnection of Multiplication Blocks: Algebra

d
r e udes=uac y
K P
ym
n

y = P (u ac + d )
= P (u des + d ) æ PK ö æ - PK ö æ P ö
y=ç ÷r + ç ÷n + ç ÷d
= P ( K (e) + d ) è 1 + PK ø è 1 + PK ø è 1 + PK ø
= PK ( r - ym ) + P ( d ) = Gr ® y r + Gn® y n + Gd ® y d
= PK ( r - y - n) + P ( d )

7
Reference Tracking and Robustness to Noise, Disturbances

æ PK ö æ - PK ö æ P ö
y=ç ÷r + ç ÷n + ç ÷d
è 1 + PK ø è 1 + PK ø è 1 + PK ø
= Gr ® y r + Gn® y n + Gd ® y d

8
Feedback Control Problem: Objectives and Controller Choice

9
Feedback vs Feedforward

10
Feedback vs Feedforward: Controller Choice

11
Robustness to Model Uncertainity

12
Feedback vs Feedforward: Robustness to Model Uncertainity

13
Feedforward vs Feedback:
Feed-Forward vs Feedback: Summary Summary

Feed-forward Feedback
d
d r e y
r y K P
K P n
ym
Objective Implication Feedforward Feedback

Reference Desire Gry ≈ 1 Choose K = P-1 Choose K large


Tracking
Robustness to Desire |Gdy|≈ 0 Depends on P. Choice Choose K large
disturbance of K cannot influence
Robustness to Desire |Gny|≈ 0 There is no sensor Choose K small
sensor noise noise
Robustness to Desire |S| = |(ΔGry / S = 1 for choice of K = S = |1/(1+PK)|  S
model Gry)/(ΔP/P)| small P-1 can be made small by
uncertainty choosing K large

16
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