Integrated system identification/control design with frequency weightings.

by Ka-lun Tung.Thesis (M.Phil.)--Chinese University of Hong Kong, 1995.Includes bibliographical references (leaves 168-[175]).Chapter 1 --- Introduction --- p.1Chapter 1.1 --- Control with Uncertainties --- p.1Chapter 1.1.1 --- Adaptive Control --- p.2Chapter 1.1.2 --- H∞ Robust Control --- p.3Chapter 1.2 --- A Unified Framework: Adaptive Robust Control --- p.4Chapter 1.3 --- System Identification for Robust Control --- p.6Chapter 1.3.1 --- Choice of input signal --- p.7Chapter 1.4 --- Objectives and Contributions --- p.8Chapter 1.5 --- Thesis Outline --- p.9Chapter 2 --- Background on Robust Control --- p.11Chapter 2.1 --- Notation and Terminology --- p.12Chapter 2.1.1 --- Notation --- p.12Chapter 2.1.2 --- Linear System Terminology --- p.13Chapter 2.1.3 --- Norms --- p.15Chapter 2.1.4 --- More Terminology: A Standard Feedback Configuration --- p.17Chapter 2.2 --- Norms and Power for Signals and Systems --- p.18Chapter 2.3 --- Plant Uncertainty Model --- p.20Chapter 2.3.1 --- Multiplicative Unstructured Uncertainty --- p.21Chapter 2.3.2 --- Additive Unstructured Uncertainty --- p.22Chapter 2.3.3 --- Structured Uncertainty --- p.23Chapter 2.4 --- Motivation for H∞ Control Design --- p.23Chapter 2.4.1 --- Robust stabilization: Multiplicative Uncertainty and Weight- ing function W3 --- p.24Chapter 2.4.2 --- Robust stabilization: Additive Uncertainty and Weighting function W2 --- p.25Chapter 2.4.3 --- Tracking Problem --- p.26Chapter 2.4.4 --- Disturbance Rejection (or Sensitivity Minimization) --- p.27Chapter 2.5 --- The Robust Control Problem Statement --- p.28Chapter 2.5.1 --- The Mixed-Sensitivity Approach --- p.29Chapter 2.6 --- An Augmented Generalized Plant --- p.30Chapter 2.6.1 --- The Augmented Plant --- p.30Chapter 2.6.2 --- Adaptation of Augmented Plant to Sensitivity Minimiza- tion Problem --- p.32Chapter 2.6.3 --- Adaptation of Augmented Plant to Mixed-Sensitivity Prob- lem --- p.33Chapter 2.7 --- Using MATLAB Robust Control Toolbox --- p.34Chapter 3 --- Statistical Plant Set Estimation for Robust Control --- p.36Chapter 3.1 --- An Overview --- p.37Chapter 3.2 --- The Schroeder-phased Input Design --- p.39Chapter 3.3 --- The Statistical Additive Uncertainty Bounds --- p.40Chapter 3.4 --- Additive Uncertainty Characterization --- p.45Chapter 3.4.1 --- "Linear Programming Spectral Overbounding and Factor- ization Algorithm (LPSOF) [20,21]" --- p.45Chapter 4 --- Basic System Identification and Model Reduction Algorithms --- p.48Chapter 4.1 --- The Eigensystem Realization Algorithm --- p.49Chapter 4.1.1 --- Basic Algorithm --- p.49Chapter 4.1.2 --- Estimating Markov Parameters from Input/Output data: Observer/Kalman Filter Identification (OKID) --- p.51Chapter 4.2 --- The Frequency-Domain Identification via 2-norm Minimization --- p.54Chapter 4.3 --- Balanced Realization and Truncation --- p.55Chapter 4.4 --- Frequency Weighted Balanced Truncation --- p.56Chapter 5 --- Plant Model Reduction and Robust Control Design --- p.59Chapter 5.1 --- Problem Formulation --- p.59Chapter 5.2 --- Iterative Reweighting Scheme --- p.60Chapter 5.2.1 --- Rationale Behind the Scheme --- p.62Chapter 5.3 --- Integrated Model Reduction/ Robust Control Design with Iter- ated Reweighting --- p.63Chapter 5.4 --- A Design Example --- p.64Chapter 5.4.1 --- The Plant and Specification --- p.64Chapter 5.4.2 --- First Iteration --- p.65Chapter 5.4.3 --- Second Iteration --- p.67Chapter 5.5 --- Approximate Fractional Frequency Weighting --- p.69Chapter 5.5.1 --- Summary of Past Results --- p.69Chapter 5.5.2 --- Approximate Fractional Frequency Weighting Approach [40] --- p.70Chapter 5.5.3 --- Simulation Results --- p.71Chapter 5.6 --- Integrated System Identification/Control Design with Iterative Reweighting Scheme --- p.74Chapter 6 --- Controller Reduction and Robust Control Design --- p.82Chapter 6.1 --- Motivation for Controller Reduction --- p.83Chapter 6.2 --- Choice of Frequency Weightings for Controller Reduction --- p.84Chapter 6.2.1 --- Stability Margin Considerations --- p.84Chapter 6.2.2 --- Closed-Loop Transfer Function Considerations --- p.85Chapter 6.2.3 --- A New Way to Determine Frequency Weighting --- p.86Chapter 6.3 --- A Scheme for Iterative Frequency Weighted Controller Reduction (IFWCR) --- p.87Chapter 7 --- A Comparative Design Example --- p.90Chapter 7.1 --- Plant Model Reduction Approach --- p.90Chapter 7.2 --- Weighted Controller Reduction Approach --- p.94Chapter 7.2.1 --- A Full Order Controller --- p.94Chapter 7.2.2 --- Weighted Controller Reduction with Stability Considera- tions --- p.94Chapter 7.2.3 --- Iterative Weighted Controller Reduction --- p.96Chapter 7.3 --- Summary of Results --- p.101Chapter 7.4 --- Discussions of Results --- p.101Chapter 8 --- A Comparative Example on a Benchmark problem --- p.105Chapter 8.1 --- The Benchmark plant [54] --- p.106Chapter 8.1.1 --- Benchmark Format and Design Information --- p.106Chapter 8.1.2 --- Control Design Specifications --- p.107Chapter 8.2 --- Selection of Performance Weighting function --- p.108Chapter 8.2.1 --- Reciprocal Principle --- p.109Chapter 8.2.2 --- Selection of W1 --- p.110Chapter 8.2.3 --- Selection of W2 --- p.110Chapter 8.3 --- System Identification by ERA --- p.112Chapter 8.4 --- System Identification by Curve Fitting --- p.114Chapter 8.4.1 --- Spectral Estimate --- p.114Chapter 8.4.2 --- Curve Fitting Results --- p.114Chapter 8.5 --- Robust Control Design --- p.115Chapter 8.5.1 --- The selection of W1 weighting function --- p.115Chapter 8.5.2 --- Summary of Design Results --- p.116Chapter 8.6 --- Stress Level 1 --- p.117Chapter 8.6.1 --- System Identification Results --- p.117Chapter 8.6.2 --- Design Results --- p.119Chapter 8.6.3 --- Step Response --- p.121Chapter 8.7 --- Stress Level 2 --- p.124Chapter 8.7.1 --- System Identification Results --- p.124Chapter 8.7.2 --- Step Response --- p.125Chapter 8.8 --- Stress Level 3 --- p.128Chapter 8.8.1 --- System Identification Results --- p.128Chapter 8.8.2 --- Step Response --- p.129Chapter 8.9 --- Comparisons with Other Designs --- p.132Chapter 9 --- Conclusions and Recommendations for Further Research --- p.133Chapter 9.1 --- Conclusions --- p.133Chapter 9.2 --- Recommendations for Further Research --- p.135Chapter A --- Design Results of Stress Levels 2 and3 --- p.137Chapter A.1 --- Stress Level 2 --- p.137Chapter A.2 --- Stress Level 3 --- p.140Chapter B --- Step Responses with Reduced Order Controller --- p.142Chapter C --- Summary of Results of Other Groups on the Benchmark Prob- lem --- p.145Chapter C.1 --- Indirect and implicit adaptive predictive control [45] --- p.146Chapter C.2 --- H∞ Robust Control [51] --- p.150Chapter C.3 --- Robust Stability Degree Assignment [53] --- p.152Chapter C.4 --- Model Reference Adaptive Control [46] --- p.154Chapter C.5 --- Robust Pole Placement using ACSYDE (Automatic Control Sys- tem Design) [47] --- p.156Chapter C.6 --- Adaptive PI Control [48] --- p.157Chapter C.7 --- Adaptive Control with supervision [49] --- p.160Chapter C.8 --- Partial State Model Reference (PSRM) Control [50] --- p.162Chapter C.9 --- Contstrainted Receding Horizon Predictive Control (CRHPC) [52] --- p.165Bibliography --- p.16