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Robust Control of Controlsystems

Robust control is an approach to controller design that explicitly deals with uncertainty. Robust control methods aim to achieve robust performance and stability even in the presence of bounded modeling errors or disturbances. Some examples of robust control techniques include H-infinity loop shaping, sliding mode control, and loop transfer recovery. The theory and techniques of robust control have developed significantly since the late 1970s to address issues like stability, disturbance rejection, and transitions between different system operating modes.

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149 views

Robust Control of Controlsystems

Robust control is an approach to controller design that explicitly deals with uncertainty. Robust control methods aim to achieve robust performance and stability even in the presence of bounded modeling errors or disturbances. Some examples of robust control techniques include H-infinity loop shaping, sliding mode control, and loop transfer recovery. The theory and techniques of robust control have developed significantly since the late 1970s to address issues like stability, disturbance rejection, and transitions between different system operating modes.

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pavan kandukuri
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Robust control

In control theory, robust control is an


approach to controller design that
explicitly deals with uncertainty. Robust
control methods are designed to function
properly provided that uncertain
parameters or disturbances are found
within some (typically compact) set.
Robust methods aim to achieve robust
performance and/or stability in the
presence of bounded modelling errors.

The early methods of Bode and others


were fairly robust; the state-space
methods invented in the 1960s and
1970s were sometimes found to lack
robustness,[1] prompting research to
improve them. This was the start of the
theory of robust control, which took
shape in the 1980s and 1990s and is still
active today.

In contrast with an adaptive control


policy, a robust control policy is static,
rather than adapting to measurements of
variations, the controller is designed to
work assuming that certain variables will
be unknown but bounded.[2][3]

When is a control method


said to be robust?
Informally, a controller designed for a
particular set of parameters is said to be
robust if it also works well under a
different set of assumptions. High-gain
feedback is a simple example of a robust
control method; with sufficiently high
gain, the effect of any parameter
variations will be negligible. From the
closed loop transfer function perspective,
high open loop gain leads to substantial
disturbance rejection in the face of
system parameter uncertainty. Other
examples on robust control include
sliding mode and terminal sliding mode
control.

The major obstacle to achieving high


loop gains is the need to maintain
system closed loop stability. Loop
shaping which allows stable closed loop
operation can be a technical challenge.

Robust control systems often


incorporate advanced topologies which
include multiple feedback loops and
feed-forward paths. The control laws
may be represented by high order
transfer functions required to
simultaneously accomplish desired
disturbance rejection performance with
robust closed loop operation.

High-gain feedback is the principle that


allows simplified models of operational
amplifiers and emitter-degenerated
bipolar transistors to be used in a variety
of different settings. This idea was
already well understood by Bode and
Black in 1927.
The modern theory of
robust control
The theory of robust control began in the
late 1970s and early 1980s and soon
developed a number of techniques for
dealing with bounded system
uncertainty.[4][5]

Probably the most important example of


a robust control technique is H-infinity
loop-shaping, which was developed by
Duncan McFarlane and Keith Glover of
Cambridge University; this method
minimizes the sensitivity of a system
over its frequency spectrum, and this
guarantees that the system will not
greatly deviate from expected
trajectories when disturbances enter the
system.

An emerging area of robust control from


application point of view is sliding mode
control (SMC), which is a variation of
variable structure control (VSC). The
robustness properties of SMC with
respect to matched uncertainty as well
as the simplicity in design attracted a
variety of applications.

While robust control has been


traditionally dealt with along
deterministic approaches, in the last two
decades this approach has been
criticized on the basis that it is too rigid
to describe real uncertainty, while it often
also leads to over conservative
solutions. Probabilistic robust control
has been introduced as an alternative,
see e.g.[6] that interprets robust control
within the so-called scenario
optimization theory.

Another example is loop transfer


recovery (LQG/LTR),[7] which was
developed to overcome the robustness
problems of linear-quadratic-Gaussian
control (LQG) control.
Other robust techniques includes
quantitative feedback theory (QFT),
passivity based control, Lyapunov based
control, etc.

When system behavior varies


considerably in normal operation,
multiple control laws may have to be
devised. Each distinct control law
addresses a specific system behavior
mode. An example is a computer hard
disk drive. Separate robust control
system modes are designed in order to
address the rapid magnetic head
traversal operation, known as the seek, a
transitional settle operation as the
magnetic head approaches its
destination, and a track following mode
during which the disk drive performs its
data access operation.

One of the challenges is to design a


control system that addresses these
diverse system operating modes and
enables smooth transition from one
mode to the next as quickly as possible.

Such state machine driven composite


control system is an extension of the
gain scheduling idea where the entire
control strategy changes based upon
changes in system behavior.
See also
Control theory
Control engineering
Fractional-order control
H-infinity control
H-infinity loop-shaping
Sliding mode control
Intelligent control
Process control
Robust decision making
Root locus
Servomechanism
Stable polynomial
State space (controls)
System identification
Stability radius
Iso-damping
Active disturbance rejection control
Quantitative feedback theory

References
1. M. Athans, Editorial on the LQG
problem, IEEE Trans. Autom. Control
16 (1971), no. 6, 528.
2. J. Ackermann (1993), Robuste
Regelung (in German), Springer-
Verlag (Section 1.5) In German; an
English version is also available
3. Manfred Morari : Homepage
4. Safonov: editorial
5. Kemin Zhou: Essentials of Robust
Control
6. G. Calafiore and M.C. Campi. "The
scenario approach to robust control
design," IEEE Transactions on
Automatic Control, 51(5). 742–753,
2006. [1]
7. http://www.nt.ntnu.no/users/skoge/b
ook.html Multivariable Feedback
Control Analysis and Design (2nd
Edition)

Further reading
Ray, L.R.; Stengel, R.F. (1991). "Stochastic
Robustness of Linear-Time-Invariant
Control Systems" (PDF). IEEE Transactions
on Automatic Control. 36 (1): 82–87.
doi:10.1109/9.62270 .
V. Barbu & S. S. Sritharan (1998). "H-infinity
Control Theory of Fluid Dynamics" (PDF).
Proceedings of the Royal Society A. 545:
3009–3033. doi:10.1098/rspa.1998.0289 .
Dullerud, G.E.; Paganini, F. (2000). A Course
in Robust Control Theory: A Convex
Approach. Springer Verlag New York.
ISBN 0-387-98945-5.
Bhattacharya; Apellat; Keel (2000). Robust
Control-The Parametric Approach (PDF).
Prentice Hall PTR. ISBN 0-13-781576-X.
Zhou, Kemin; Doyle C., John (1999).
Essentials of Robust Control. Prentice Hall.
ISBN 0-13-525833-2.
Morari, Manfred; Zafiriou, Evanghelos
(1989). Robust Process Control . Prentice
Hall. ISBN 0-13-782153-0.
Mahmoud S., Magdi; Munro, Neil (1989).
Robust Control and Filtering for Time-Delay
Systems. Marcel Dekker Inc. ISBN 0-8247-
0327-8.
Calafiore, G. (2006). Dabbene, F. (ed.).
Probabilistic and Randomized Methods for
Design under Uncertainty. Springer Verlag
London Ltd. ISBN 978-1-84628-094-8.
Briat, Corentin (2015). Linear Parameter-
Varying and Time-Delay Systems. Analysis,
Observation, Filtering & Control. Springer
Verlag Heidelberg. ISBN 978-3-662-44049-
0.

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Last edited 15 days ago by Wolfch


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