Nonlinear Control Systems - Lecture 24

Output Tracking Model Matching Disturbance Decoupling

Perfect Output Tracking: Consider the problem of reproducing the reference output . This roblem tries to nd pairs of initial states, 
, and input functions 
dened for all in a neighborhood of  such that the output  . So from the systems normal form,     for all and !#"%$&"(' . Let -. / *+ . + +   . )  . . , 0 .   and we see that the input satises    213 ) 54687(9: ) ;546  where

Again consider the < system in normal form,  ON < M

ONP < S R RTR  <    O OP <  6  

We choose

OQ R RSR T O 1 ) 4 6UV7(9: ) 46>  => ) 4 6U   ]\8^  A  B_ 

9 ) 46UXW

 BY1 ) 46UV7Z  B [

 

a`

where
4 O4 RTRSR 4  are real numbers. ^ ^ ^ Dene an error b

< 6 => ) ?46 

  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

 

CBD13 ) 546 9: ) ;546

< the solutution to where 6 denotes 6E => ) 546 6 F 6

 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.

< a linea model, As an eaxmple consider v  w v ( 7 x t v P y

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,

< RSRTR    < M  <  6  

RTRSR  1 ) 4 6UV7(9: )  4 6>  ) ) => 4 6UV7%  4 6U t  

Suppose we use the following state feedback law, 13 ) 46U  B 9: ) 46> 7 9: )  4 6U

< 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.