Design of Reduced Order Controller

for Mechanical System

Jyoti Kataria, Manish Kumar Madhav and Sunny Kumar Verma

Abstract Most of control system designing methods are based on mathematical

model of the object. Consequently, it is very thorny to design the controller when
containing high order. For this purpose, the system is modelled as linear time
invariant system using well-known laws of mechanics, and then use model order
reduction techniques for reducing the system. Using the state derivative feedback
and reduction methods a reduced state derivative feedback controller is designed
and used for a mechanical system. In addition comparison is done with state
feedback controller and state derivative feedback controller.

Keywords Mathematical modelling
Feedback gain matrix
Reduced controller

design

Introduction

The estimates of a high-order system by a low-order model have a momentous

importance in controller design and control system analysis [19]. The mathe-
matical modelling of the system is used in study and analysis of any physical
system such as mechanical system, control systems (temperature control, missile
direction control, etc.). The main approach of mathematical modelling is converting
the system dynamics using simple laws of physics into linear differential equation.

Jyoti Kataria (&)

KIIT College of Engineering, Gurgaon, Haryana, India
e-mail: kataria.jyoti315@gmail.com
M.K. Madhav
Sri Ramswaroop Memorial University, Lucknow, Uttar Pradesh, India
e-mail: manishh.madhav@gmail.com
S.K. Verma
MITRC College of Engineering, Alwar, Rajasthan, India
e-mail: kumarvsunny5@gmail.com

Springer India 2016 925

N. Afzalpulkar et al. (eds.), Proceedings of the International Conference
on Recent Cognizance in Wireless Communication & Image Processing,
DOI 10.1007/978-81-322-2638-3_104
926 Jyoti Kataria et al.

And it may be possible that the order of linear differential equation may be
extremely high. Or we can state that system is made by interconnection of different
subsystems, because of that the system model goes too high. Usually, analysis of
such system is extremely thorny and this causes model of system reduced by
various reduction techniques. The estimates of a high-order system by a low-order
model have a signicant meaning in controller design and control system analysis
[19].
All the physical system is a set of physical substances related jointly to serve up
a function. Examples of physical system may be a communication satellite, a steam
turbine, an electronics amplier, drives, etc. No physical system can be modelled by
its absolute physical details available and subsequently idealizing assumptions are
at all times organized for the explanation of assessment and creation of systems.
A physical model means an idealized physical system. A same physical system can
be modelled in various traditions depending upon study.
In this research paper modelling of the system for vibration control as linear time
invariant system, due to this reason non-linearities present in the system are absent.
In this research paper the design of a reduced controller for mechanical system is
presented. For designing purpose, we have taken an example of a vibration control
system.

Mathematical Modelling of Physical System

Any mechanical systems can be modelled by means of three ideal elements [10];
the mass element, damper element and spring element. All three are discussed
below one by one in Figs. 1, 2 and 3.

(1) THE MASS ELEMENT

Physical governing equation is

dv d2 x
FM M 2 1
dt dt

Fig. 1 Mass Element

Design of Reduced Order Controller for Mechanical System 927

(2) THE SPRING ELEMENT

Physical governing equation is

F Kx1  x2 Kx
Zt Zt
2
K v1  v2 K vdt
1 1

(3) THE DAMPER ELEMENT

Physical governing equation is

F f v1  v2 fv
3
f x1  x2 fx

In the above three elements mass, damper and spring, damper is energy dissi-
pating element and the mass as well as spring are energy-storing elements.

Fig. 2 Spring Element

Fig. 3 Damper Element

928 Jyoti Kataria et al.

A mathematical differential equation results when a mechanical system which is

modelled using the above three ideal elements and then further Laplace trans-
forming it gives transfer function of the system (taking initial conditions zero).

Design of Reduced Order Controller for Mechanical System

For designing a reduced controller for mechanical system, rst, the above rules for
modelling the system as a transfer function model are used then a reduced controller
is designed using the algorithm.
Designing steps of reduced controller procedure [11].
Step 1Take the system transfer function given as

b1 sn1




















bn
Hs 4
a0 sn a1 sn1











an

Step 2Convert it into state space form (controllable canonical form) given as
2 3 2 3
0 1 0 ... 0 0
6 0 0 1 ... 0 7 607
: 6 . .. .. .. .. 7 6.7
zt 6
6 .
. . . . . 7z 6 .. 7u
7 6 7
4 0 0 0 ... 1 5 405
a0 a1 a2 . . . an1 1

Step 3Solve it for state derivative feedback controller, where desired poles
location is given by solving Riccati equation and desired poles are given by

Ds s  k1 s  k2

















s  kn
5
sn dn1 sn1











d1 s d0

Step 4Now applying the procedure given by [12]; nd feedback gain matrix
K, given as

K K1 K2 . . .. . .. . . Kn 

Step 5Now applying feedback, we found the reference model for reduced
methods which are used reduced controller design
Step 6Applying reduction methods, which are explained by [19], one by one
to the system model (1), and nd Kth order reduced model of the system.
Rk s Ak s=Bk s. And nd the poles of reduced model, which are preserved in
the reduced model.
Design of Reduced Order Controller for Mechanical System 929

Step 7Now on the basis of dominant pole behaviour preserves the k number
of poles from desired poles location and then applying the same above procedure
from (1) to (4) and nd the reduced controller as

Kr K1 K2 . . .. . .:: Kk . . .:: 00 

Step 8This is the required reduced controller.

All these steps can be easily implemented by using a numerical analysis.

Numerical Analysis

In this paper, design of reduced order controller for mechanical system is discussed
by using an example of a vibration control system in Fig. 4.
Example: Vibration control system [10]
After using the above rules, the transfer function of the system

X2 s sB12
GS 2 6
Fs s M1 sB12 sfc1 k1 s2 M2 sB12 sfc2 k2  s2 B212

For simulation, let the parameters are as follows:

kN kN Ns
M1 10 kg; M2 100 kg; k1 360 ; k2 36 ; fc1 70 ;
m m m
Ns
fc2 50 ; B12 60Ns=m:
m

Fig. 4 Vibration control system

930 Jyoti Kataria et al.

This yields

60s
Gs 7
103 s4 14100s3 36370700s2 44280000s 12960  106

Converting it into canonical controllable form as

2 3
2 3 0
0 1 0 0
6 7
: 6 7 607
6 0 0 1 0 7 6 7
xt 6 7xt 6 7ut
4 0 0 0 1 5 607
4 5
12960  103 44280 36370:7 14:1 1
yt 0:0600xt

Second-order reduced model of system using RA method

1:8608  106 s
Rs 8
s2 1:3733s 401:94

Now, solving the Riccati equation for, we found the desired poles equation

1136:3 1169:8i; 1136:3  1169:8i; 292:4; 1:0

Now, using reduction methods reduced controller is

KrRA 401:941 0:3747 0 0

Using the procedure full state derivative feedback controller is found as

K 12998319:85 19184:91 28:7522 0:9833 

For this system state feedback controller

Kstate 764709885:1 780949723 3290312:27 2551:9 

Conclusion and Result

The comparison graph (from Figs. 5, 6 and 7) and different values of K, feedback
gain matrix (from above discussed result) concluded that both state derivative
controller and state feedback controller can remove vibrations for a vibration
control system. But the state derivative controller required a lesser amount of
Design of Reduced Order Controller for Mechanical System 931

Fig. 5 Comparison of step response without controller

Fig. 6 Vibration control with state derivative control and state feedback control

energy in association with state feedback controller for the reason that coefcient f
feedback matrix has less K in comparison with Kstate. And reduced controller
(design with help of Routh approximation reduction method) cannot eliminate
vibration completely. The comparison plots are exposed in Figs. 5, 6 and 7.
932 Jyoti Kataria et al.

Fig. 7 Vibration control with full state derivative control and second-order reduced controller

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