Documente Academic
Documente Profesional
Documente Cultură
1987
0005 1098/87$3.00+0.00
PergamonJournalsLtd.
1987InternationalFederationof AutomaticControl
(1)
150
t~(t)
p(q- 1)
P(q-1)y(t)
where
(3)
j = 1,2,
Yd
....
(4)
F1 = q(Pn - E1A),
andA = AAPd.
The transfer function P(q- 1) has two distinct interpretations depending on the particular application
and on the control strategy envisaged. For process
control, when dealing with a "simple" plant the
primary design "knobs" are N 2 and N U . If the
process output has a large overshoot to set-point
and load changes, P(q-1) can be used to penalize
this overshoot. In high-performance applications
N U is chosen larger than unity by an amount
depending on the complexity of the plant. P(q- 1)
can then be interpreted as the "approximate inverse
closed-loop model" and when 2 = 0 and N 2
= N U >~ k the relationship is exact. For the noisefree case this implies that the closed-loop response
to changes in w(t) is given by:
tJ = N 1
+ ~ 2(j)[Au(t + j -- 1)] 2
where:
O(t)
N1
N2
;~(j)
is
is
is
is
P(q- 1).~t);
(2b)
y(t) =
C1
C.
u(t - k) + ~-A~l(t) + ... + ~--~.(t).
151
(5)
Its state-space representation in observable canonical form may be written as:
(9)
or:
(6)
[x(i)rQx(i) + 2(i)Au(i)2].
i=t
q-~F~(q-').
(7)
The control giving minimum cost is therefore:
Au(t) = kT~(t[t)
k T = (2(0 + bTp(t)b) -
~bTp(t)A
(lO)
152
(11)
(12)
4. S I M U L A T I O N EX A MP LES
Generalized predictive c o n t r o l - - P a r t II
IOO%
Set-point
(W)
Output ( Y )
L_A
.
~ ~ n
"v'-
L,,
/'L
Vv-- P
0 /*
153
changing
!
I
0
I00
*A
Control
signal and
400
feed-forward
05
Feed-forward signor
O *A
400
d
where s is the differential operator ~-, sampled at
D . W . CLARKE et al.
154
60
Set-point (W)
/*
~ A A ^ . , A A ^ . ~
, O v " v , VV'w
-10%
iooo/.,,.illControt
400
signor
0* I
I
_100/o ]
400
1)34t) =
u(t
1).
Generalized predictive c o n t r o l - - P a r t II
155
iO0 *A
Output ( Y )
Set-point
(WI
!50/
0O/o
I
40O
I
400
Control signal
_,oo
ii1
ioo'A
i,-
Pi
FIG. 3. The control of a plant with additive disturbances (without the Tpolynomial).
I 0 0 */.
Output
Set-point ( W )
50
/k_
W-'v
"/
f,
0 /o
(Y)
I
400
Control signal
400
FIG, 4. The control of a plant with additive disturbances (with the Tpolynomial).
4.5. Under-parameterization
Most industrial processes are nonlinear and
therefore may only be approximated by high-order
linear models. A good choice of sample-rate, on the
other hand, enables the designer to use low-order
models for control: slow sampling masks the highorder fast dynamics.
D . W . CLARKE et al,
156
I 0 0 ,~
Set-point (W)
Output
( Y }
50 */
0 */*
,I
|
800
Control signal
I00
~-]r F L__/---I_
I[I,II. ,Y.
-IO0
800
50 *A
J Ltpul
I
J
lI,
0 */,
I
40C
Control signal
2 5 */*
J,. ;
ii 11 II-II
0 */
-25*/.
400
1.1q- 1))~t) = - ( 0 . 1
+ 0 . 2 q - l)u(t - k)
157
IO0%
Set-point
(W)
Output
{ Y )
5OO/
0 "/o
O
4o0
Control signal
0%
I00
"
IL.
..
__
The value of k was changed at the downwardgoing steps in set-point increasing initially from
one to five and then decreasing from five back to
one again. The adaptive controller estimated two
A and six B parameters and a scalar forgettingfactor of 0.9 was employed to enable tracking of
variations in the dead-time. N 2 was set to 10 and
N U to one. The performance of GPC shown in
Fig. 8 is good; note that the plant was both
nonminimum-phase and open-loop unstable with
variable dead-time, yet stable control was achieved
with the default settings of this algorithm.
5. CONCLUSIONS
REFERENCES
/~strrm, K. J. and B. Wittenmark, (1984). Computer Controlled
Systems--Theory and Design. Prentice-Hall, Englewood
Cliffs, NJ.
Bierman, G. J. (1977). F actorization Methods for Discrete System
Estimation. Academic Press, New York.
Clarke, D. W. (1982). The application of self-tuning control.
Trans. Inst. M.C., 5, 59-69.
Clarke, D. W. and P. J. Gawthrop, (1975). Self-tuningcontroller.
Proc. IEE, 122, 929-934.
Clarke, D. W. and P. J. Gawthrop, (1979). Self-tuning control.
Proc. IEE, 126, 633-640.
Clarke, D. W., P. P. Kanjilal and C. Mohtadi, (1985). A
generalised LQG approach to self-tuning control. Int. J.
Control, 41, 1509-1544.
Gawthrop, P. J. (1977). Some interpretations of the self-tuning
controller. Proc. lEE, 124, 889-894.
Kwakernaak, H. and R. Sivan, (1972). Linear Optimal Control
Systems. Wiley, New York.
Lam, K. P. (1980). Implicit and explicit self-tuning controllers.
D. Phil Thesis, Oxford University.
Peterka, V. (1984). Predictor-based self-tuning control. Automatica, 20, 39-50.
Tufts, P. S. 0984). Self-tuning control: algorithms and applications. D. Phil. Thesis, Oxford University.
Tufts, P. S. and D. W. Clarke, (1985). FAUST: a software
package for self-tuning control. IEE Conf. "'Control 85",
Cambridge.
Wellstead, P. E., D. Prager, and P. Zanker, (1979). Pole
assignment self-tuning regulator. Proc. IEE, 126, 781-787.
158
CLARKE et al.
D.W.
ioo*/o 7
50 *A
O */*
0
800
Control signoL
too
'
-io
800
NU
1
N~
N2
Plant
1
1
P
0
0
0
s,d
s,d
mp
0,2
- , oe
1
-,o~
1
>~2n - 1 1
/>2n - 1 P
>0
0
0
0
2
N2
10
---,oc
/>k
<N 2
~>k
N2
1
N 2 -- n + 1 1
n
n
n
n
s,d
s,d
o,c
o,c
s,d
Controller
"Default"
"Mean-level"
Exact modelfollowing P = I / M
"Detuned" modelfollowing
LQ infinite-stage
Cheap LQ
State-dead-beat
Pole-assignment
"Detuned" poleassignment
A P P E N D I X A. R E C U R S I O N O F T H E P O L Y N O M I A L
G'(q- l)
Consider the successive Diophantine identities:
Gj = G j T + q-JFj
(A.1)
Gj+ l = G'j+IT+ q - J - l F j r
(A.2)
(B.2)
y(t) = erx(t)
(B.3)
-a2
Ej(q l ) = e o + e l q
1
0
0
1
...
...
l +...+ei_lq-J+l.
q-JejB = q - J g j + l T + q - J ( q - l F j + l - Fj).
t~ n
(A.3)
b = [bo, b l ..... b.
1] T
gj t = 1/to(ejbo + ?O~o)
(A.4)
(B.I)
A =
(A.5)
159
where 2 i are the eigenvalues and IAil < 1 for all i # ! and 2~ = 1
and ql and ri are right and left eigenvectors associated with the
particular eigenvalue of A.
The right and left eigenvectors associated with the eigenvalue
at 1 are given by:
(B.4)
qlr=[l,1
+fit, I +a I +'~2,...]
(B.5)
m-~
oo.
Time update:
P(i) = Q + ArP*(i)A
(B.6)
(B.7)
rlr~.
(B.9)
(B.10)
Theorem
NU
--* oo
NU
~< N 2 - n + 1 and
x.(t) = -~.y(t
1) + b . _ l A u ( t
1)
+ b._ tAu(t - 2) + b . _ 2 A u ( t
xdt ) = -8ly(t
1)
1) - ... + b o A u ( t - 1) + ...
(B.I1)
and
~t) = xdt).
- (1 + f i t ) y ( t -
1)
...
( E b , - bo)
(B.12)
or:
G(q - l)Au(t) = - A ( q - 1)/B(I )y(t)
+ q-lA(q-l)B(q-t)/B(l)
= A(q-l).
(B.13)
Theorem
~.2iqir ~
(B.8)
160
D.W.
CLARKE et al.
N2 + t
d = j~=t x(i)rQ(i)x(i)
(B.14)
g,
g2. 2
g, - 1
g2.-1
...
g1
..-
g. 1
Au(t+l)
Au(t + n - I)
w-J(t+n+l)
[ w -J~t + 2n - I)]
I)