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3rd IFAC Workshop

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Education
November
3rd
3rd IFAC
November 4-6,
4-6, 2015.
IFAC Workshop
Workshop Brescia,
2015.on
on Italy
Internet
Internet
Brescia, Based
Based Control
Italy Control Education
Education
3rd IFAC
November Workshop
4-6, 2015.on Internet Based
Brescia, Italy Control Education
November
November 4-6,
4-6, 2015.
2015. Brescia,
Brescia, Italy
Italy
Available online at www.sciencedirect.com

ScienceDirect
IFAC-PapersOnLine 48-29 (2015) 229–234
Web
Web Application
Application for
for the
the Analysis
Analysis of
of One
One
Web
Web Application for the Analysis of One
Type of Disturbance Observer BasedOne
TypeApplication
of for
Disturbance the Analysis
Observer of
Based PI
PI
Type
Type of
of Disturbance
Disturbance
Control by
by the Observer
Observer
the Performance PortraitPI
Based
Based
Performance Portrait PI
Control
Control by the Performance Portrait
Control by theMethod
Performance Portrait
Method
Method
Method
K.
K. Žáková
Žáková M.
M. Huba
Huba
K.
K. Žáková M.
Žáková M. Huba
Huba
∗
K. Žáková M. Huba
∗ Slovak University of Technology
∗ Slovak University of Technology
∗ Slovak
Faculty
Faculty of of Electrical University of Technology
SlovakEngineering
∗ Slovak
Electrical University and
University
Engineering of Information
Information Technology
of Technology
and Technology Technology
Faculty
Faculty of Electrical Engineering
Bratislava, and
SlovakiaInformation Technology
Faculty of Electrical Engineering and Information
of Electrical Engineering
Bratislava, and
SlovakiaInformation TechnologyTechnology
(e-mail: Bratislava,
(e-mail: katarina.zakova, Slovakia
Bratislava, mikulas.huba@stuba.sk)
Bratislava,
katarina.zakova, Slovakia
mikulas.huba@stuba.sk)
Slovakia
(e-mail:
(e-mail: katarina.zakova, mikulas.huba@stuba.sk)
(e-mail: katarina.zakova,
katarina.zakova, mikulas.huba@stuba.sk)
mikulas.huba@stuba.sk)
Abstract:
Abstract: One type of the disturbance observer (DO)
One type of the disturbance observer (DO) basedbased controller
controller has has been
been proposed
proposed by by
Abstract:
extending
Abstract: theOne
One type
traditional
type of
of the
PI
the disturbance
control
disturbance loop observer
for a
observer (DO)
velocity
(DO) based
servo
based controller
control
controller by has
DO
has been
for
been proposed
reconstruction
proposed by
extending
Abstract:the One traditional
type of the PI disturbance
control loopobserverfor a velocity
(DO) servobasedcontrol
controller by DO has forbeen proposed by
reconstruction by
extending
and
extending
and the
compensation
the
compensation traditional
of
traditional input
of input PI
PI control
disturbances.
control loop
loop for
This
for a
a velocity
solution
velocity servo
has
servo control
significantly
control by
by DO
DO for
improved
for reconstruction
the distur-
reconstruction
extending the traditional PI disturbances.
control loop for This solution servo
a velocity has significantly
control by DO improved the distur-
for reconstruction
and
bance compensation
response
response and andof input disturbances. ofThis solution has significantly On improved otherthe distur-
and
and compensation
bance compensation ofattracted
of input
attracted attention
attention of
input disturbances.
disturbances. many
This
many
This subsequent
solution
subsequent
solution has papers.
papers. On
has significantly
significantly the
the other
improved
improved hand,
the
hand,
the distur-
distur- the
the
bance
structure
bance
structure response
has
response led
has ledandand
and to attracted
problems
attracted
to attracted
problems that attention
that have
attention
have of of
of many
limited
many
limited subsequent
achievable
subsequent papers.
improvements
papers. On
On the
of
the other
transients.
other hand,
hand, Thus, the
the
bance response attention manyachievable
subsequentimprovements
papers. On the of transients.
other hand, Thus, the
structure
this has
structure led
takes to aproblems that have in limited achievable improvements DOof transients.controlThus,
structure
this has
has led
structure
structure takes
led to a
to unique
unique position
problems
problems that
that have
position have in understanding
limited achievable
understanding
limited achievable features of
of the
improvements
features
improvements the DO ofbased
of transients.
based
transients.control Thus,
Thus,and
and
this
in
this
in allstructure
associated
structure takes
takes a
courses.
a unique
The
unique position
application
position in
in understanding
should yield
understanding openfeatures
access
features of
of tothe
an
the DO based
interactive
DO based control
analysisand
analysis
control and of
thisallstructure
associated courses.
takes a uniqueThe application should yield open
position in understanding accessoftothe
features an DO interactive
based control and of
in
such
in allaassociated
solution by courses.
the The
performanceapplication
portrait should
method yield
and open
to itsaccess
comparisonto an interactive
with another analysis
possible of
in all associated courses. The application should yield open access to an interactive analysis of
such allaassociated
solution by courses.
the The
performanceapplication
portrait should
method yield
and open
to itsaccess
comparisonto an interactive
with another analysis
possible of
such
such a
a solution
modification
solution
modification of by
the
by
of by the
the
thethe DO performance
based
performance
DOperformance
based filtered portrait
filtered PI
portrait method
control.
method
PI control. and
and to
to its
its comparison
comparison with
with another
another possible
possible
such a solution portrait method and to its comparison with another possible
modification
modification of
of the DO based filtered PI control.
©
modification of the
the DO
2015, IFAC (International DO based
based filtered
filtered
Federation
PI
PI control.
control.Control) Hosting by Elsevier Ltd. All rights reserved.
of Automatic
Keywords:
Keywords: PID control, performance, robustness, noise
PID control, performance, robustness, noise attenuation,
attenuation, Matlab/Simulink,
Matlab/Simulink,
Keywords:
interactive
Keywords:
interactive PID
tool
PID control, performance, robustness,
tool control, performance, robustness, noise attenuation,
control, performance, robustness, noise
noise attenuation, Matlab/Simulink,
Matlab/Simulink,
Keywords: PID attenuation, Matlab/Simulink,
interactive
interactive tool
interactive tool tool
1.
1. INTRODUCTION
INTRODUCTION tion in
tion in the
the parameter
parameter space space and and to to check
check the the corresponding
corresponding
1. INTRODUCTION
1. INTRODUCTION tion
tion inin the
transients.
transients.the parameter
Results
Results of
parameter ofspace
the and
and to
the paper
space paper toarecheck
check
are then
then the corresponding
thesummarized
corresponding
summarized in
in
1. INTRODUCTION tion in the parameter space and to check the corresponding
One of the first disturbance observer (DO) based PI (DO- transients.
Conclusions.Results of the paper are then summarized in
Conclusions.
transients. Results
Results of
of the
the paper
paper are
are then
then summarized
summarized in
One of the first disturbance observer (DO) based PI (DO- transients. in
One
PI)
One of
of the
controllers
the first
first disturbance
(Umeno
disturbance and observer
Hori,
observer 1991) (DO)
has
(DO) based
been
based PI (DO-
proposed
PI (DO- Conclusions.
Conclusions.
PI)
Onecontrollers
of the first(Umenodisturbance and Hori,
observer 1991) has based
(DO) been proposed
PI (DO- Conclusions.
PI)augmenting
by controllers (Umeno
(Umeno and Hori,
Hori, 1991) hasforbeen proposed 2. DO-PI
DO-PI ANALYSIS
ANALYSIS BY BY THE THE PERFORMANCE
PERFORMANCE
PI)augmenting
PI)
by controllers
controllers (Umenothe PI
the PI control
control
and
and Hori, loop1991)
loop by a
by
1991) a DO
DO
hasfor
has been
beendisturbance
proposed
disturbance
proposed 2.
2. DO-PI ANALYSIS BY THE PERFORMANCE
byby augmenting
reconstruction
augmenting
reconstruction the
and
the
and PI
its
PI
itscontrol
more
control
more loop
intensive
loop
intensiveby
by a
a DO
DO for
for disturbance
compensation.
disturbance
compensation. In
In a
a 2. DO-PI PORTRAIT
ANALYSIS
PORTRAIT BY METHOD
THE
METHOD PERFORMANCE
by augmenting the PI control loop by a DO for disturbance 2. DO-PI ANALYSIS BY THE PERFORMANCE
reconstruction
nominal
reconstructioncase it and
had
and its
no
its more
influence
more intensive
on
intensive the compensation.
setpoint
compensation. In
response,
In a
a PORTRAIT METHOD
PORTRAIT METHOD
nominal case it and
reconstruction had itsno more
influence on thecompensation.
intensive setpoint response, In a PORTRAIT METHOD
nominalit
though case it had
had no improved
significantly influence on on
inputthe disturbance
setpoint response,
response,
(load)
(load) 2.1
nominal
nominalitcase
though it
it had no
significantly
case influence
no improved
influence on inputthe setpoint
the disturbance
setpoint response, 2.1 DO-PI
DO-PI structure
structure
though
responses.
though it
it significantly
significantly improved
improved input
input disturbance
disturbance (load) 2.1
(load) DO-PI structure
though it significantly improved input disturbance (load) 2.1 DO-PI
responses. 2.1 DO-PI structure
structure
responses. Consider standard control
responses.
responses.
Recently, Huba (2015) revisited this PI centered approach Consider standard control looploop (Fig.1)
(Fig.1) with with aa PI PI controller
controller
Recently, Huba (2015) revisited this PI centered approach Consider Consider standard
standard control
control 1 loop
loop
+ T (Fig.1)
(Fig.1)
s with
with K a
a PI
PI controller
controller
Recently,
by Huba
the performance
Recently, performance
Huba (2015) revisited
portrait this
method PI centered
(PPM). approach
Byapproach
its very
very Consider standard control loop (Fig.1)
1 + T s Kc + Ki
i with ia PI controller
by the
Recently, Huba (2015)
(2015) revisited
portrait
revisited this
this PI
method centered
PI(PPM).
centered By its
approach C(s)
C(s) =
= K
K c 1 + Tii s =
1 + T s = K + K
K
(1)
(1)
by the
nature
by performance
this method portrait
can be method
used only (PPM).
with theBy its
help very
and c T s c s i
by the
the performance
this method portrait method only(PPM). By its
its very 1 + iT s K
C(s) = K i = K + i (1)
nature performance can be used
portrait method with the
(PPM). Byhelp and
very C(s) = K c T i s i = K c + s i (1)
nature this
support this
of method can can be used
used carried
only with
with the help C(s)
and and a first order dominant = K c
c Tplant s = K c + sss (1)
nature
support
nature this of computer
method
computer
method can calculations
be used carried
be
calculations only
only with out,
out,thefor example,
for help
the example,
help and and a first order dominantT
and ii s
Tplant
is
c
support
in Matlab of computer calculations carried out, for example,
avail- and a first order dominantYplant
support
in Matlab
support of /
of Simulink.
/computer
Simulink.
computer Because
Because these
calculations
calculations carried
these
carried are not
areout,
not for
out, freely
freely
for avail-
example,
example, and
and aa first
first order
order dominant
dominant Yplant
(s) = K
(s)
plant Kss
inin Matlab
Matlab
able,
able, we
we / Simulink.
/ Simulink.
decided
decided to
to make
makeBecause
the
Because
the these are
results
these
results are
of
of notanalysis
our
not
our freely avail-
analysis
freely avail-
also
also P
P (s)
(s) =
= Y (s) = sK K (2)
(2)
in Matlab / Simulink. Because these are not freely avail- P (s) = Y
U
Y (s)
(s) = K+ s
sa (2)
able, we
accessible
able, decided
by using to make
open the results
technologies. of
This our
paperanalysis also
describes P (s) = U = s + sa (2)
able, we
we decided
accessible by usingto
decided make
toopen
make the
the results
technologies.
results Thisof
of ourpaper
our analysis also
also It is well known Pthat
describes
analysis (s) = itsU
U (s)
(s)
response
= s +
ss + a
a
to input (load) (2)
dis-
accessible
basic
accessible
basic by
by using
implementation
using
implementation open
open technologies.
aspects of
technologies.
aspects the This
created
This
of the created paper
papertool describes
and,
describes
tooldescribes at
and, at It It is well known that itsU (s)
response + a
to input (load) dis-
accessible by using open technologies. This paper is well known
basicsame
the
basic
the implementation
basicsame time,
time, it
implementation
implementation
aspectsthe
it enlivens
aspects
enlivens
aspectsthe
of static
of the created
the
of static
created tool and,
presentation
tool
presentation
the created
and,
tool and,
at turbances
from
at
from
It is
is well
well known
turbances
It
at (Umeno known maythat
dii may
d be its
be
that
that its response
relatively
response
relatively
its response
to
sluggish.
to
sluggish. inputThe
to input
inputThe
(load)
(load) dis-
authors
dis-
authors
(load) dis-
the
Huba same
(2015) time,
by it
new enlivens
interactive the static
features. presentation
It will be usedfrom
as turbances
turbances
(Umeno and
andd
d i may
Hori,
may
Hori, be
1991)
be
1991) relatively
proposed
relatively
proposed sluggish.
to
sluggish.
to improve
improve The
The authors
such
authors
such re-
re-
the
Huba same
(2015) time,
by it
new enlivens
interactive the static
features.
the same time, it enlivens the static presentation from (Umenopresentation
It will be usedfrom
as turbances d i
i may be relatively sluggish. The authors
sponse
(Umeno byand
and Hori,
reconstructing
Hori, 1991)
1991) proposed
and compensating
proposed to
to improve
improve d . Bysuch
means
such re-
aHuba
Huba
aHuba (2015)
complementary
(2015)
complementary by
by
(2015) by new
new
new interactive
resource in
interactive
resource a features.
face-to-face
features.
in a face-to-face
interactive
It
It will
Bachelor
will
features. ItBachelor
be
be used
degree
used
will be useddegreeas
as
as of sponse by reconstructing
(Umeno and Hori, 1991) proposed to improveand compensating d i
i . Bysuch re-
meansre-
a complementary
complementary resource in sponse
Laplace
sponse by reconstructing
transform
by reconstructing
reconstructing one and
may
and writecompensating
write for
compensating such ad .
case
dicaseBy Y means
(s)
(s) =
. By means
in aa face-to-face Bachelor degree of i
acourse
course on
on PID
PID control
a complementary resource
control
resourceand
and in in
in aa new
new Internet
aface-to-face
Internet
face-to-face based
based MOOC
Bachelor
Bachelor degree
MOOC
degree of Laplace
sponse by transform one may and for such ad
compensating i . ByYmeans =
course
that is on PID
being control
prepared and
to in
this a new
topic. Internet based MOOC P
of
P Laplace
(s)[U
Laplace
(s)[U (s)
(s) transform
+
+ D
D i (s)],
transform
(s)], one
which
one
which may
yields
may
yields write
write for such
disturbance
for such
disturbance aa estimate
case
case Y
Y
estimate (s)
(s) =
=
course
that
course on
is on PID
being control
PIDprepared
control and and in
to this a new
in atopic. Internet based
new Internet based MOOC P MOOC of Laplace transform
i one may write for such a case Y (s) =
that is being prepared to this topic. P (s)[U
(s)[U (s)
(s) +
+ D
D i (s)],
(s)], which
which yields
yields
−1 disturbance
disturbance estimate
estimate
that is
that is being
beingis prepared to this topic. P (s)[U (s) + D iD(s)],(s) =
whichP (s) −1 Y (s)
yields − U
disturbance
Y (s) − U (s) (s) estimate (3)
isprepared to this topic. Section Di (s) = P (s)−1 (3)
The paper structured as i i
The paper structured as follows.
follows. Section 2 2 summa-
summa- D
D ii (s)
(s) =
= P
P (s)
(s) −1 Y (s) − U (s)
−1 Y (s) − U (s) (3)
(3)
The
rizes
The
rizes paper
results
paper is
of
is structured
the paper
structured
results isof structured
the paper by as
by
as follows.
Umeno
follows. Section
and Hori
Section 2 summa-
(1991)
2 summa- and D (s) = P (s) Y (s) − U (s) (3)
The paper as Umeno
follows.and Hori (1991)
Section 2 summa- and When When wishing
wishing to
to
i compensate
compensate d
d i by
by adding
adding its
its negative
negative
rizes
adds
rizes
adds results
performance
results
performance of
of the
the paper
measures
paper
measures by
by Umeno
appropriate
Umeno
appropriate and
and Hori
for
Hori
for (1991)
evaluation
(1991)
evaluation and
andof
of When wishing to compensate d i
by adding its negative
rizes results of the paper by Umeno and Hori (1991) and value value
When to the
When towishing controller
to
to compensate
the controller
wishing output,
output, d
compensate one
i by
i
done has to
hasadding eliminate
to eliminate its alge-
its negative
alge-
adds performance
performance
transient responses measures
with appropriate for evaluation of value i by adding negative
adds
transient responsesmeasures
adds performance with dominant
measures appropriate
dominant
appropriate first order
first for
order
for dynamics
evaluation
dynamics
evaluation of
of braic
value
braic to
loop
to
loopthe
theby
by controller
adding
controller
adding aa output,
low
output,
low pass
pass one
one has
filter
has
filter Q
Q to
i (s),
to(s), eliminate
which
eliminate
which alge-
yields
alge-
yields
transient
that are responses with dominant first portrait
order dynamics
dynamics value to the controller output, one has to eliminate alge-
are then used
used by the performance method
transient responses with i
that
transient then
responses by
with thedominant
performance
dominant first order
first portrait method braic
order dynamics the
braic
the loop
corrective
loop
corrective by
by adding
filtered
adding
filtered a
a low
signal
low
signal pass
D
pass
D f filter
(s) =
filter
(s) = Q
QQ
Qi i (s),
(s)[P
(s),
(s)[P which
(s)
which
(s)
−1 yields
−1 Y
Y (s)
yields
(s) −
−
that are
enabling
that then
to used
lookused
for an by
an the
optimal performance
nominal and portrait
and method
robust method
tuning. the braic loop by adding a low pass f filter Qi i (s), which −1 yields
that are then by the
the performance portrait i
enabling
are to thenlook for
used byoptimal nominal
performance robust
portrait tuning.
method U
the
U corrective
(s)]. In
corrective
(s)]. In a
a filtered
nominal
filtered
nominal signal
case
signal
case with
with D
D fno
no(s)
(s) =
= Q
Q ii (s)[P
disturbance
(s)[P
disturbance (s)
(s) −1 Y (s)
acting,
−1 Y (s)
acting, −
the
−
the
enabling
Section
enabling 3to
to look
describes
look for
for an
a
an optimal
simulation
optimal nominal
tool
nominal and
enabling
and robust
to
robust tuning.
find
tuning.an the corrective filtered signal D f
f (s) = Q i (s)[P (s) Y (s) −
Section 3 describes a simulation tool
enabling to look for an optimal nominal and robust tuning. U enabling to find an U (s)].
(s)]. In
reconstructed
In
reconstructed a
a nominal
signal
nominal
signal case
will
case
will with
be
with
be zero
zero no
no disturbance
and thus
disturbance
and thus the
the acting,
introduced
acting,
introducedthe
the
Section
optimal,
Section 3
3ordescribes
robust
describes a
a simulation
controller
simulation tuning,tool
tool toenabling
visualize
enabling to
to find
its
find an
posi-
an U (s)]. In a nominal case with no disturbance acting, the
optimal,
Section 3ordescribes
robust controller
a simulation tuning,tool to visualize
enabling toitsfind an reconstructed
posi- observer
observer does does signal
not will
not influence be zerothe and
the closed thus loop the introduced
thesetpoint re-
 optimal, or
optimal, or robust
robust controller
controller tuning,
tuning, to to visualize
visualize its posi- reconstructed
its posi- reconstructed
observer does
signal
signal
not
will
will be
influence
influence
be zero
zero
the
and
closed
and
closed
thus
thus loop
loop
the introduced
setpoint
introduced
setpoint
re-
re-
 optimal,
This
This work
workor robust
has
has also
also controller
been
been supported
supported tuning,
by
by to visualize
Slovenská,
Slovenská, its
e-akadémia,
e-akadémia, posi-
n.o.
n.o. sponse
observer
sponse
observer does
does not
not influence
influence the
the closed
closed loop
loop setpoint
setpoint re-
re-

 This work has also been supported by Slovenská, e-akadémia, n.o. sponse
 This work has also been supported by Slovenská,
This work has also been supported by Slovenská, e-akadémia, n.o. e-akadémia, n.o. sponse
sponse
Copyright
2405-8963 ©
Copyright © 2015,
2015
2015 IFAC
IFAC
IFAC (International Federation of Automatic Control)229
229 Hosting by Elsevier Ltd. All rights reserved.
Copyright
Copyright
Peer review©
© 2015
2015
under IFAC
IFAC
responsibility of International Federation of 229
229
Automatic
Copyright © 2015 IFAC 229Control.
10.1016/j.ifacol.2015.11.241
IFAC IBCE 2015
230
November 4-6, 2015. Brescia, Italy K. Žáková et al. / IFAC-PapersOnLine 48-29 (2015) 229–234

Fig. 1. Web page with the considered control scheme

Y (s) C(s)P (s) Kc = 0.4; Ti = 0.4s; Tf = 0.003s

Fs (s) = = (4)
W (s) 1 + C(s)P (s) Kt = 0.809Nm/A; Jn = 0.006kgm2 ; B = 0.005Nms
Ks = Kt /J ∈ [45, 135] N/kgmA
However, the DO will improve the distrubance response a = B/J ∈ [0.2778, 0.8333] Ns/kgm
given as L = 5.0mH; R = 7.5 Ω; Te = L/R = 0.67ms
(8)
Y (s) P (s)
Fd (s) = = (1 − Qi (s)) (5)
Di (s) 1 + C(s)P (s) 2.2 Performance Measures
To determine the filters Qi (s), i = 1, 2, 3 that have to
satisfy the condition Qi (0) = 1, the authors employed The performance portrait method is based on checking the
Butterworth design with the relative degree one yielding closed loop performance for all relevant free, or uncertain
parameter values. Thereby, the speed of transients is
√ usually expressed by the integral of absolute error (IAE)
1 2Tf s + 1
Q1 (s) = ; Q2 (s) = 2 √ for the setpoint and disturbance steps. For
Tf s + 1 2
Tf s + 2Tf s + 1  ∞
(6)
2Tf2 s2 + 2Tf s + 1 IAE = |e(t)| dt ; e = w − y ; w = setpoint (9)
Q3 (s) = 3 3 0
Tf s + 2Tf2 s2 + 2Tf s + 1
IAEs and and IAEd denote the corresponding values and
Such filters guarantee that for a plant model IAEΣ = IAEs + IAEd (10)
the overall cost functions.
Pm (s) = Km /(s + am ) (7)
The loop optimization is carried out under shape related
−1
the filtered model inversion Pm Qi remains proper. The constraints based on the notion of monotonicity (MO).
authors proclaimed that by increasing the filter order This, on the one hand, simplifies some analytical opera-
(given by the index i) one gets an improved robustness tions, since for a monotonic output change after a setpoint
by reducing the sensitivity norm, whereas the noise atten- step the IAE may be replaced by simple integral of error
uation remains unchanged. (IE). Similar simplification may be considered also for
disturbance steps with a MO return to the reference value.
Since in the original paper some parameters have been However, since such a response starts with a MO output
chosen “ad hoc”, to evaluate rigorously the results of increase due to the acting disturbance, it already repre-
Umeno and Hori (1991), the design considers the original sents a more complicated shape with two MO intervals. It
parameters. For the PI controller (1), a filter (6), a DC mo- will be referred to as one-pulse (1P) response.
tor characterized by the parameters Kt (motor constant),
J ∈ [Jn , 3Jn ] (moment of inertia), B (viscous friction), Te By inversion of the plant dynamics it is possible to prove
(electrical time constant of the torque generator), under that for unstable and integral first order systems MO
notation (2) one gets transients at the output have to be achieved by 1P input.

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Deviations from MO and 1P responses at the output may
be quantified by the relative total variance modifications
(Huba, 2013) T V0 (ys ) and T V1 (yd ). For an output setpoint
step response ys with an initial value y0s and the final value
y∞s 
 ∞   Another limitation follows from the discrete time imple-
 dys  dys
T V0 (ys ) =  − dt ≈
 dt  dt
0 Ts , which requires
 Tf >> Ts
≈ |yi+1s − yis | − |y∞s − y0s | (11)
i
T V0 (ys ) = 0 for strictly MO response, else T V0 (ys ) > 0.
For disturbance steps and ymd = max{yd } ∈ / (y0d , y∞d )
denoting an extreme point,
 setpoint steps (w = 1, di = 0) with output and input
T V1 (yd ) = |yi+1d − yid | − |2ymd − y∞d − y0d | (12)
i with ȳd (τ ), ūd (τ ), then , the PP items corresponding to
and again T V1 (yd ) = 0 just for strictly 1P response, else
T V1 (yd ) > 0. For the sake of simplicity we will denote as
MO output disturbance responses those characterized by
T V1 (yd ) = 0, i.e. with responses returning monotonically
to zero from an initial deviation caused by a delayed
feedback.
Similarly, for an input u deviations from 1P input will be
evaluated by T V1 (u), whereas T V1 (u) = 0 just for strictly
1P response, else T V1 (u) > 0.
Constraints on the tolerable deviations from ideal shapes
at the plant input and output Huba (2013) may then be
formulated as
T V0 (ys ) ≤ ys ; T V1 (yd ) ≤ yd
(13)
T V1 (us ) ≤ us ; T V1 (ud ) ≤ ud
with ys , yd , us , ud representing the tolerable deviation
values. The shape related constraints (13) are important
for consideration of technological requirements as reduc-
tion of oscillations, generated noise, dissipated heat, super-
fluous control effort, actuator wear, etc. (Huba, 2013). Fur-
thermore, the basic mathematical concept of monotonicity
plays an important role also in robust control design. An
ideal situation is given by
 = ys = yd = us = ud → 0 (14)
To respect the always limited precision of control and
computer simulations, some ”sufficiently” small  should
be chosen instead, e.g. as
 = ys = yd = us = ud = 0.001 (15)
2.3 Performance Portrait Method
Performance inspection under all relevant parameter val-
ues is made tractable by appropriate parameter normal-
ization and discretization. The computations are carried
out on a grid of normalized closed loop parameters
K = Kc Ks Tf ∈ GPP = [Kmin , Kmax ]
κ = Ks /Km ∈ KPP = [κmin , κmax ] (16)
τi = Ti /Tf ∈ TPP = [τimin , τimax ]
In each point they yield values of all interesting time and
shape related performance measures.
To simplify the problem (parameters number), the plant
parameter a has been replaced by the estimate am = 0
denoted sometimes as an “ultra local” model (Fliess and
Join, 2013). Neglecting of an unmodelled dynamics (torque
231
generator time constant Te ) has to be compensated by
appropriate constraints put on admissible solutions
K0 = Kc Km Tf ≤ Kmax
(17)
K = Kc Ks Tf ≤ Kc Ksmax Tf ≤ κmax Kmax
mentation of the considered loop with the sampling period
(18)
When considering a performance portrait (PP) including
items IAE(ȳs ), IAE(ȳd ), T V 0 (ȳs ), T V 1 (ȳd ), T V 1 (ūs ) and
T V 1 (ūd ) generated for the IPDT plant with Ks = 1, Tf =
1 over chosen grid of points Kc , Ti , Km by simulating
ȳs (τ ), ūs (τ ) and input disturbance steps (w = 0, di = 1)
any loop parameters Ks , Tf , Km , Kc , Ti belonging to the
range (16) with the corresponding responses ys (t), us (t),
yd (t) and ud (t) may be calculated according to
IAE(ys ) = Tf IAE(ȳs ) ; IAE(yd ) = Ks Tf2 IAE(ȳd )
T V0 (ys ) = T V 0 (ȳs ) ; T V1 (yd ) = Ks Tf T V 1 (ȳd )
1
T V1 (us ) = T V 1 (ūs ) ; T V1 (ud ) = T V 1 (ūd )
Ks Tf
(19)
3. SIMULATION TOOL
In order to speed up the optimization procedure, consider
a PP of appropriate dimension stored in the computer.
For such a pre-calculated PP, the simulation tool enables
to formulate the optimization problem, to find its optimal
solution (if included in the available PP), to visualize
its position in the parameter space and to check the
corresponding transients.
3.1 User View - optimal nominal tuning
For better comprehension of the topic we prepared an
online application that is presented in Figs. 1-3. It tries
to demonstrate the substantial and significant features of
the presented algorithm.
As it is evident from Fig.1 the application forms one part of
the portal that is devoted to various interactive control on-
line applications. The web page presenting the application
starts with the illustration of the corresponding control
structure.
In the optimal nominal tuning, the task is to locate a
working point into an admissible area of normed process
parameters of the available PP offering lowest value of the
chosen cost function and satisfying all given shape related
(13) and gain constraints (17).
The application enables to show the nominal tuning of the
controller (Fig.2) whereby the user can change values of
two constraints: κmax and Kmax (17). The parameter κmax
can be modified in the interval [1, 4] and Kmax in [0.16, 1]
(Huba, 2015). The predefined sliders enable fluent change
of parameters and the user can follow how the performance
portrait and the nominal controller setting vary.
The application also shows the simulation results corre-
sponding to the nominal controller tuning (Fig.3). The
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Fig. 2. Nominal tuning, n=1, Ti /Tf = 220, Ks = 135
user can see and compare simulations corresponding to
the control of the simplified 1st order integral system
(a = 0, Tu = 0) and the targeted 1st order static system
(a = B/J) where Tu = Te or Tu = 2Te . The last pos-
sibility should indicate overdamped solutions that do not
oscillate even for doubled Tu . In other words, it indicates
too conservative tunings, which remain monotonic also for
Tu = 2Te .
Fig. 3. Transients corresponding to nominal tuning, n=1,
κmax = 1, Kmax = 0.16
In addition, the user can compare previous predefined
results with own simulation setting. The text inputs bellow
the plots enable to define own controller and disturbance
observer parameters (KC , Ti , Tf and Km ). Specification
of the label enables to distinguish the accomplished simu-
lation from previous results. The new defined label name
appears on the right side of the application together with
other simulation identification marks. Using check-box the
user can visualize those graphical dependencies that are
the most interesting for him or her.
232
3.2 User View - robust tuning
In a similar way, the application also illustrates the robust
tuning of the controller. The considered uncertainty is
imposed on the gain of the system where we consider that
it can vary from Ksmin = 45 to Ksmax = 135.
In the optimal robust tuning, the task is to locate a set
of working points corresponding to all possible values of
uncertain parameters into an admissible area of normed
process parameters of the available PP offering lowest
mean value of the chosen cost function and satisfying all
given shape related (13) and gain constraints (17).
In this case, the user can see instead of one nominal
controller setting (illustrated by the circle) the whole line
segment that corresponds to settings of the controller in
the whole uncertain interval of gain values.
3.3 Developer View
The whole application is based on LAMP technologies.
It is running on the server with Linux operating system.
We used Apache web server, PHP scripting language for
programming server side and JavaScript for client side.
The application data were stored in MySQL database. The
visualisation of the portrait performance was done using
D3 JavaScript library (Bostock, 2015).
The simulations are accomplished in Scilab software envi-
ronment. Scilab (Scilab Enterprises S.A.S, 2015) is free and
open source software for numerical computation providing
a powerful computing environment for engineering and
scientific applications. It covers a large number of func-
tionalities: control, simulation, optimization, signal pro-
cessing..., and Xcos, the hybrid dynamic systems modeler
and simulator. Scilab has very good interoperability with
other software environments. Thus, it is easily possible to
use Scilab from other applications or integrate with Scilab
components written in other languages.
For the simulation we have used the Xcos simulation
scheme that is shown in Fig.4. By setting various pa-
rameters it enables to follow the setpoint response or the
disturbance response with the 0th or the 1st order filter
(depending on the parameter cI).
Since we wanted to prepare an interactive application
that will be available online, the Scilab was installed
on the server. Its functionality was made available via
web service that enables to run Xcos simulations. Web
services enable a computer-to-computer interaction. The
whole process functions in a similar way like calling a
method, procedure or function which is running on a
different machine than the client (Jenkov, 2015). The
client computer requests the web service remotely over the
Internet and on the base of response from the web server
the online application can demonstrate the requested
functionality (Fig.5). More details about web services
can be found e.g. in Zakova (2015), Cavanaugh (2006),
Tutorials Point (2015) or Richardson and Ruby (2008).
In our case the request is in the form that is illustrated in
Fig.6. In general, the user can choose one of two predefined
engines: Scilab or Scicoslab simulation environment. Item
“data type” defines the type of the request:
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November 4-6, 2015. Brescia, Italy K. Žáková et al. / IFAC-PapersOnLine 48-29 (2015) 229–234 233
Fig. 4. Xcos simulation scheme
Fig. 5. Web service communication
• numerical computation based on mathematical ex-
pression defined by “code” or
• simulation of block scheme specified in “f ile name”.
The web service enables to work both with the simulation
in the compressed (.zcos) and uncompressed file (.xcos), as
well. However, since we want to change parameters of the
simulation scheme via graphical user interface of the online
application, the uncompressed format has to be used.
Using “f ormula output” the user can define the format
of the response from the web service. Finally, “api key”
serves for identification of the web service client and the
identificator “id” helps to match the web service request
with the web service response.
Fig. 6. Web service request
4. CONCLUSIONS
The developed interactive tool enlivens the conference
paper (Huba, 2015), opens simulations with it to publicity
and extends the number of considered situations. Thereby,
it enables an easy evaluation of the impact of different
233
design simplifications. At the same time, it offers compar-
ison with the traditional PID control loop both from the
point of view of the closed loop performance, robustness
to uncertainties and noise attenuation.
As a complementary resource it is going to be used in the
face-to-face PID control courses, as well as in a prepared
MOOC to this topic as an easy way of characterizing one
class of possible disturbance observer based solutions.
ACKNOWLEDGEMENTS
This work has been partially supported by grants KEGA
032STU-4/2013 Online laboratory for teaching automa-
tion control subjects and VEGA 1/0937/14 Advanced
methods for nonlinear modeling and control of mecha-
tronic systems.
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