Robust Cascade Control inside a New Model-Matching Architecture
Whenever additional states of a plant can be measured, closing nested feedback loops can be exploited in a variety of ways. The goal here is to reduce the bandwidth of feedback controllers and thus reduce the amplification of sensor noise that can otherwise spoil the expected performance when the ac...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/11/11/2523 |
| _version_ | 1797597177493585920 |
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| author | Javier Rico-Azagra Montserrat Gil-Martínez |
| author_facet | Javier Rico-Azagra Montserrat Gil-Martínez |
| author_sort | Javier Rico-Azagra |
| collection | DOAJ |
| description | Whenever additional states of a plant can be measured, closing nested feedback loops can be exploited in a variety of ways. The goal here is to reduce the bandwidth of feedback controllers and thus reduce the amplification of sensor noise that can otherwise spoil the expected performance when the actuator saturates. This can be particularly relevant for demanding tracking specifications and large plant uncertainties. In this context, the current work proposes a novel model-matching control architecture with a feedforward controller and two feedback controllers, which is accompanied by a new robust design method in the frequency domain of Quantitative Feedback Theory (QFT). The use of a feedforward controller reduces the amount of feedback to the minimum necessary to constrain the spread of the tracking error responses as specified. Furthermore, this amount of feedback is quantitatively distributed along the frequency between the inner and outer loops to reduce the total sensor noise at the control input as much as possible. A theoretical example illustrates the method and highlights the advantages of the new architecture over two other previously feasible QFT solutions: one with double feedback and another with single feedback plus feedforward. The importance of choosing the correct switching frequency between loops is also demonstrated. Finally, the angle of rotation of a commercial servo motor is successfully controlled using the motor speed as an internal measure. |
| first_indexed | 2024-03-11T03:02:06Z |
| format | Article |
| id | doaj.art-e3640cfebcab424da5be15791a43c677 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-11T03:02:06Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-e3640cfebcab424da5be15791a43c6772023-11-18T08:13:11ZengMDPI AGMathematics2227-73902023-05-011111252310.3390/math11112523Robust Cascade Control inside a New Model-Matching ArchitectureJavier Rico-Azagra0Montserrat Gil-Martínez1Control Engineering Research Group, Electrical Engineering Department, University of La Rioja, 26004 Logroño, SpainControl Engineering Research Group, Electrical Engineering Department, University of La Rioja, 26004 Logroño, SpainWhenever additional states of a plant can be measured, closing nested feedback loops can be exploited in a variety of ways. The goal here is to reduce the bandwidth of feedback controllers and thus reduce the amplification of sensor noise that can otherwise spoil the expected performance when the actuator saturates. This can be particularly relevant for demanding tracking specifications and large plant uncertainties. In this context, the current work proposes a novel model-matching control architecture with a feedforward controller and two feedback controllers, which is accompanied by a new robust design method in the frequency domain of Quantitative Feedback Theory (QFT). The use of a feedforward controller reduces the amount of feedback to the minimum necessary to constrain the spread of the tracking error responses as specified. Furthermore, this amount of feedback is quantitatively distributed along the frequency between the inner and outer loops to reduce the total sensor noise at the control input as much as possible. A theoretical example illustrates the method and highlights the advantages of the new architecture over two other previously feasible QFT solutions: one with double feedback and another with single feedback plus feedforward. The importance of choosing the correct switching frequency between loops is also demonstrated. Finally, the angle of rotation of a commercial servo motor is successfully controlled using the motor speed as an internal measure.https://www.mdpi.com/2227-7390/11/11/2523Quantitative Feedback Theory (QFT)robust controlcascade controlfrequency domaintracking error |
| spellingShingle | Javier Rico-Azagra Montserrat Gil-Martínez Robust Cascade Control inside a New Model-Matching Architecture Mathematics Quantitative Feedback Theory (QFT) robust control cascade control frequency domain tracking error |
| title | Robust Cascade Control inside a New Model-Matching Architecture |
| title_full | Robust Cascade Control inside a New Model-Matching Architecture |
| title_fullStr | Robust Cascade Control inside a New Model-Matching Architecture |
| title_full_unstemmed | Robust Cascade Control inside a New Model-Matching Architecture |
| title_short | Robust Cascade Control inside a New Model-Matching Architecture |
| title_sort | robust cascade control inside a new model matching architecture |
| topic | Quantitative Feedback Theory (QFT) robust control cascade control frequency domain tracking error |
| url | https://www.mdpi.com/2227-7390/11/11/2523 |
| work_keys_str_mv | AT javierricoazagra robustcascadecontrolinsideanewmodelmatchingarchitecture AT montserratgilmartinez robustcascadecontrolinsideanewmodelmatchingarchitecture |