design of reduced order controllers via hn and parametric optimization

8/12/2019 Design of Reduced Order Controllers via HN and Parametric Optimization

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G

K

z

y

w

u


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K P

p

yu

r


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G (z)p

u

u

s

p

Plant

y

(Residual force)G (z)

s

(Shaker input)

(Control input)


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0 50 100 150 200 250 300 350 400

0 50 100 150 200 250 300 350 400

Frequency (Hz)

Primary path

Secondary path

60

50

40

30

20

10

0

10

20

30

20

10

0

10

20

30

40

Ma

gnitude(dB)

Magnitude(dB)

(a)

(b)

40

30

20

10

0

10

20

30

Frequency (Hz)

Magnitude(dB)

SimultaneousSum of separated

0 50 100 150 200 250 300 350 400


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0 50 100 150 200 250 300 350 400

0 50 100 150 200 250 300 350 400

Frequency (Hz)

30

20

10

0

10

20

8

10

12

14

16

18

Wy

(dB)

Wu

(dB)


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0 50 100 150 200 250 300 350 40060

55

50

45

40

35

30

25

20

15

10

Frequency (Hz)

Magnitude(dB)

Reduced orderFull order


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0 1 2 3 4 5

Time (s)

Open-loop

Param. opt.

0 1 2 3 4 5

Time (s)

0 1 2 3 4 5

Time (s)

Open-loopH

0 1 2 3 4 5

Time (s)

3

2

1

0

1

2

3

0.2

0.1

0

0.1

0.2

0.3

3

2

1

0

1

2

3

Output

0.2

0.1

0

0.1

0.2

0.3

Output

u u

0 50 100 150 200 250 300 350 400

0 50 100 150 200 250 300 350 400

Param. opt

H

5

0

5

10

80

60

40

20

0

Frequency (Hz)

Frequency (Hz)

|Typ

|(dB)

|Tup|

(dB)


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design of reduced order controllers via hn and parametric optimization

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