Abstract
Models are always subject to uncertainty. This can come mainly from parameter uncertainty, reduced order dynamics, or unmodelled dynamics. The model uncertainty is a concept that is difficult to introduce in automatic control introductory courses. The mathematical formalization of many of the ideas necessary to introduce students to robust control is complex for most students, causing many students to get lost in the mathematics and do not understand the important control concepts. The closed-loop shaping control design methodology allows introducing the model uncertainty in a simple way. It has some very interesting characteristics from a teaching point of view, since it allows concentrating on shaping the closed-loop frequency response in order to obtain the desired performance and robustness. This paper presents the main features and functionality of RCLSD an interactive software tool developed by the authors for learning and teaching the robust closed-loop shaping control design methodology.
Highlights
A UTOMATIC control is a relative recent contribution to engineering that emerged as a discipline in the 1950s
Computer-aided control systems design (CACSD) tools are an important aspect of teaching since they make it possible to significantly increase the personal efficiency in problem solving
The availability of the classic MATLAB has had a profound effect on the developments of computer aids for control system analysis and design
Summary
A UTOMATIC control is a relative recent contribution to engineering that emerged as a discipline in the 1950s. To address the performance analysis it is necessary to analyze the shape of the different closed-loop transfer functions frequency response. At this point an issue arises, in the case of a closed-loop system with multiplicative uncertainty, robust stability is checked using Tn(s) while the robust performance is checked using T∆(s) This increases the difficulty to perform an interactive design because |T∆(jω)| and |Tn(jω)| can be simultaneously plotted over the same diagram, it is necessary to simultaneously check if |Tn(jω)| < 1/|Wum(jω)| and if |T∆(jω)| are outside the forbidden regions. The RCLSD main window (see Fig. 7) is organized in the following zones: block diagram, parameters setting, performance/specifications, pole-zero map, frequency response, and time response. To design a controller using the robust closed-loop shaping methodology by RCLSD the user must follow the following steps: 1) Define the nominal plant Gn(s). These files could be used by the instructor to evaluate the student
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