Cascade design of single input single output systems using H∞ and quantitative feedback theory methodologies



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Texas A&M University


This thesis considers the design of cascaded SISO control systems using the H∞ and QFT methodologies. In the first part of the thesis the actual advantages offered by Single Input Single Output (SISO) cascade loop structures are studied. In Quantitative Feedback Theory(QFT) it is emphasized that the use of cascaded loops is primarily for the reduction of bandwidth of the controllers. This in turn helps in considerable reduction of the adverse effects of high frequency noise. The question that arises then is whether or not there are any substantial benefits to be gained by cascade loop design in the low frequencies. It is shown using QFT methodology that there aren?t any advantages gained in the low frequencies with the use of cascaded design. In effect it is concluded that if the design is properly executed a single loop controller closed from the output to the input will be sufficient to meet the typical performance specifications. This is shown using an example where the mold level of a continuous casting process is to be controlled. The plant being used has considerable uncertainty so that features of robust control can be highlighted. In the second part the Robust Outer Loop bounds were generated analytically and examined for certain properties. It was compared to the bounds generated by already existing algorithms. In the third part the inner outer QFT design was modified with the inner loop being designed using H∞ with the concept of sensitivity shaping. This design was very similar to the pure QFT design with the added advantage of having some automation. In the fourth part the H∞ methodology was used to design a two loop control structure. The idea was to compare this design to the QFT design. It was seen that H∞ generated redundant controllers and pre filters.