AV-355
MODERN CONTROL SYSTEM
Lecture No 09
“Reference Inputs & Pre-compensators”
Text Books : “Modern Control System (13th Ed) ” by Dorf & Bishop
Section 11.6
Instructor: Engr Salah ud Din
Class: 99 (B)
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Lecture Objectives
• Role of Reference Inputs in system response
• Requirement of Pre-Compensator
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Integrated Full state feedback & Estimator
• The state variable compensator is constructed by appropriately connecting
the full-state feedback control law to the observer
• The general block diagram of state feedback control system is shown below
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Integrated Full state feedback & Estimator
• We referred to the design of state variable feedback compensators without reference
inputs (i.e., r(t) = 0) as regulators
• A pre-compensator (or reference compensator) is a control strategy used to modify the
reference input before it is applied to the system. The goal is to improve the
performance of the control system, particularly in terms of tracking the reference input
or compensating for known disturbances or system nonlinearities in advance, before
they affect the system’s behavior.
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Regulation Vs Tracking
Regulation
• To maintain the output in the presence of the disturbances and noises to
the fixed reference value
Tracking
• The output tracks the changing reference input
– Different techniques that can be employed to permit the tracking of a reference
input
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Reference input
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Reference input
Notice that when
M = 0 and N = 0, the
compensator reduces
to the regulator
The general form of the state variable feedback compensator is:
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Reference input
The compensator key design parameters required to implement the
command tracking of the reference input are M and N
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Reference input
• Here, we consider two possibilities for
selecting M and N:
1. Case 1: We select M and N so that
the estimation error e(t) is
independent of the reference input r(t)
− Compensator is in the feedback loop
2. Case 2: We select M and N so that
the tracking error 𝑦 𝑡 − 𝑟(𝑡) is used
as an input to the compensator
− Compensator is in the feed forward loop
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Reference input
• The generalized estimation error is found
to be described by the differential
equation:
Case 1:
Suppose that we select 𝑀 = 𝐵𝑁, the corresponding estimation error is given by:
𝑒ሶ = (𝐴 − 𝐿𝐶)𝑒
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Reference input
• The generalized estimation error is found
to be described by the differential
equation:
Case 1:
With 𝑀 = 𝐵𝑁, the compensator is given by:
The remaining task is to determine a suitable value of N.
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Reference input
• The generalized estimation error is found
to be described by the differential
equation:
Case 2:
With 𝑀 = −𝐿 𝑎𝑛𝑑 𝑁 = 0, the compensator is given by:
or
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Reference input
• The generalized estimation error is found
to be described by the differential
equation:
Case 2:
In this formulation, the observer is driven by the tracking error 𝑦 𝑡 − 𝑟(𝑡):
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Reference input
• Notice that in the first implementation
(with M = BN) the compensator is in the
feedback loop,
• whereas in the second implementation (N
= 0 and M = -L) the compensator is in the
forward path.
• These two implementations
are representative of the
possibilities open to control
system designers when
considering reference
inputs
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Reference input Example
• In many practical systems, we want the output to track a reference input, denoted
𝑟(𝑡).
• The reference input can be a step, sinusoidal, or any other desired signal.
• We want to design the state feedback controller so that the system output follows
the reference input 𝑟(𝑡) over time.
• We want to design a state feedback controller that uses a reference input r(t) to track the
desired output.
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Reference input Example
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Reference input Example
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Reference input Example
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Reference input Example
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Reference input Example
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Reference input Example
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