Scribd
Upload
25 views1 page

RHP Zeros and Poles in Control Systems

This paper discusses the limitations imposed by Right Half Plane (RHP) zeros and poles in multivariable feedback systems, providing lower bounds on sensitivity and complementary sensitivity. It generalizes previously derived bounds to include matrix-valued weights and introduces new bounds for stabilization in the presence of noise and disturbances. The findings are significant for control literature, particularly for SISO systems, and highlight the importance of handling RHP-zeros effectively.

Uploaded by

陳俊傑
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
25 views1 page

RHP Zeros and Poles in Control Systems

This paper discusses the limitations imposed by Right Half Plane (RHP) zeros and poles in multivariable feedback systems, providing lower bounds on sensitivity and complementary sensitivity. It generalizes previously derived bounds to include matrix-valued weights and introduces new bounds for stabilization in the presence of noise and disturbances. The findings are significant for control literature, particularly for SISO systems, and highlight the importance of handling RHP-zeros effectively.

Uploaded by

陳俊傑
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

LIMITATIONS IMPOSED BY RHP

ZEROS/POLES IN MULTIVARIABLE SYSTEMS


K. Havre and S. Skogestad
Chemical Engineering, Norwegian University of Science and Technology, N-7034 Trondheim, Norway

Fax: (+47) 73 59 40 80 and e-mail: skoge@[Link]

This paper examines limitations imposed by Right Half Plane (R HP) zeros andpoles in
 
multivariable

feedback systems. The main result is to provide lower bounds on
where is  ,  ,  or  (sensitivity and complementary sensitivity). Previously derived lower
bounds on the  -norm of  and  (Zames, 1981; Skogestad and Postlethwaite, 1996; Havre
and Skogestad, 1996) are thus generalized to the case with matrix-valued weights, including
bounds for reference tracking and disturbance rejection. Furthermore, new bounds which quan-
tify the minimum input usage for stabilization in the presence of measurement noise and distur-
bances are derived.
The basis of these new bounds is to note that the transfer function from the outputs (e.g. the
measurement noise) to the inputs,  , can be rewritten as ! . When  is unstable,
"! has a R HP-zero, it is important that we can handle the case when the ”weight” #"!
has R HP-zeros. Otherwise, "! evaluated at the pole of  would be zero in a certain direction,
and we would not derive any useful bound.
To give a specific example, consider the closed-loop transfer function from measurement
noise of magnitude $ to inputs % , which is &$'( ! $ . From the results in the paper we
find for the special case of a S ISO plant with a R HP-pole ) that
 +-,#. /.01.2 435. 6+798
*$ $ )  ! (1)
:3
where ! is minimum-phase (it has the R HP-zeros of ! mirrored into the left half plane).+
If the plant also has a R HP-zero then the bound will be even higher. For example, for  
;< +>= ;@? ;@? :3 BA ;/?  +/C,#D ? 0E. .
, we have ) and  !  . Then &$ $ ) and to
. .GF ; . .HF ;< D ?
achieve % we must require $ ) .
These and other bounds presented in the paper are of fundamental importance. In spite of
being surprisingly simple, they appear to be new in the control literature, even for S ISO systems.

References
Havre, K. and Skogestad, S. (1996). Effect of R HP zeros and poles on performance in multivariable systems, Proc.
from Control’96, University of Exeter, UK, pp. 930–935. Also submitted to Journal of Process Control.
Skogestad, S. and Postlethwaite, I. (1996). Multivariable Feedback Control, Analysis and Design, John Wiley &
Sons, Chichester.
Zames, G. (1981). Feedback and optimal sensitivity: model reference transformations, multiplicative seminorms,
and approximate inverses, IEEE Transactions on Automatic Control AC-26(2): 301–320.

You might also like