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    Example: Input Design: EE263 Autumn 2015 S. Boyd and S. Lall

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    Mouli
    This document discusses input design for a system with 16 states and a single output. It provides examples of the typical output behavior and how it can be decomposed into simpler modal components. It then adds two inputs and two outputs to the system and presents a simple static approach to find input values to drive the outputs to a desired value. However, this takes a long time to converge. The document notes that clever input waveforms can provide much faster convergence, presenting examples where convergence is achieved in 50 seconds and then 20 seconds by using larger inputs. It concludes that the course will cover how to synthesize such optimal inputs and the tradeoff between input size and convergence time.

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    © All Rights Reserved
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    Example: Input Design: EE263 Autumn 2015 S. Boyd and S. Lall

    Uploaded by

    Mouli
    29 views9 pages
    This document discusses input design for a system with 16 states and a single output. It provides examples of the typical output behavior and how it can be decomposed into simpler modal components. It then adds two inputs and two outputs to the system and presents a simple static approach to find input values to drive the outputs to a desired value. However, this takes a long time to converge. The document notes that clever input waveforms can provide much faster convergence, presenting examples where convergence is achieved in 50 seconds and then 20 seconds by using larger inputs. It concludes that the course will cover how to synthesize such optimal inputs and the tradeoff between input size and convergence time.

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    input design

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    Input Design

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    This document discusses input design for a system with 16 states and a single output. It provides examples of the typical output behavior and how it can be decomposed into simpler modal components. It then adds two inputs and two outputs to the system and presents a simple static approach to find input values to drive the outputs to a desired value. However, this takes a long time to converge. The document notes that clever input waveforms can provide much faster convergence, presenting examples where convergence is achieved in 50 seconds and then 20 seconds by using larger inputs. It concludes that the course will cover how to synthesize such optimal inputs and the tradeoff between input size and convergence time.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    29 views9 pages

    Example: Input Design: EE263 Autumn 2015 S. Boyd and S. Lall

    Uploaded by

    Mouli
    This document discusses input design for a system with 16 states and a single output. It provides examples of the typical output behavior and how it can be decomposed into simpler modal components. It then adds two inputs and two outputs to the system and presents a simple static approach to find input values to drive the outputs to a desired value. However, this takes a long time to converge. The document notes that clever input waveforms can provide much faster convergence, presenting examples where convergence is achieved in 50 seconds and then 20 seconds by using larger inputs. It concludes that the course will cover how to synthesize such optimal inputs and the tradeoff between input size and convergence time.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 9

    EE263 Autumn 2015 S. Boyd and S.

    Lall

    Example: Input Design

    1
    Examples (ideas only, no details)

    I let’s consider a specific system

    ẋ = Ax, y = Cx
    16
    with x(t) ∈ R , y(t) ∈ R (a ‘16-state single-output system’)

    I model of a lightly damped mechanical system, but it doesn’t matter

    2
    Typical output

    y
    0

    −1

    −2

    −3
    0 50 100 150 200 250 300 350

    t
    3

    1
    y

    −1

    −2

    −3
    0 100 200 300 400 500 600 700 800 900 1000

    I output waveform is very complicated; looks almost random and unpredictable

    3
    t
    Modal components 0.2

    −0.2
    0 50 100 150 200 250 300 350
    1

    −1
    0 50 100 150 200 250 300 350
    0.5

    −0.5
    0 50 100 150 200 250 300 350
    2
    we’ll see that such a solution can
    0
    be decomposed into much sim-
    −2
    pler (modal) components 1
    0 50 100 150 200 250 300 350

    −1
    0 50 100 150 200 250 300 350
    2
    (idea probably familiar from
    0
    ‘poles’)
    −2
    0 50 100 150 200 250 300 350
    5

    −5
    0 50 100 150 200 250 300 350
    0.2

    −0.2
    0 50 100 150 200 250 300 350

    4
    Input design

    add two inputs, two outputs to system:

    ẋ = Ax + Bu, y = Cx, x(0) = 0


    16×2 2×16
    where B ∈ R ,C∈R (same A as before)
    problem: find appropriate u : R+ → R2 so that y(t) → ydes = (1, −2)

    simple approach: consider static conditions (u, x, y constant):

    ẋ = 0 = Ax + Bustatic , y = ydes = Cx

    solve for u to get:


     
    −1 −0.63
    ustatic = −CA−1 B ydes =
    0.36

    5
    Simple approach
    let’s apply u = ustatic and just wait for things to settle:

    0
    −0.2

    u1
    −0.4
    −0.6
    −0.8
    −1
    −200 0 200 400 600 800 1000 1200 1400 1600 1800
    t
    0.4
    0.3
    u2
    0.2
    0.1
    0
    −0.1
    −200 0 200 400 600 800 1000 1200 1400 1600 1800

    2
    t
    1.5
    y1

    0.5

    −200 0 200 400 600 800 1000 1200 1400 1600 1800
    t
    0

    −1
    y2

    −2

    −3

    −4
    −200 0 200 400 600 800 1000 1200 1400 1600 1800
    t

    . . . takes about 1500 sec for y(t) to converge to ydes


    6
    Faster convergence
    using very clever input waveforms (EE263) we can do much better, e.g.

    0.2
    0

    u1
    −0.2
    −0.4
    −0.6

    0 10 20 30 40 50 60
    t
    0.4
    u2
    0.2

    −0.2
    0 10 20 30 40 50 60
    t
    1

    0.5
    y1

    −0.5
    0 10 20 30 40 50 60
    t
    0
    −0.5
    y2

    −1
    −1.5
    −2
    −2.5
    0 10 20 30 40 50 60
    t

    . . . here y converges exactly in 50 sec


    7
    Still faster
    in fact by using larger inputs we do still better, e.g.
    5

    u1
    0

    −5
    −5 0 5 10 15 20 25
    t
    1

    u2 0.5
    0
    −0.5
    −1
    −1.5
    −5 0 5 10 15 20 25

    2
    t
    1
    y1

    −1

    −5 0 5 10 15 20 25
    t
    0

    −0.5
    y2

    −1

    −1.5

    −2
    −5 0 5 10 15 20 25
    t

    . . . here we have (exact) convergence in 20 sec


    8
    in this course we’ll study

    I how to synthesize or design such inputs

    I the tradeoff between size of u and convergence time

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