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Robust Cascade Control inside a New Model-Matching Architecture

Author

Listed:
  • Javier Rico-Azagra

    (Control Engineering Research Group, Electrical Engineering Department, University of La Rioja, 26004 Logroño, Spain
    These authors contributed equally to this work.)

  • Montserrat Gil-Martínez

    (Control Engineering Research Group, Electrical Engineering Department, University of La Rioja, 26004 Logroño, Spain
    These authors contributed equally to this work.)

Abstract

Whenever additional states of a plant can be measured, closing nested feedback loops can be exploited in a variety of ways. The goal here is to reduce the bandwidth of feedback controllers and thus reduce the amplification of sensor noise that can otherwise spoil the expected performance when the actuator saturates. This can be particularly relevant for demanding tracking specifications and large plant uncertainties. In this context, the current work proposes a novel model-matching control architecture with a feedforward controller and two feedback controllers, which is accompanied by a new robust design method in the frequency domain of Quantitative Feedback Theory (QFT). The use of a feedforward controller reduces the amount of feedback to the minimum necessary to constrain the spread of the tracking error responses as specified. Furthermore, this amount of feedback is quantitatively distributed along the frequency between the inner and outer loops to reduce the total sensor noise at the control input as much as possible. A theoretical example illustrates the method and highlights the advantages of the new architecture over two other previously feasible QFT solutions: one with double feedback and another with single feedback plus feedforward. The importance of choosing the correct switching frequency between loops is also demonstrated. Finally, the angle of rotation of a commercial servo motor is successfully controlled using the motor speed as an internal measure.

Suggested Citation

  • Javier Rico-Azagra & Montserrat Gil-Martínez, 2023. "Robust Cascade Control inside a New Model-Matching Architecture," Mathematics, MDPI, vol. 11(11), pages 1-20, May.
  • Handle: RePEc:gam:jmathe:v:11:y:2023:i:11:p:2523-:d:1160235
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    References listed on IDEAS

    as
    1. Javier Rico-Azagra & Montserrat Gil-Martínez, 2021. "Feedforward of Measurable Disturbances to Improve Multi-Input Feedback Control," Mathematics, MDPI, vol. 9(17), pages 1-13, September.
    2. Javier Rico-Azagra & Montserrat Gil-Martínez & Jorge Elso, 2014. "Quantitative Feedback Control of Multiple Input Single Output Systems," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-17, April.
    3. Jia, Boru & Mikalsen, Rikard & Smallbone, Andrew & Zuo, Zhengxing & Feng, Huihua & Roskilly, Anthony Paul, 2016. "Piston motion control of a free-piston engine generator: A new approach using cascade control," Applied Energy, Elsevier, vol. 179(C), pages 1166-1175.
    4. Montserrat Gil-Martínez & Javier Rico-Azagra & Jorge Elso, 2018. "Frequency Domain Design of a Series Structure of Robust Controllers for Multi-Input Single-Output Systems," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-14, October.
    Full references (including those not matched with items on IDEAS)

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