Robust performance case study (Matlab) 1: problem statement and simulation-based robustness validation

Antonio Sala, UPV

Difficulty: *** ,       Relevance: ,      Duration: 15:32

*Enlace a Spanish version

Summary:

This video starts the discussion of a robust performance analysis of a given PID controller for the process with transfer function $G(s)=5∕{(s+1)}^2$. This video simply introduces a PID designed by trial and error. Its nominal performance of loop error and reference to control action, both in time and frequency, are analyzed. They are considered satisfactory and the problem arises of how to guarantee, given a certain estimation of the modeling error (unstructured additive uncertainty, bound size 0.2), that the response of the system to the modeling error ”resembles” the simulation of the nominal (guarantee robust performance).

In this first video, a simulation-based analysis of the achieved performance is pursued. Indeed, exhaustive simulation is appealing and frequent in practice, as we can simulate nonlinearity, very complex dynamics, faults, etc. However, maybe our simulations look well because of “good luck”?, thus, a theoretical analysis is also wellcome. The theoretical approach to give robustness “margins” for this problem will be discussed in the video [cerp2EN], a continuation of this one.

*Link to my [ whole collection] of videos in English. Link to larger [ Colección completa] in Spanish.