Controlled/manipulated variable selection: total disturbance rejection Matlab example (4)

Antonio Sala, UPV

Difficulty: **** ,       Relevance: ,      Duration: 17:55

*Enlace a Spanish version

Summary:

This video discusses the same case study that started in video [sacerf1EN]. Here, we consider the effect of disturbances in $y=Gu+Hd$, and we seek to determine if the actuator limits are sufficient to fully compensate the effect of $d$ on the controlled outputs $y$, rendering zero steady-state error.

To do this, we first analyze the singular values of $-pinv(G)\ast H$, appropriately scaled.

In the second half of the video, the problem is stated in terms of polyhedra geometry, using quadprog to check its feasibility.

The final part of the video graphically represents the meaning of the different options considered to address the problem.

Videos [sacerf2EN] and [sacerf3EN] addressed the setpoint-tracking problem in the same context.

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