Design of H_infinity Output Feedback Controllers for the AMD Benchmark Problem

Scott E. Breneman (Civil Engineering, Stanford University)
H. Allison Smith (Civil Engineering, Stanford University)

paper (PDF, 283KB); abstract

Active Mass Driver (AMD) Results

	Set1		Set2		Set3		Set4		Set5		Set6		Set7		Set8		Set9		Set10
	min H_infinity norm of [StrDispls 12*CmdVoltage]		min H_infinity norm of [StrVelocs 10*CmdVoltage]		min H_infinity norm of [StrAccels 10*CmdVoltage]		min H_infinity norm of [Str Displs StrVelocs 8*CmdVoltage]		min H_infinity norm of [StrDispls StrAccels 8*CmdVoltage]		min H_infinity norm of [StrVelocs StrAccels 7*CmdVoltage]		min H_infinity norm of [StrDispls 8ActDispls 8CmdVoltage]		min H_infinity norm of [StrDispls 12Act Velocs 12CmdVoltage]		min H_infinity norm of [StrDispls 8ActAccels 8CmdVoltage]		min H_infinity norm of [StrDispls 12*CmdVoltage]
	reduce plant, design controller		reduce plant, design controller		reduce plant, design controller		reduce plant, design controller		reduce plant, design controller		reduce plant, design controller		reduce plant, design controller		reduce plant, design controller		reduce plant, design controller		design controller, reduce controller
	Sensors: x_m,a₁,a₂,a₃,a_m,a_g		Sensors: x_m,a₁,a₂,a₃,a_m,a_g		Sensors: x_m,a₁,a₂,a₃,a_m,a_g		Sensors: x_m,a₁,a₂,a₃,a_m,a_g		Sensors: x_m,a₁,a₂,a₃,a_m,a_g		Sensors: x_m,a₁,a₂,a₃,a_m,a_g		Sensors: x_m,a₁,a₂,a₃,a_m,a_g		Sensors: x_m,a₁,a₂,a₃,a_m,a_g		Sensors: x_m,a₁,a₂,a₃,a_m,a_g		Sensors: x_m,a₁,a₂,a₃,a_m,a_g
J1	0.228343		0.221295		0.223347		0.228513		0.218934		0.223965		0.223697		0.230678		0.218768		0.228343
J2	0.350869		0.339312		0.342306		0.351045		0.333858		0.343383		0.340260		0.351322		0.370881		0.350869
J3	0.678904		0.705444		0.697554		0.678278		0.712502		0.695158		0.694529		0.670347		0.758689		0.678904
J4	0.673808		0.699379		0.691805		0.673200		0.706972		0.689492		0.691531		0.664271		0.753614		0.673808
J5	0.702895		0.721918		0.716316		0.702251		0.713494		0.714304		0.647833		0.620935		0.629074		0.702895
J6	0.365292	0.387469	0.356388	0.385883	0.355230	0.388151	0.364993	0.387789	0.342593	0.391249	0.357121	0.387753	0.363459	0.386347	0.371433	0.385396	0.364180	0.380277	0.365292	0.387469
J7	0.546972	0.716551	0.534216	0.709738	0.551011	0.701707	0.546457	0.715430	0.570374	0.685874	0.546674	0.706160	0.551394	0.707253	0.557397	0.714340	0.575702	0.682256	0.546972	0.716551
J8	0.937570	1.037813	0.992746	1.082577	0.974036	1.062562	0.936118	1.035922	0.993633	1.096120	0.969946	1.059962	1.000040	1.069784	0.958454	1.067678	1.154983	1.277355	0.937570	1.037813
J9	0.875040	1.052267	0.922628	1.107761	0.918135	1.116539	0.872575	1.053896	1.014053	1.193746	0.909470	1.103975	0.932748	1.105087	0.873540	1.050060	1.069754	1.273918	0.875040	1.052267
J10	0.925999	0.944223	0.961351	0.960136	0.960240	0.996076	0.931840	0.916001	1.053372	1.143807	0.943829	0.951018	0.828709	0.868606	0.800279	0.838632	0.788031	0.887256	0.925999	0.944223
uRMS	0.210026		0.220203		0.217024		0.209736		0.224502		0.216146		0.224186		0.214656		0.257777		0.210026
amRMS	1.258182		1.292234		1.282206		1.257029		1.277155		1.278605		1.159621		1.111475		1.126042		1.258182
xmRMS	0.889364		0.924131		0.913796		0.888544		0.933378		0.910658		0.909833		0.878155		0.993883		0.889364
uMAX	0.872614	0.462003	0.923714	0.485306	0.909982	0.473953	0.871304	0.460550	0.930295	0.501560	0.905003	0.472637	0.942893	0.494245	0.902414	0.491907	1.118971	0.597955	0.872614	0.462003
amMAX	4.676292	2.436095	4.854822	2.477152	4.849214	2.569876	4.705790	2.363283	5.319530	2.951022	4.766335	2.453627	4.184980	2.241004	4.041409	2.163671	3.979554	2.289121	4.676292	2.436095
xmMAX	3.159610	1.722769	3.345553	1.797078	3.282500	1.763853	3.154719	1.719630	3.348544	1.819559	3.268718	1.759537	3.370134	1.775842	3.229990	1.772345	3.892293	2.120409	3.159610	1.722769
	ElCentro	Hachinohe	ElCentro	Hachinohe	ElCentro	Hachinohe	ElCentro	Hachinohe	ElCentro	Hachinohe	ElCentro	Hachinohe	ElCentro	Hachinohe	ElCentro	Hachinohe	ElCentro	Hachinohe	ElCentro	Hachinohe

Set5s1 Set5s2 Set5s3 Set5s4 Set5s5 Set5s6

min H_infinity norm of
[StrDispls StrAccels
8*CmdVoltage] min H_infinity norm of
[StrDispls StrAccels
8*CmdVoltage] min H_infinity norm of
[StrDispls StrAccels
8*CmdVoltage] min H_infinity norm of
[StrDispls StrAccels
8*CmdVoltage] min H_infinity norm of
[StrDispls StrAccels
8*CmdVoltage] min H_infinity norm of
[StrDispls StrAccels
8*CmdVoltage]

reduce plant,
design controller reduce plant,
design controller reduce plant,
design controller reduce plant,
design controller reduce plant,
design controller reduce plant,
design controller

Sensors: x_m,a₁,a₂,a₃,a_m,a_g Sensors: x_m,a₁,a₂,a₃,a_m Sensors: x_m,a₃,a_m Sensors: x_m,a₃ Sensors: a₃,a_m Sensor: a₃

J1 0.218934 0.219484 0.238940 0.238016 0.235256 0.234267

J2 0.333858 0.334759 0.366789 0.365542 0.361341 0.360021

J3 0.712502 0.715411 0.661187 0.663807 0.671716 0.674611

J4 0.706972 0.708835 0.657039 0.659664 0.667475 0.670375

J5 0.713494 0.715036 0.664875 0.669070 0.678441 0.683021

J6 0.342593 0.391249 0.343378 0.391842 0.353390 0.394457 0.353059 0.394473 0.351869 0.394162 0.351511 0.394150

J7 0.570374 0.685874 0.576858 0.691435 0.606009 0.703164 0.605491 0.704158 0.603705 0.703948 0.602314 0.703920

J8 0.993633 1.096120 0.995098 1.104054 0.918698 1.024034 0.921782 1.028416 0.932566 1.039626 0.936196 1.043992

J9 1.014053 1.193746 1.025101 1.193711 0.957008 1.128314 0.960283 1.132267 0.969897 1.144262 0.974112 1.151788

J10 1.053372 1.143807 1.049118 1.203347 1.010057 1.114825 1.012077 1.103555 1.034987 1.123492 1.023587 1.113839

uRMS 0.224502 0.225513 0.209659 0.210393 0.212714 0.213525

amRMS 1.277155 1.279914 1.190127 1.197636 1.214410 1.222607

xmRMS 0.933378 0.937189 0.866155 0.869587 0.879947 0.883741

uMAX 0.930295 0.501560 0.930328 0.509312 0.864288 0.457594 0.867334 0.459010 0.877366 0.463840 0.880615 0.465307

amMAX 5.319530 2.951022 5.298045 3.104636 5.100786 2.876248 5.110991 2.847172 5.226686 2.898609 5.169113 2.873704

xmMAX 3.348544 1.819559 3.353481 1.832729 3.096013 1.699897 3.106405 1.707171 3.142748 1.725780 3.154982 1.733027

ElCentro Hachinohe ElCentro Hachinohe ElCentro Hachinohe ElCentro Hachinohe ElCentro Hachinohe ElCentro Hachinohe

Numbers in this face represent violated constraints.
Numbers in this face are the larger of the ElCentro/Hachinohe values.

The Kanai-Tajimi results were performed using w_g =37.3 rads/sec, z_g =0.3, T_f =300 secs.

Sensor labels are:

x_m active mass displacement

a₁ first floor acceleration

a₂ second floor acceleration

a₃ third floor acceleration

a_m active mass acceleration

a_g ground acceleration

Page designed by Erik A. Johnson (JohnsonE@usc.edu).

Design of Hinfinity Output Feedback Controllers for the AMD Benchmark Problem

Active Mass Driver (AMD) Results

Design of H_infinity Output Feedback Controllers for the AMD Benchmark Problem