Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based c
Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.
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1. A graphical interface for interacting with a controller of an Nth order closed-loop system, comprising: a first input field configured to receive first input that adjusts a control system bandwidth ωc of a parameterized controller embodied on a processor, wherein the control system bandwidth ωc i
1. A graphical interface for interacting with a controller of an Nth order closed-loop system, comprising: a first input field configured to receive first input that adjusts a control system bandwidth ωc of a parameterized controller embodied on a processor, wherein the control system bandwidth ωc is a sole control tuning parameter of two or more gains of the parameterized controller and defines a common location of N poles of a Nth order closed-loop system comprising the parameterized controller and a plant controlled by the parameterized controller, where N is an integer, and wherein adjustment of the control system bandwidth ωc in accordance with the first input causes adjustment of the N poles of the Nth order closed-loop system, andthe two or more gains are represented by respective two or more functions wherein an only variable of the respective two or more functions is the sole control tuning parameter;a first display field configured to display at least one performance parameter of the Nth order closed-loop system; andone or more second input fields configured to receive second input specifying one or more design objectives for control of the plant, wherein the graphical interface is configured to set an initial value for the control system bandwidth ωc based at least in part on the one or more design objectives. 2. The graphical interface of claim 1, further comprising: a third input field configured to receive third that adjusts an observer bandwidth ωo of a state observer having an observer gain that is a function of the observer bandwidth ωo. 3. The graphical interface of claim 1, wherein the parameterized controller is a proportional/integral/derivative (PID) controller having at least one of a proportional gain, an integral gain, or a derivative gain that is a function of the control system bandwidth ωc. 4. The graphical interface of claim 1, further comprising one or more third input fields configured to receive third input identifying a model of the plant. 5. The graphical interface of claim 4, further comprising: a controller identifier configured to retrieve, in response to receiving the third input, a controller model from a data store of controller classes, the controller model comprising at least one scalable controller parameter; anda controller scaler configured to produce a scaled controller by scaling the scalable controller parameter based on the model of the plant. 6. The graphical interface of claim 5, wherein the at least one scalable controller parameter comprises at least one of a frequency or a gain. 7. A method for interfacing with a controller, comprising: receiving, via one or more first input fields, first input representing one or more design objectives relating to a parameterized controller embodied on a processor and having two or more gains that are functions of a single tuning parameter, wherein the single tuning parameter is the control system bandwidth ωc, and the control system bandwidth ωc defines a common location of N poles of an Nth order closed-loop system comprising the parameterized controller and a plant controlled by the parameterized controller, where N is an integer;setting an initial value for the control system bandwidth ωc as a function of at least the first input;receiving, via a second input field, second input that modifies the initial value of the control system bandwidth, wherein modification of the initial value causes adjustment of the N poles of the Nth order closed-loop system; anddisplaying, via a first output field, first output representing at least one performance parameter of the Nth order closed loop system. 8. The method of claim 7, further comprising modifying the common location of the N poles in accordance with the first input in response to the receiving the first input. 9. The method of claim 7, further comprising: receiving, via a third input field, third input that modifies a value of an observer bandwidth ωo of a state observer, wherein the state observer has an observer gain that is a function of the observer bandwidth ωo. 10. The method of claim 7, further comprising receiving, via a third input field, third input identifying a model of the plant. 11. The method of claim 10, further comprising retrieving, in response to receiving the third input, a controller model from a data store of controller classes, wherein the controller model comprises at least one scalable controller parameter. 12. The method of claim 11, further comprising: displaying, via a second output field, second output identifying a scaled controller generated by scaling the at least one scalable control parameter of the control model based on the model of the plant. 13. The method of claim 12, wherein the displaying the second output comprises displaying at least one of a scaled frequency or a scaled gain of the scaled controller. 14. A graphical interface for interacting with a controller, comprising: a first input field configured to receive first input that changes a value of a control system bandwidth ωc of a parameterized controller embodied on a processor and having two or more gains represented by respective two or more functions for which an only variable is a single tuning parameter, wherein: the control system bandwidth ωc defines a common location of N poles of an Nth order closed loop system comprising the parameterized controller and a plant controlled by the parameterized controller, where N is an integer, andthe single tuning parameter is the control system bandwidth ωc, and adjustment of the control system bandwidth ωc causes adjustment of the N poles of the Nth order closed-loop system;a first display field configured to display at least one performance metric of the Nth order closed-loop system; andone or more second input fields configured to receive second input defining one or more design objectives for control of the plant, wherein the graphical interface is configured to set an initial value for the control system bandwidth ωc based at least in part on the one or more design objectives. 15. The graphical interface of claim 14, further comprising a third input field configured to receive third input that changes a value of an observer bandwidth ωo of a state observer, wherein the state observer has an observer gain that is a function of the observer bandwidth ωo. 16. The graphical interface medium of claim 14, further comprising: a third input field configured to receive third input identifying a model of the plant; anda second display field configured to display information relating to a scaled controller generated by scaling at least one scalable control parameter of a control model based on the model of the plant. 17. The graphical interface of claim 14, wherein the parameterized controller is a proportional/integral/derivative (PID) controller having at least one of a proportional gain, an integral gain, or a derivative gain that is a function of the control system bandwidth ωc. 18. The method of claim 12, further comprising scaling, as the at least one scalable control parameter, at least one of a frequency or a gain. 19. The graphical interface of claim 16, wherein the control model is selected from a data store of controller classes based on the third input. 20. The graphical interface of claim 16, wherein the at least one scalable control parameter comprises at least one of a frequency or a gain.
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이 특허에 인용된 특허 (26)
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