Indian Journal of Engineering & Materials Sciences Vol. 15, December 2008, pp. 447-451
Order reduction using the advantages of differentiation method and factor division algorithm C B Vishwakarma* & R Prasad Department of Electrical Engineering, Indian Institute of Technology, Roorkee 247 667, India Received 9 January 2008; accepted 15 September 2008 The authors present a combined method for order reduction of linear dynamic high order systems using the advantages of the differentiation method and factor division algorithm. The denominator of the reduced order model is obtained by the differentiation method and the numerator coefficients of the reduced order model are determined by the factor division algorithm. The reduction procedure is simple and efficient. The proposed algorithm has been extended for the order reduction of linear stable multivariable system. Two numerical examples are solved to illustrate the proposed combined method and integral square error is calculated between original and reduced order models using MATLAB software. Keywords: Model, Order reduction, Differentiation Method, Factor Division Algorithm, Stability
In many practical situations, one can obtain a fairly complex and high order model for a system from analytic considerations. For example, consider a multi-machine power system. The model for each synchronous generator including prime-mover, the governor and the exciter can be obtained in this manner, but the order of the model turns out to be fairly high. This complexity often makes it difficult to obtain a good understanding of the behaviour of the system. The preliminary design and optimization of such systems can often be accomplished with greater ease if a low-order linear model is derived which provides a good approximation to the system. A wide variety of model order reduction methods have been proposed by the several researchers1-4 both in time domain and frequency domain. Some text books and research monographs exclusively devoted in model reduction technique5-8. Model order reduction of single/multi variable systems using differentiation technique has been proposed by some researchers9-12. The factor division algorithm introduced by Lucas13 in which dominant poles are retained and initial time moments are preserved. This method was extended by Lucas14 to generate biased reduced order models by retaining initial markov parameters as well as time moments. A combined method using the advantages of the differentiation method and factor division algorithm is proposed for single as well as multivariable linear dynamic systems. In this method the reduced _________ *For correspondence (E-mail:
[email protected])
denominator is obtained by the differentiation method and numerator of the reduced model is determined by the factor division. The proposed method is illustrated with the help of two examples and the step responses of reduced models are compared with the step response of original system using their plots and integral square error indices using MATLAB 7.0. Description of Algorithm Let the transfer function of the original high order linear dynamic SISO system of the order n be n −1
N (s) Gn ( s ) = = D(s)
∑a s
i
i
i =0 n
∑b s
… (1) i
i
i=0
where ai and bi are known scalar coefficients. and let the corresponding kth order reduced model is synthesized as k −1
N ( s) Gk ( s ) = k = Dk ( s )
∑c s
i
i
i =0 k
∑d s
… (2) i
i
i =0
where ci and di are unknown scalar coefficients Further, the method consists of the following two steps. Step-1: Determination of the denominator polynomial of the reduced order model
INDIAN J. ENG. MATER. SCI., DECEMBER 2008
448
For getting the denominator of the kth order reduced model from the original system Eq. (1), first the denominator polynomial D(s) is reciprocated as
where qi = pi +1 − α o bi +1 i = 0,1,......k − 2
ri = qi +1 − α1bi+1 i = 0,1,.......k − 3
1 1 D( s ) = D s s ⊗
… (3)
then above polynomial Eq. (3) is differentiated (n−k) times and resulting polynomial reciprocated back gives
v0 = u1 − α k − 2b1
now finally the kth order reduced model can be written as
Gk ( s ) =
k
Dk ( s) = ∑ di s = d0 + d1s + d 2 s + ....... + d k s i
2
k
…(4)
i =0
For convenience Dk(s) is written in the normalized form such that dk=1.
… (7)
α 0 + α1s + α 2 s 2 + .............. + α k −1 s k −1 Dk ( s )
… (8)
Extension to Multivariable System Let the transfer function matrix of the high order ‘n’ having ‘p’ inputs and ‘m’ outputs be
Step-2: Determination of the numerator coefficients of reduced order models After obtaining the reduced denominator the numerator of reduced model is determined by factor division algorithm13.
a11 ( s ) a12 ( s ) 1 a21 ( s ) a22 ( s ) [G ( s ) ] = .. D( s ) .. am1 ( s ) am 2 ( s )
N ( s ).Dk ( s ) = ( a0 + a1 s + a2 s 2 + .......... + an −1 s n −1 )
or [G ( s )] = [ g ij ( s )], i = 1, 2,......m, j = 1, 2,........ p is a The general form of g ij ( s ) of [G( s)] is taken as
= p0 + p1 s + p2 s 2 + ........ + pn −1s n-1 … (5)
gij ( s ) =
and
aij ( s ) D( s)
=
D ( s ) = b0 + b1 s + b2 s 2 + ........... + bn s n
α0 =
p0 p0 b0 b0
p1 b1
...... ......
q q α1 = 0 0 b0 b0
q1 b1
...... ......
α2 =
r0 r0 b0 b0
r1 b1
.... ....
αk −2
u u = 0 0 b0 b0
a0 + a1s + a2 s 2 + ........ + an −1s n −1 b0 + b1s + b2 s 2 + .......... + bn s n … (10)
Let the transfer function matrix of the lower order ‘k’ having same numbers of inputs and outputs to be synthesized as
pk −1 bk −1
b11 ( s ) b12 ( s ) 1 b21 ( s ) b22 ( s ) Gk ( s ) = ≈ .. .. D( s) bm1 ( s ) bm 2 ( s )
qk − 2 bk − 2 rk −3 bk −3
…(9)
m × p transfer matrix.
( d 0 + d1 s + d 2 s 2 ........ + d k s k )
+......... + pn+k −1s n+k −1
.. a1 p ( s ) .. a2 p ( s ) .. .. .. amp ( s )
.. b1p ( s ) .. b2p ( s ) .. .. .. bmp ( s )
… (11)
…(6)
or
[Gk ( s )] = [rij ( s)]
,
i = 1, 2,......m
and
j = 1, 2,......... p is a m × p transfer matrix.
α k −1 =
v0 v0 b0 b0
u1 b1
The general form of rij ( s ) of [Gk ( s )] can be written as rij ( s ) =
bij ( s ) ≈
D(s)
=
e0 + e1s + e2 s 2 + ......... + ek −1 s k −1 …(12) f 0 + f1s + f 2 s 2 + .......... + f k s k
VISHWAKARMA & PRASAD: ORDER REDUCTION
for getting kth order reduced transfer matrix [Gk ( s )] , first of all common denominator D(s) of Eq. (9) is reciprocated, differentiated (n−k) times and again reciprocated back. Then using factor division algorithm the coefficients of numerators of each element of transfer matrix are successively determined. Method for Comparison In order to check the goodness of the reduced order models, the integral square error index ISE15 is calculated between transient parts of the original system and reduced order models. The smaller ISE indicates that the reduced order models are closer to the original system. ∞
ISE = ∫ [ y (t ) − yr (t )]2 dt 0
where y(t) and yr(t) are the unit step responses of the original system and reduced order model.
Numerator of second order model is written as N 2 ( s ) = α 0 + α1 s = 70.588
Therefore, finally second order model is given by G2 ( s) =
2( s + 5) ( s + 1)( s + 10) [G ( s )] = ( s + 10) ( s + 1)( s + 20)
( s + 4) ( s + 2)( s + 5) ( s + 6) ( s + 2)( s + 3)
1 a11 ( s ) a12 ( s ) D ( s ) a21 ( s) a22 ( s )
where the common denominator D ( s ) is given by
3
2400 + 1800s + 496s + 28s 240 + 360 s + 204s 2 + 36s 3 + 2 s 4
For getting the second order model, first denominator is obtained using differentiation method as described before in Step-1 D2 ( s ) = 7.0588 + 5.2941s + s
70.588 7.0588 + 5.2941s + s 2
Example 2: Consider a sixth-order two input two output system described by the transfer matrix18.
=
2
G4 ( s ) =
0 240
α1 = 0
Numerical Examples Example 1: Consider a fourth order system described by the transfer function16.
449
2
Then factor division algorithm discussed in Step-2 is applied as N ( s ) D2 ( s ) = (2400 + 1800 s + 496 s 2 + 28 s 3 ) ×(7.0588 + 5.2941s + s 2 )
= 16941.12 + 25411.68 s + 15430.5448 s 2 +4623.52s 3 + 644.2340s 4 + 28s 5
D ( s ) = 6000 + 13100 s + 10060 s 2 + 3491s 3 +571s 4 + 41s 5 + s 6
and a11 ( s ) = 6000 + 7700 s + 3610 s 2 + 762 s 3 + 70 s 4 + 2 s 5 a12 ( s ) = 2400 + 4160 s + 2182 s 2 + 459 s 3 + 38 s 4 + s 5 a21 ( s ) = 3000 + 3700 s + 1650 s 2 + 331s 3 + 30 s 4 + s 5 a22 ( s ) = 6000 + 9100 s + 3660 s 2 + 601s 3 + 42 s 4 + s 5
also
The proposed method is successively applied to each element of the above transfer function matrix and the reduced order models rij ( s ) are obtained. The
D ( s ) = 240 + 360 s + 204 s 2 + 36 s 3 + 2 s 4
general form of second order reduced transfer function matrix is taken as
α 0 = 70.588
16941.12 25411.68 240
360
[ D2 ( s)] =
1 b11 ( s) b12 ( s ) D( s) b21 ( s ) b22 ( s) ≈
INDIAN J. ENG. MATER. SCI., DECEMBER 2008
450
models respectively. The comparison of 2nd order with original system is shown in Fig. 1, and the comparison of step responses is shown in Fig. 2.
where, ≈
D( s ) = s 2 + 6.510934 s + 8.946322 and b11 ( s ) = 8.9463 − 1.5407 s b12 ( s ) = 3.5785 + 0.9941s b21 ( s) = 4.47316 − 0.99403s b22 ( s ) = 8.9463 + 0.54676 s
The ISE is calculated for each element rij ( s ) of the transfer matrix of the lower order system [ D2 ( s )] and
∫
∞
2
gij (t ) − rij (t ) dt where, 0 i = 1, 2; j = 1, 2; and g ij (t ), rij (t ) are the unit step
it is given by E =
responses of the original system and reduced order
Fig. 1 — Comparison of 2nd order model with original system
Fig. 2 — Comparison of step responses (a) u1=1, u2=0 ; (b) u1=0, u2=1; (c) u1=1, u2=0 and (d) u1=0, u2=1.
VISHWAKARMA & PRASAD: ORDER REDUCTION
451
Table 1 — Comparison of reduced order models for Example 1 Method of reduction Lucas13 Proposed Algorithm Routh-Hurwitz array Prasad et al.17
Reduced models
ISE
G2 ( s) =
40 + 30 s 4 + 6 s + 3s 2
0.2061
G2 ( s ) =
70.588 7.0588 + 5.2941s + s 2
1.101
G2 ( s ) =
13.043478 + 9.046283s 1.304348 + 1.701323 + s 2
1.208
G2 ( s ) =
11.903620 + 22.532255s 1.190362 + 3.145997 s + s 2
2.743
Table 2 — Comparison of reduced models for Example 2 ISE ‘E’ for rij ( s )[i=1,2;j=1, 2] Method of reduction Proposed Algorithm Prasad et al.19 Safonov and Chiang20 Prasad and Pal21
r11
r12
r21
r22
0.046070 0.030689 0.590617 0.136484
8.875×10-8 0.000256 0.037129 0.002446
0.01280 0.261963 0.007328 0.040291
0.000397 0.021683 1.066123 0.067902
Conclusions A method which combines the advantages of the differentiation method and the factor division algorithm has been presented, to derive stable reduced order models for linear time invariant systems. In this method, the reduced order denominator polynomial is determined by differentiation method and reduced order numerator is obtained by factor division. This combined method has been extended for the order reduction of linear multivariable systems. This combined algorithm is simple and efficient. The integral square error ISE in between the transient parts of original and reduced order systems is calculated and compared in the tabular form as given in Tables 1 and 2. The proposed method preserves model stability and avoids error in between the initial or final values of the time responses of original and reduced order systems. References 1 Bosley M J & Lees F P, Automatica, 8 (1972) 765-775. 2 Genesio R & Milanese, IEEE Trans Autom Control, 21(1) (1976) 118-122. 3 Moore B C, IEEE Trans Autom Control, 26 (1981) 17-32. 4 Shamash Y, S IEEE Trans Autom Control, 19(5) (1974) 615-616.
5 Mahmoud M S & Singh M G, Large Scale System Modeling (Pergamon Press, International series on systems and control), 1981, 3. 6 Elrazaz Z & Sinha N K, Can Electr Eng J, 6 (1981) 34-34. 7 Jamshidi M, Large Scale Systems Modeling and Control Series, (North Holland, Amsterdam Oxford, New York), 1983, 9. 8 Fortuna L, Nunnari G & Gallo A, Model Order Reduction techniques with application in Electrical Engineering (Springer-Verlag London Ltd. Germany), 1992. 9 Gutman P O, Mannerfelt C F & Molander P, IEEE Trans Autom Control, 27 (2) (1982) 454-455. 10 Lepschy Antonio & Viaro Umberto, A note on the model reduction problem, IEEE Trans. Autom. Control, 28(4) (1983) 525-527. 11 Lucas T N, Electron Lett, 24(1) (1988) 60-61. 12 Prasad R, Pal J & Pant A K, J Inst Eng (India) EL, 76(1995)186-188. 13 Lucas T N, IEE Proc, Pt.D, 130(6) (1983) 362-364. 14 Lucas T N, Electron Lett, 20(14) (1984) 582-583. 15 Singh V, Chandra D & Kar H, IEEE Trans Autom Control, 49(2) (2004) 292-296. 16 Shamash Y, Int J Control, 21(3) (1975) 475-484. 17 Prasad R, Sharma S P & Mittal A K, J Inst Eng (India), EL, 84(2003) 7-10. 18 Bistritz Y & Shaked U, ASME J Dyn Syst Meas Control, 106(1984) 293-299. 19 Prasad R, Pal J & Pant A K, J Inst Eng (India), EL, 76 (1995)186-188. 20 Safonov M G & Chiang RY, Int J Adapt Control Signal Process, 2(1988) 259-272. 21 Prasad R & Pal J, J Inst Eng (India), J EL, 72(1991) 43-47.
