Описание: One of the most important and challenging problems in control is the derivation of systematic tools for the computation of controllers for constrained nonlinear systems that can guarantee closed-loop stability, feasibility, and optimality with respect to someperformance index. This book focuses on the efficient and systematic computation of closed-form optimal controllers for the powerful class of fast-sampled constrained piecewise affine systems. These systems may exhibit rather complex behavior and are equivalent to many other hybrid system formalisms (combining continuous-valued dynamics with logic rules) reported in the literature. Furthermore, piecewise affinesystems are a useful modeling tool that can capture general nonlinearities (e.g. by local approximation), constraints, saturations, switches, and other hybrid modeling phenomena. The first part of the book presents an introduction to the mathematical and control theoretical background material needed for the full understanding of the book. The second part provides an in depth look at the computational and control theoretic properties of thecontrollers and part three presents different analysis and post-processing techniques.
This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems.
An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts.
The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.
Описание: The emergence of flow control as an attractive new field is owed to breakthroughs in MEMS (micro-electromechanical systems) and related technologies. The instrumentation of fluid flows on extremely short length and short time scales requires the practical tool of control algorithms with provable performance guarantees. Dedicated to this problem, Flow Control by Feedback brings together controller design and fluid mechanics expertise in an exposition of the latest research results. Featuring:вЂў exhaustive treatment of core areas like stabilization and mixing control techniques;вЂў self-contained introductory sections on Navier-Stokes equations, linear and nonlinear control and sensors and MEMS to facilitate accessibility to this cross-disciplinary subject;вЂў a comprehensive survey of feedback algorithms for flow control that are currently available.In response to the intense interest in flow control, Flow Control by Feedback will be an essential addition to the library of researchers and graduate students in control theory, fluid mechanics, mathematics and physics. Content structure is ideal for instruction on flow control modules or as supplementary reading on fluid dynamics and infinite dimensional systems courses.
Описание: Many practical control problems are dominated by characteristics such as state, input and operational constraints, alternations between different operating regimes, and the interaction of continuous-time and discrete event systems. At present no methodology is available to design controllers in a systematic manner for such systems. This book introduces a new design theory for controllers for such constrained and switching dynamical systems and leads to algorithms that systematically solve control synthesis problems. The first part is a self-contained introduction to multiparametric programming, which is the main technique used to study and compute state feedback optimal control laws. The book's main objective is to derive properties of the state feedback solution, as well as to obtain algorithms to compute it efficiently. The focus is on constrained linear systems and constrained linear hybrid systems. The applicability of the theory is demonstrated through two experimental case studies: a mechanical laboratory process and a traction control system developed jointly with the Ford Motor Company in Michigan.
Описание: "Multivariable Feedback Control: Analysis and Design, Second Edition" presents a rigorous, yet easily readable, introduction to the analysis and design of robust multivariable control systems. Focusing on practical feedback control and not on system theory in general, this book provides the reader with insights into the opportunities and limitations of feedback control. Taking into account the latest developments in the field, this fully revised and updated second edition: features a new chapter devoted to the use of linear matrix inequalities (LMIs); presents current results on fundamental performance limitations introduced by RHP-poles and RHP-zeros; introduces updated material on the selection of controlled variables and self-optimizing control; proves simple IMC tuning rules for PID control; covers additional material including unstable plants, the feedback amplifier, the lower gain margin and a clear strategy for incorporating integral action into LQG control; and includes numerous worked examples, exercises and case studies, which make frequent use of Matlab and the new Robust Control toolbox. "Multivariable Feedback Control: Analysis and Design, Second Edition" is an excellent resource for advanced undergraduate and graduate courses studying multivariable control. It is also an invaluable tool for engineers who want to understand multivariable control, its limitations, and how it can be applied in practice. The analysis techniques and the material on control structure design should prove very useful in the new emerging area of systems biology. "Being rich in insights and practical tips on controller design, the book should also prove to be very beneficial to industrial control engineers, both as a reference book and as an educational tool." - "Applied Mechanics Reviews". "In summary, this book can be strongly recommended not only as a basic text in multivariable control techniques for graduate and undergraduate students, but also as a valuable source of information for control engineers." - "International Journal of Adaptive Control and Signal Processing".
Описание: Relay feedback has attracted considerable research attention for more than a century but there has been no recent summary of the many newly-developed tools and results now available for this important area as a whole, those that have been published tending to focus on one process or controller type only. Relay Feedback is divided into three parts, the first of which is devoted to the analysis of relay feedback systems within a general setting with information on: existence of solutions; existence of limit cycles; local and global stability of limit cycles; limit cycles with more than two switchings per period; plants with time delay; relays with asymmetric hysteresis. The second part, on the improvement of process identification shows the reader how to: modify a standard relay to provide better excitation of a process at a number of important frequencies; devise new algorithms designed to make better use of information from relay feedback tests. The book's third part is a presentation of recent developments in control design providing: a unified framework for the design of internal-model, proportional-integral-derivative or general-single-loop controllers for SISO or MIMO systems with or without time delays; characterisation of time delays and non-minimum phase zeros for closed-loop systems. Relay Feedback presents a comprehensive, up-to-date and detailed treatment of relay feedback theory, the use of relay feedback for process identification and the use of identified models for general control design in a single volume. The work assumes only knowledge of linear system theory on the part of the reader and should therefore be of use to graduate students and practising engineers as well as to researchers.
Автор: Goodwin Название: Constrained Control and Estimation ISBN: 1852335483 ISBN-13(EAN): 9781852335489 Издательство: Springer Рейтинг: Цена: 15728 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Using the principal tools of prediction and optimisation, this work gives the examples of how to deal with constraints, placing emphasis on model predictive control. It contains results that combine a number of methods, enabling you to build on your background in estimation theory, linear control, stability theory and state-space methods.
Описание: Many crucial problems of nonlinear classical control theory are not considered or do not find their proper engineering interpretation in the existing books on multivariable control. The goal of this textbook is to bridge that gap and to provide a holistic approach to multivariable control theory, providing a unification of control theory of linear and nonlinear multivariable feedback systems (or multi-input multi-output [MIMO] systems) as a straightforward extension of the classical control theory. The central idea of the book is to show how the classical (frequency-domain and root) engineering methods look in a multidimensional case, and how a practicing engineer or researcher can apply them to the analysis and design of linear and nonlinear MIMO systems. All theoretical statements of the book are illustrated by numerous worked examples of different practical MIMO systems. The numerical calculations are accomplished with the help of MATLAB. The book includes problems, exercises, and questions on all the main themes.
Описание: This unique book presents an analytical uniform design methodology of continuous-time or discrete-time nonlinear control system design which guarantees
desired transient performances in the presence of plant parameter variations and unknown external disturbances. All results are illustrated with numerical simulations, their practical
importance is highlighted, and they may be used for real-time control system design in robotics, mechatronics, chemical reactors, electrical and electro-mechanical systems as well as
aircraft control systems. The book is easy reading and is suitable for teaching.
Описание: Deals with the theory and practice of Quantitative Feedback Theory (QFT). This book presents feedback synthesis techniques for single-input single-output, multi-input multi-output linear time-invariant and nonlinear plants based on the QFT method.
Описание: Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. With the increasing use of computers and discrete-time samplers in controller implementation in the recent past, discrete-time systems and computer based control have become important topics. This monograph presents an output feedback sliding mode control philosophy which can be applied to almost all controllable and observable systems, while at the same time being simple enough as not to tax the computer too much. It is shown that the solution can be found in the synergy of the multirate output sampling concept and the concept of discrete-time sliding mode control.
Описание: Presents an introduction to the analysis and design of robust multivariable control systems. This book features use of linear matrix inequalities (LMIs), and results on fundamental performance limitations introduced by RHP-poles and RHP-zeros. It also introduces material on the selection of controlled variables and self-optimizing control.
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