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Control System Design

ISBN-10: 0139586539
ISBN-13: 9780139586538
Edition: 2001
List price: $230.80
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Description: For both undergraduate and graduate courses in Control System Design. Using a how to do it approach with a strong emphasis on real-world design, this text provides comprehensive, single-source coverage of the full spectrum of control system design.  More...

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Book details

List price: $230.80
Copyright year: 2001
Publisher: Prentice Hall PTR
Publication date: 9/26/2000
Binding: Paperback
Pages: 908
Size: 7.25" wide x 9.25" long x 1.50" tall
Weight: 3.564
Language: English

For both undergraduate and graduate courses in Control System Design. Using a how to do it approach with a strong emphasis on real-world design, this text provides comprehensive, single-source coverage of the full spectrum of control system design. Each of the text's 8 parts covers an area in controlranging from signals and systems (Bode Diagrams, Root Locus, etc.), to SISO control (including PID and Fundamental Design Trade-Offs) and MIMO systems (including Constraints, MPC, Decoupling, etc.).

Contents Overview
Acknowledgements
Preface
The Elements
Preview
The Excitement of Control Engineering
Preview
Motivation for Control Engineering
Historical Periods of Control Theory
Types of Control-System Design
System Integration
Summary
Further Reading
Introduction to the Principles of Feedback
Preview
The Principal Goal of Control
A Motivating Industrial Example
Definition of the Problem
Prototype Solution to the Control Problem via Inversion
High-Gain Feedback and Inversion
From Open- to Closed-Loop Architectures
Trade-offs Involved in Choosing the Feedback Gain
Measurements
Summary
Further Reading
Modeling
Preview
The Raison d'etre for Models
Model Complexity
Building Models
Model Structures
State Space Models
Solution of Continuous-Time State Space Models
High-Order Differential and Difference-Equation Models
Modeling Errors
Linearization
Case Studies
Summary
Further Reading
Problems for the Reader
Continuous-Time Signals and Systems
Preview
Linear Continuous-Time Models
Laplace Transforms
Laplace Transform. Properties and Examples
Transfer Functions
Stability of Transfer Functions
Impulse and Step Responses of Continuous-Time Linear Systems
Poles, Zeros, and Time Responses
Frequency Response
Fourier Transform
Models Frequently Encountered
Modeling Errors for Linear Systems
Bounds for Modeling Errors
Summary
Further Reading
Problems for the Reader
SISO Control Essentials
Preview
Analysis of SISO Control Loops
Preview
Feedback Structures
Nominal Sensitivity Functions
Closed-Loop Stability Based on the Characteristic Polynomial
Stability and Polynomial Analysis
Root Locus (RL)
Nominal Stability using Frequency Response
Relative Stability: Stability Margins and Sensitivity Peaks
Robustness
Summary
Further Reading
Problems for the Reader
Classical PID Control
Preview
PID Structure
Empirical Tuning
Ziegler-Nichols (Z-N) Oscillation Method
Reaction Curve Based Methods
Lead-Lag Compensators
Distillation Column
Summary
Further Reading
Problems for the Reader
Synthesis of SISO Controllers
Preview
Polynomial Approach
PI and PID Synthesis Revisited by using Pole Assignment
Smith Predictor
Summary
Further Reading
Problems for the Reader
SISO Control Design
Preview
Fundamental Limitations in SISO Control
Preview
Sensors
Actuators
Disturbances
Model-Error Limitations
Structural Limitations
An Industrial Application (Hold-Up Effect in Reversing Mill)
Remedies
Design Homogeneity, Revisited
Summary
Further Reading
Problems for the Reader
Frequency-Domain Design Limitations
Preview
Bode's Integral Constraints on Sensitivity
Integral Constraints on Complementary Sensitivity
Poisson Integral Constraint on Sensitivity
Poisson Integral Constraint on Complementary Sensitivity
Example of Design Trade-offs
Summary
Further Reading
Problems for the Reader
Architectural Issues in SISO Control
Preview
Models for Deterministic Disturbances and References
Internal Model Principle for Disturbances
Internal Model Principle for Reference Tracking
Feedforward
Industrial Applications of Feedforward Control
Cascade Control
Summary
Further Reading
Problems for the Reader
Dealing with Constraints
Preview
Wind-Up
Anti-Wind-up Scheme
State Saturation
Introduction to Model Predictive Control
Summary
Further Reading
Problems for the Reader
Digital Computer Control
Preview
Models for Sampled-Data Systems
Preview
Sampling
Signal Reconstruction
Linear Discrete-Time Models
The Shift Operator
Z-Transform
Discrete Transfer Functions
Discrete Delta-Domain Models
Discrete Delta-Transform
Discrete Transfer Functions (Delta Form)
Transfer Functions and Impulse Responses
Discrete System Stability
Discrete Models for Sampled Continuous Systems
Using Continuous State Space Models
Frequency Response of Sampled-Data Systems
Summary
Further Reading
Problems for the Reader
Digital Control
Preview
Discrete-Time Sensitivity Functions
Zeros of Sampled-Data Systems
Is a Dedicated Digital Theory Really Necessary?
Approximate Continuous Designs
At-Sample Digital Design
Internal Model Principle for Digital Control
Fundamental Performance Limitations
Summary
Further Reading
Problems for the Reader
Hybrid Control
Preview
Hybrid Analysis
Models for Hybrid Control Systems
Analysis of Intersample Behavior
Repetitive Control Revisited
Poisson Summation Formula
Summary
Further Reading
Problems for the Reader
Advanced SISO Control
Preview
SISO Controller Parameterizations
Preview
Open-Loop Inversion Revisited
Affine Parameterization: The Stable Case
PID Synthesis by using the Affine Parameterization
Affine Parameterization for Systems Having Time Delays
Undesirable Closed-Loop Poles
Affine Parameterization: The Unstable Open-Loop Case
Discrete-Time Systems
Summary
Further reading
Problems for the Reader
Control Design Based on Optimization
Preview
Optimal Q (Affine) Synthesis
Robust Control Design with Confidence Bounds
Cheap Control Fundamental Limitations
Frequency-Domain Limitations Revisited
Summary
Further Reading
Problems for the Reader
Linear State Space Models
Preview
Linear Continuous-Time State Space Models
Similarity Transformations
Transfer Functions Revisited
From Transfer Function to State Space Representation
Controllability and Stabilizability
Observability and Detectability
Canonical Decomposition
Pole-Zero Cancellation and System Properties
Summary
Further Reading
Problems for the Reader
Synthesis Via State Space Methods
Preview
Pole Assignment by State Feedback
Observers
Combining State Feedback with an Observer
Transfer-Function Interpretations
Reinterpretation of the Affine Parameterization of all Stabilizing Controllers
State Space Interpretation of Internal Model Principle
Trade-Offs in State Feedback and Observers
Dealing with Input Constraints in the Context of State-Estimate Feedback
Summary
Further Reading
Problems for the Reader
Introduction to Nonlinear Control
Preview
Linear Control of a Nonlinear Plant
Switched Linear Controllers
Control of Systems with Smooth Nonlinearities
Static Input Nonlinearities
Smooth Dynamic Nonlinearities for Stable and Stably Invertible Models
Disturbance Issues in Nonlinear Control
More General Plants with Smooth Nonlinearities
Nonsmooth Nonlinearities
Stability of Nonlinear Systems
Generalized Feedback Linearization for nonstability-Invertible Plants
Summary
Further Reading
Problems for the Reader
MIMO Control Essentials
Preview
Analysis of MIMO Control Loops
Preview
Motivational Examples
Models for Multivariable Systems
The Basic MIMO Control Loop
Closed-Loop Stability
Steady-State Response for Step Inputs
Frequency-Domain Analysis
Robustness Issues
Summary
Further Reading
Problems for the Reader
Exploiting Siso Techniques in MIMO Control
Preview
Completely Decentralized Control
Pairing of Inputs and Outputs
Robustness Issues in Decentralized Control
Feedforward Action in Decentralized Control
Converting MIMO Problems to SISO Problems
Industrial Case Study (Strip Flatness Control)
Summary
Further Reading
Problems for the Reader
MIMO Control Design
Preview
Design Via Optimal Control Techniques
Preview
State-Estimate Feedback
Dynamic Programming and Optimal Control
The Linear Quadratic Regulator (LQR)
Properties of the Linear Quadratic Optimal Regulator
Model Matching Based on Linear Quadratic Optimal Regulators
Discrete-Time Optimal Regulators
Connections to Pole Assignment
Observer Design
Linear Optimal Filters
State-Estimate Feedback
Transfer-Function Interpretation
Achieving Integral Action in LQR Synthesis
Industrial Applications
Summary
Further Reading
Problems for the Reader
Model Predictive Control
Preview
Anti-Wind-Up Revisited
What is Model Predictive Control?
Stability
Linear Models with Quadratic Cost Function
State Estimation and Disturbance Prediction
Rudder Roll Stabilization of Ships
Summary
Further Reading
Problems for the Reader
Fundamental Limitations in MIMO Control
Preview
Closed-Loop Transfer Function
MIMO Internal Model Principle
The Cost of the Internal Model Principle
RHP Poles and Zeros
Time-Domain Constraints
Poisson Integral Constraints on MIMO Complementary Sensitivity
Poisson Integral Constraints on MIMO Sensitivity
Interpretation
An Industrial Application: Sugar Mill
Nonsquare Systems
Discrete-Time Systems
Summary
Further Reading
Problems for the Reader
Advanced MIMO Control
Preview
MIMO Controller Parameterizations
Preview
Affine Parameterization: Stable MIMO Plants
Achieved Sensitivities
Dealing with Model Relative Degree
Dealing with NMP Zeros
Affine Parameterization: Unstable MIMO Plants
State Space Implementation
Summary
Further Reading
Problems for the Reader
Decoupling
Preview
Stable Systems
Pre- and PostDiagonalization
Unstable Systems
Zeros of Decoupled and Partially Decoupled Systems
Frequency-Domain Constraints for Dynamically Decoupled Systems
The Cost of Decoupling
Input Saturation
MIMO Anti-Wind-Up Mechanism
Summary
Further Reading
Problems for the Reader
Appendices
Notation, Symbols, and Acronyms
Smith-McMillan Forms
Introduction
Polynomial Matrices
Smith Form for Polynomial Matrices
Smith-McMillan Form for Rational Matrices
Poles and Zeros
Matrix Fraction Descriptions (MFD)
Results From Analytic Function Theory
Introduction
Independence of Path
Simply Connected Domains
Functions of a Complex Variable
Derivatives and Differentials
Analytic Functions
Integrals Revisited
Poisson and Jensen Integral Formulas
Application of the Poisson-Jensen Formula to Certain Rational Functions
Bode's Theorems
Properties of Continuous-Time Riccati Equations
Solutions of the CTDRE
Solutions of the CTARE
The stabilizing solution of the CTARE
Convergence of Solutions of the CTARE to the Stabilizing Solution of the CTARE
Duality between Linear Quadratic Regulator and Optimal Linear Filter
Matlab Support

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