| |
| |
| 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 | |