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Preface | |
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Introduction | |
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The process of control system design | |
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The control problem | |
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Transfer functions | |
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Scaling | |
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Deriving linear models | |
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Notation | |
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Classical Feedback Control | |
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Frequency response | |
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Feedback control | |
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Closed-loop stability | |
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Evaluating closed-loop performance | |
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Controller design | |
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Loop shaping | |
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IMC design procedure and PID control for stable plants | |
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Shaping closed-loop transfer functions | |
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Conclusion | |
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Introduction to Multivariable Control | |
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Introduction | |
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Transfer functions for MIMO systems | |
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Multivariable frequency response analysis | |
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Relative Gain Array(RGA) | |
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Control of multivariable plants | |
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Introduction to multivariable RHP-zeros | |
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Introduction to MIMO robustness | |
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General control problem formulation | |
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Additional exercises | |
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Conclusion | |
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Elements of Linear System Theory | |
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System descriptions | |
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State controllability and state observability | |
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Stability | |
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Poles | |
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Zeros | |
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Some important remarks on poles and zeros | |
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Internal stability of feedback systems | |
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Stabilizing controllers | |
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Stability analysis in the frequency domain | |
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System norms | |
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Conclusion | |
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Limitations on Performance in Siso Systems | |
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Input-Output Controllability | |
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Fundamental limitations on sensitivity | |
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Fundamental limitations: Bounds on peaks | |
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Perfect control and plant inversion | |
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Ideal ISE optimal control | |
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Limitations imposed by time delays | |
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Limitations imposed by RHP-zeros | |
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Limitations imposed b y phase lag | |
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Limitations imposed by unstable(RHP) poles | |
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Performance requirements imposed by disturbances and commands | |
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Limitations imposed by input constraints | |
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Limitations imposed by uncertainty | |
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Summary: Controllability analysis with feedback control | |
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Summary: Controllability analysis with feed forward control | |
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Applications of controllability analysis | |
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Conclusion | |
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Limitations on Performance in Mimo Systems | |
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Introduction | |
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Fundamental limitations on sensitivity | |
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Fundamental limitations: Bounds on peaks | |
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Functional controllability | |
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Limitations imposed by time delays | |
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Limitations imposed by RHP-zeros | |
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Limitations imposed by unstable(RHP) poles | |
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Performance requirements imposed by disturbances | |
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Limitations imposed by input constraints | |
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Limitations imposed by uncertainty | |
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MIMO Input-output controllability | |
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Conclusion | |
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Uncertainty and Robustness for Siso Systems | |
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Introduction to robustness | |
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Representing uncertainty | |
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Parametric uncertainty | |
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Representing uncertainty in the frequency domain | |
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SISO Robust stability | |
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SISO Robust performance | |
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Additional exercises | |
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Conclusion | |
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Robust Stability and Performance Analysis for Mimosystems | |
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General control configuration with uncertainty | |
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Representing uncertainty | |
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Obtaining -, - and - | |
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Definitions of robust stability and robust performance | |
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Robust stability of the---structure | |
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RS for | |