Modern Control Design - Tewari, Ashish

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Résumé :
Den Schwerpunkt dieses Buches bilden die physikalischen Grundlagen und die ingenieurtechnischen Anwendungen moderner Steuerungssysteme. Dabei werden mathematische Herleitungen weitgehend vermieden...

Biographie:

Preface xiii

1. Introduction 1

1.1 What is Control? 1

1.2 Open-Loop and Closed-Loop Control Systems 2

1.3 Other Classifications of Control Systems 6

1.4 On the Road to Control System Analysis and Design 10

1.5 MATLAB, SIMULINK, and the Control System Toolbox 11

References 12

2. Linear Systems and Classical Control 13

2.1 How Valid is the Assumption of Linearity? 13

2.2 Singularity Functions 22

2.3 Frequency Response 26

2.4 Laplace Transform and the Transfer Function 36

2.5 Response to Singularity Functions 51

2.6 Response to Arbitrary Inputs 58

2.7 Performance 62

2.8 Stability 71

2.9 Root-Locus Method 73

2.10 Nyquist Stability Criterion 77

2.11 Robustness 81

2.12 Closed-Loop Compensation Techniques for Single-Input, Single-Output Systems 87

2.12.1 Proportional-integral-derivative compensation 88

2.12.2 Lag, lead, and lead-lag compensation 96

2.13 Multivariable Systems 105

Exercises 115

References 124

3. State-Space Representation 125

3.1 The State-Space: Why Do I Need lt? 125

3.2 Linear Transformation of State-Space Representations 140

3.3 System Characteristics from State-Space Representation 146

3.4 Special State-Space Representations: The Canonical Forms 152

3.5 Block Building in Linear, Time-Invariant State-Space 160

Exercises 168

References 170

4. Solving the State-Equations 171

4.1 Solution of the Linear Time Invariant State Equations 171

4.2 Calculation of the State-Transition Matrix 176

4.3 Understanding the Stability Criteria through the State-Transition Matrix 183

4.4 Numerical Solution of Linear Time-Invariant State-Equations 184

4.5 Numerical Solution of Linear Time-Varying State-Equations 196

4.6 Numerical Solution of Nonlinear State-Equations 204

4.7 Simulating Control System Response with SIMULINK 213

Exercises 216

References 218

5. Control System Design in State-Space 219

5.1 Design: Classical vs. Modern 219

5.2 Controllability 222

5.3 Pole-Placement Design Using Full-State Feedback ?228

5.3.1 Pole-placement regulator design for single-input plants? 230

5.3.2 Pole-placement regulator design for multi-input plants ?245

5.3.3 Pole-placement regulator design for plants with noise ?247

5.3.4 Pole-placement design of tracking systems 251

5.4 Observers, Observability, and Compensators 256

5.4.1 Pole-placement design of full-order observers and compensators 258

5.4.2 Pole-placement design of reduced-order observers and compensators 269

5.4.3 Noise and robustness issues ?276

Exercises 277

References 282

6. Linear Optimal Control 283

6.1 The Optimal Control Problem 283

6.1.l The general optimal control formulation for regulators ?284

6.1.2 Optimal regulator gain matrix and the riccati equation? 286

6.2 Infinite-Time Linear Optimal Regulator Design ?288

6.3 Optimal Control of Tracking Systems 298

6.4 Output Weighted Linear Optimal Control 308

6.5 Terminal Time Weighting: Solving the Matrix Riccati Equation 312

Exercises 318

References 321

7. Kalman Filters 323

7.1 Stochastic Systems 323

7.2 Filtering of Random Signals? 329

7.3 White Noise, and White Noise Filters? 334

7.4 The Kalman Filter 339

7.5 Optimal (Linear, Quadratic, Gaussian) Compensators? 351

7.6 Robust Multivariable LQG Control: Loop Transfer Recovery? 356

Exercises 370

References 371