Digital Control Systems: Design, identification and implementation
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| Sprache: | English French |
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London
Springer
2006
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| Schriftenreihe: | Communications and Control Engineering
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| Beschreibung: | XXIV, 484 S. Ill., graph. Darst. |
| ISBN: | 1846280559 |
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| 240 | 1 | 0 | |a Commande des systèmes |
| 245 | 1 | 0 | |a Digital Control Systems |b Design, identification and implementation |c Ioan D. Landau and Gianluca Zito |
| 264 | 1 | |a London |b Springer |c 2006 | |
| 300 | |a XXIV, 484 S. |b Ill., graph. Darst. | ||
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| 490 | 0 | |a Communications and Control Engineering | |
| 500 | |a Rev. translation | ||
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| 650 | 4 | |a Digital control systems | |
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Datensatz im Suchindex
| _version_ | 1804134576579149824 |
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| adam_text | IMAGE 1
IOAN D. LANDAU AND GIANLUCA ZITO
DIGITAL CONTROL
SYSTEMS DESIGN, IDENTIFICATION AND IMPLEMENTATION
WITH 238 FIGURES
SPRINGER
IMAGE 2
CONTENTS
LIST OF PRINCIPAL NOTATION XXIII
1 CONTINUOUS CONTROL SYSTEMS: A REVIEW 1
1.1 CONTINUOUS-TIME MODELS 1
1.1.1 TIME DOMAIN 1
1.1.2 FREQUENCY DOMAIN 2
1.1.3 STABILITY 4
1.1.4 TIME RESPONSE 6
1.1.5 FREQUENCY RESPONSE 7
1.1.6 STUDY OF THE SECOND-ORDER SYSTEM 10
1.1.7 SYSTEMS WITH TIME DELAY 14
1.1.8 NON-MINIMUM PHASE SYSTEMS 15
1.2 CLOSED-LOOP SYSTEMS 16
1.2.1 CASCADED SYSTEMS 16
1.2.2 TRANSFER FUNCTION OF CLOSED-LOOP SYSTEMS 17
1.2.3 STEADY-STATE ERROR 18
1.2.4 REJECTION OFDISTURBANCES 19
1.2.5 ANALYSIS OF CLOSED-LOOP SYSTEMS IN THE FREQUENCY DOMAIN: NYQUIST
PLOT AND STABILITY CRITERION 20
1.3 PI AND PID CONTROLLERS 22
1.3.1 PI CONTROLLER 22
1.3.2 PID CONTROLLER 23
1.4 CONCLUDING REMARKS 24
1.5 NOTES AND REFERENCES 24
2 COMPUTER CONTROL SYSTEMS 25
2.1 INTRODUCTION TO COMPUTER CONTROL 25
2.2 DISCRETIZATION AND OVERVIEW OF SAMPLED-DATA SYSTEMS 28
2.2.1 DISCRETIZATION AND CHOICE OF SAMPLING FREQUENCY 28
2.2.2 CHOICE OF THE SAMPLING FREQUENCY FOR CONTROL SYSTEMS 31
2.3 DISCRETE-TIME MODELS 34
2.3.1 TIME DOMAIN 34
XV
IMAGE 3
XVI CONTENTS
2.3.2 FREQUENCY DOMAIN 38
2.3.3 GENERAL FORMS OF LINEAR DISCRETE-TIME MODELS 42
2.3.4 STABILITY OF DISCRETE-TIME SYSTEMS 44
2.3.5 STEADY-STATE GAIN 46
2.3.6 MODELS FOR SAMPLED-DATA SYSTEMS WITH HOLD 47
2.3.7 ANALYSIS OFFIRST-ORDER SYSTEMS WITH TIME DELAY 49
2.3.8 ANALYSIS OF SECOND-ORDER SYSTEMS 52
2.4 CLOSED LOOP DISCRETE-TIME SYSTEMS 55
2.4.1 CLOSED LOOP SYSTEM TRANSFER FUNCTION 55
2.4.2 STEADY-STATE ERROR 56
2.4.3 REJECTION OF DISTURBANCES 57
2.5 BASIC PRINCIPLES OF MODERN METHODS FOR DESIGN OF DIGITAL CONTROLLERS
58
2.5.1 STRUCTUREOF DIGITAL CONTROLLERS 58
2.5.2 DIGITAL CONTROLLER CANONICAL STRUCTURE 61
2.5.3 CONTROL SYSTEM WITH PI DIGITAL CONTROLLER 64
2.6 ANALYSIS OF THE CLOSED LOOP SAMPLED-DATA SYSTEMS IN THE FREQUENCY
DOMAIN 66
2.6.1 CLOSED LOOP SYSTEMS STABILITY 66
2.6.2 CLOSED LOOP SYSTEM ROBUSTNESS 69
2.7 CONCLUDING REMARKS 81
2.8 NOTES AND REFERENCES 84
3 ROBUST DIGITAL CONTROLLER DESIGN METHODS 85
3.1 INTRODUCTION 85
3.2 DIGITAL PID CONTROLLER 86
3.2.1 STRUCTURE OF THE DIGITAL PID 1 CONTROLLER 87
3.2.2 DESIGN OFTHE DIGITAL PID 1 CONTROLLER 90
3.2.3 DIGITAL PID 1 CONTROLLER: EXAMPLES 95
3.2.4 DIGITAL PID 2 CONTROLLER 99
3.2.5 EFFECT OF AUXILIARY POLES 102
3.2.6 DIGITAL PID CONTROLLER: CONCLUSIONS 104
3.3 POLE PLACEMENT 105
3.3.1 STRUCTURE 105
3.3.2 CHOICE OFTHE CLOSED LOOP POLES (P(Q -1 )) 107
3.3.3 REGULATION (COMPUTATION OF R(Q _1 ) AND S(Q -1 )) 108
3.3.4 TRACKING (COMPUTATION OFT(Q -1 )) 113
3.3.5 POLE PLACEMENT: EXAMPLES 116
3.4 TRACKING AND REGULATION WITH INDEPENDENT OBJ ECTIVES 117
3.4.1 STRUCTURE 120
3.4.2 REGULATION (COMPUTATION OF R(Q ) AND S(Q )) 121
3.4.3 TRACKING (COMPUTATION OF T(Q )) 124
3.4.4 TRACKING AND REGULATION WITH INDEPENDENT OBJ ECTIVES: EXAMPLES 125
3.5 INTERNAL MODEL CONTROL (TRACKING AND REGULATION) 129
3.5.1 REGULATION 129
3.5.2 TRACKING 131
IMAGE 4
CONTENTS XVII
3.5.3 AN INTERPRETATION OF THE INTERNAL MODEL CONTROL 132
3.5.4 THE SENSITIVITY FUNCTIONS 133
3.5.5 PARTIAL INTERNAL MODEL CONTROL (TRACKING AND REGULATION) 134 3.5.6
INTERNAL MODEL CONTROL FOR PLANT MODELS WITH STAHLE ZEROS 135 3.5.7
EXAMPLE: CONTROL OF SYSTEMS WITH TIME DELAY 136
3.6 POLE PLACEMENT WITH SENSITIVITY FUNCTION SHAPING 141
3.6.1 PROPERTIES OF THE OUTPUT SENSITIVITY FUNCTION 142
3.6.2 PROPERTIES OF THE INPUT SENSITIVITY FUNCTION 152
3.6.3 DEFINITION OF THE TEMPLATES FOR THE SENSITIVITY FUNCTIONS 155
3.6.4 SHAPING OF THE SENSITIVITY FUNCTIONS 157
3.6.5 SHAPING OF THE SENSITIVITY FUNCTIONS: EXAMPLE 1 160
3.6.6 SHAPING OF THE SENSITIVITY FUNCTIONS: EXAMPLE 2 161
3.7 CONCLUDING REMARKS 165
3.8 NOTES AND REFERENCES 166
4 DESIGN OF DIGITAL CONTROLLERS IN THE PRESENCE OF RANDOM DISTURBANCES
169
4.1 MODELS FOR RANDOM DISTURBANCES 169
4.1.1 DESCRIPTION OF THE DISTURBANCES 169
4.1.2 MODELS OF RANDOM DISTURBANCES 174
4.1.3 THE ARMAX MODEL (PLANT + DISTURBANCE) 178
4.1.4 OPTIMAL PREDICTION 179
4.2 MINIMUM VARIANCE TRACKING AND REGULATION 181
4.2.1 AN EXAMPLE 183
4.2.2 GENERAL CASE 186
4.2.3 MINIMUM VARIANCE TRACKING AND REGULATION: EXAMPLE 191 4.3 THE CASE
OF UNSTABLE ZEROS: APPROXIMATION OF THE MINIMUM VARIANCE TRACKING AND
REGULATION BY MEANS OF POLE PLACEMENT 192
4.3.1 CONTROLLER DESIGN 192
4.3.2 AN EXAMPLE 194
4.4 GENERALIZED MINIMUM VARIANCE TRACKING AND REGULATION 195
4.4.1 CONTROLLER DESIGN 196
4.5 CONCLUDING REMARKS 197
4.6 NOTES AND REFERENCES 199
5 SYSTEM IDENTIFICATION: THE BASES 201
5.1 SYSTEM MODEL IDENTIFICATION PRINCIPLES 201
5.2 ALGORITHMS FOR PARAMETER ESTIMATION 207
5.2.1 INTRODUCTION 207
5.2.2 GRADIENT ALGORITHM 209
5.2.3 LEAST SQUARES ALGORITHM 215
5.2.4 CHOICE OF THE ADAPTATION GAIN 221
5.3 CHOICE OF THE INPUT SEQUENCE FOR SYSTEM IDENTIFICATION 226
5.3.1 THE PROBLEM 226
5.3.2 PSEUDO-RANDOM BINARY SEQUENCES (PRBS) 230
5.4 EFFECTS OF RANDOM DISTURBANCES UPON PARAMETER ESTIMATION 233
5.5 STRUCTURE OF RECURSIVE IDENTIFICATION METHODS 236
IMAGE 5
XVIII CONTENTS
5.6 CONCLUDING REMARKS 240
5.7 NOTES AND REFERENCES 245
6 SYSTEM IDENTIFICATION METHODS 247
6.1 IDENTIFICATION METHODS BASED ON THE WHITENING OF THE PREDICTION
ERROR (TYPE I) 247
6.1.1 RECURSIVE LEAST SQUARES (RLS) 247
6.1.2 EXTENDED LEAST SQUARES (ELS) 248
6.1.3 RECURSIVE MAXIMUM LIKELIHOOD (RML) 251
6.1.4 OUTPUT ERROR WITH EXTENDED PREDICTION MODEL (OEEPM) 252 6.1.5
GENERALIZED LEAST SQUARES (GLS) 254
6.2 VALIDATION OF THE MODELS IDENTIFIED WITH TYPE I METHODS 256
6.3 IDENTIFICATION METHODS BASED ON THE UNCORRELATION OF THE OBSERVATION
VECTOR AND THE PREDICTION ERROR (TYPE II) 258
6.3.1 INSTRUMENTAL VARIABLE WITH AUXILIARY MODEL 259
6.3.2 OUTPUT ERROR WITH FIXED COMPENSATOR 261
6.3.3 OUTPUT ERROR WITH (ADAPTIVE) FILTERED OBSERVATIONS 263
6.4 VALIDATION OF THE MODELS IDENTIFIED WITH TYPE II METHODS 265
6.5 ESTIMATION OF THE MODEL COMPLEXITY 267
6.5.1 ANEXAMPLE 267
6.5.2 THE IDEAL CASE (NO NOISE) 269
6.5.3 THE NOISY CASE 270
6.5.4 CRITERION FOR COMPLEXITY ESTIMATION 273
6.6 CONCLUDING REMARKS 274
6.7 NOTES AND REFERENCES 276
7 PRACTICAL ASPECTS OF SYSTEM IDENTIFICATION 279
7.1 INPUT/OUTPUT DATA ACQUISITION 279
7.1.1 ACQUISITION PROTOCOL 279
7.1.2 ANTI-ALIASING FILTERING 282
7.1.3 OVERSAMPLING 282
7.2 SIGNAL CONDITIONING 284
7.2.1 ELIMINATION OF THE DC COMPONENT 284
7.2.2 IDENTIFICATION OF A PLANT CONTAINING A PURE INTEGRATOR 284
7.2.3 IDENTIFICATION OF A PLANT CONTAINING A PURE DIFFERENTIATOR 285
7.2.4 SCALING OF THELNPUTS AND OUTPUTS 285
7.3 SELECTION (ESTIMATION) OF THE MODEL COMPLEXITY 285
7.4 IDENTIFICATION OF SIMULATED MODELS: EXAMPLES 290
7.5 PLANT IDENTIFICATION EXAMPLES 296
7.5.1 AIRHEATER 296
7.5.2 DISTILLATION COLUMN 300
7.5.3 DC MOTOR 305
7.5.4 FLEXIBLE TRANSMISSION 309
7.6 CONCLUDING REMARKS 314
7.7 NOTES AND REFERENCES 315
IMAGE 6
CONTENTS XIX
8 PRACTICAL ASPECTS OF DIGITAL CONTROL 317
8.1 IMPLEMENTATION OF DIGITAL CONTROLLERS 317
8.1.1 CHOICE OF THE DESIRED PERFORMANCES 317
8.1.2 EFFECT OF THE COMPUTATIONAL TIME DELAY 319
8.1.3 EFFECT OF THE DIGITAL-TO-ANALOG CONVERSION 320
8.1.4 EFFECT OF THE SATURATION: ANTIWINDUP DEVICE 321
8.1.5 BUMPLESS TRANSFER FROM OPEN LOOP TO CLOSED LOOP OPERATION 326
8.1.6 DIGITAL CASCADE CONTROL 326
8.1.7 HARDWARE FOR CONTROLLER IMPLEMENTATION 328
8.1.8 MEASURING THE QUALITY OF A CONTROL LOOP 328
8.1.9 ADAPTIVE CONTROL 331
8.2 DIGITAL CONTROL OF AN AIR HEATER 333
8.3 DC MOTOR SPEED CONTROL 341
8.4 CASCADE POSITION CONTROL OF ADC MOTOR AXIS 344
8.5 POSITION CONTROL BY MEANS OF A FLEXIBLE TRANSMISSION 352
8.6 CONTROL OFA 360FLEXIBLE ROBOT ARM 358
8.7 CONTROL OF DEPOSITED ZINC IN HOT DIP GALVANIZING (SOLLAC-FLORANGE)..
364 8.7.1 DESCRIPTION OF THE PROCESS 364
8.7.2 PROCESS MODEL 365
8.7.3 MODEL IDENTIFICATION 367
8.7.4 CONTROLLER DESIGN 368
8.7.5 OPEN LOOP ADAPTATION 369
8.7.6 RESULTS 371
8.8 CONCLUDING REMARKS 372
8.9 NOTES AND REFERENCES 373
9 IDENTIFICATION IN CLOSED LOOP 375
9.1 INTRODUCTION 375
9.2 CLOSED LOOP OUTPUT ERROR IDENTIFICATION METHODS 377
9.2.1 THEPRINCIPLE 377
9.2.2 THE CLOE, F-CLOE AND AF-CLOE METHODS 378
9.2.3 EXTENDED CLOSED LOOP OUTPUT ERROR (X-CLOE) 382
9.2.4 IDENTIFICATION IN CLOSED LOOP OF SYSTEMS CONTAINING AN INTEGRATOR
383
9.2.5 MODEL VALIDATION IN CLOSED LOOP 384
9.3 OTHER METHODS FOR IDENTIFICATION IN CLOSED LOOP 387
9.4 IDENTIFICATION IN CLOSED LOOP: A SIMULATED EXAMPLE 388
9.5 IDENTIFICATION IN CLOSED LOOP AND CONTROLLER RE-DESIGN (THE FLEXIBLE
TRANSMISSION) 391
9.6 CONCLUDING REMARKS 396
9.7 NOTES AND REFERENCES 397
10. REDUCTION OF CONTROLLER COMPLEXITY 399
10.1 INTRODUCTION 399
10.2 ESTIMATION OF REDUCED ORDER CONTROLLERS BY IDENTIFICATION IN CLOSED
LOOP 404
10.2.1 CLOSED LOOP INPUT MATCHING (CLIM) 404
IMAGE 7
XX CONTENTS
10.2.2 CLOSED LOOP OUTPUT MATCHING (CLOM) 407
10.2.3 TAKING INTO ACCOUNT THE FIXED PARTS OF THE NOMINAL CONTROLLER 407
10.2.4 RE-DESIGNOFPOLYNOMIALLXQ 1 ) 408
10.3 VALIDATION OFREDUCED ORDER CONTROLLERS 408
10.3.1 THE CASEOFSIMULATED DATA 409
10.3.2 THE CASE OF REAL DATA 409
10.4 PRACTICAL ASPECTS 410
10.5 CONTROL OF A FLEXIBLE TRANSMISSION - REDUCTION OF CONTROLLER
COMPLEXITY 410
10.6 CONCLUDING REMARKS 415
10.7 NOTES AND REFERENCES 415
A A BRIEF REVIEW OF SOME RESULTS FROM THEORY OF SIGNALS AND PROBABILITY
417
A.L SOME FUNDAMENTAL SIGNALS 417
A.2 THE Z - TRANSFORM 419
A.3 THE GAUSS BELL 419
B DESIGN OF RST DIGITAL CONTROLLERS IN THE TIME DOMAIN 423
B.L INTRODUCTION 423
B.2 PREDICTORS FOR DISCRETE TIME SYSTEMS 424
B.3 ONE STEP AHEAD MODEL PREDICTIVE CONTROL 429
B.4 AN INTERPRETATION OF THE CONTROL OF SYSTEMS WITH DELAY 431
B.5 LONG RANGE MODEL PREDICTIVE CONTROL 434
B.6 NOTES AND REFERENCES 440
C STATE-SPACE APPROACH FOR THE DESIGN OF RST CONTROLLERS 441
C.L. STATE-SPACE DESIGN 441
C.2. LINEAR QUADRATIC CONTROL 449
C.3. NOTES AND REFERENCES 450
D GENERALIZED STABILITY MARGIN AND NORMALIZED DISTANCE BETWEEN TWO
TRANSFER FUNCTIONS 451
D.L GENERALIZED STABILITY MARGIN 451
D.2 NORMALIZED DISTANCE BETWEEN TWO TRANSFER FUNCTIONS 453
D.3 ROBUST STABILITY CONDITION 454
D.4 NOTES AND REFERENCES 455
E THE YOULA-KUCERA CONTROLLER PARAMETRIZATION 457
E.L CONTROLLER PARAMETRIZATION 457
E.2 NOTES AND REFERENCES 460
F THE ADAPTATION GAIN UPDATING - THE U-D FACTORIZATION F.L THE U-D
FACTORIZATION 461
F.2 NOTES AND REFERENCES 462
IMAGE 8
CONTENTS XXI
G LABORATORY SESSIONS 463
G.L SAMPLED-DATA SYSTEMS 463
G.2 DIGITAL PID CONTROLLER 464
G.3 SYSTEM IDENTIFICATION 465
G.4 DIGITAL CONTROL (DISTILLATION COLUMN CONTROL DESIGN) 467
G.5 CLOSED LOOP IDENTIFICATION 468
G.6 CONTROLLER REDUCTION 469
H LIST OF FUNCTIONS (MATLAB, SCILAB AND C ++ ) 471
REFERENCES 473
INDEX 479
|
| adam_txt |
IMAGE 1
IOAN D. LANDAU AND GIANLUCA ZITO
DIGITAL CONTROL
SYSTEMS DESIGN, IDENTIFICATION AND IMPLEMENTATION
WITH 238 FIGURES
SPRINGER
IMAGE 2
CONTENTS
LIST OF PRINCIPAL NOTATION XXIII
1 CONTINUOUS CONTROL SYSTEMS: A REVIEW 1
1.1 CONTINUOUS-TIME MODELS 1
1.1.1 TIME DOMAIN 1
1.1.2 FREQUENCY DOMAIN 2
1.1.3 STABILITY 4
1.1.4 TIME RESPONSE 6
1.1.5 FREQUENCY RESPONSE 7
1.1.6 STUDY OF THE SECOND-ORDER SYSTEM 10
1.1.7 SYSTEMS WITH TIME DELAY 14
1.1.8 NON-MINIMUM PHASE SYSTEMS 15
1.2 CLOSED-LOOP SYSTEMS 16
1.2.1 CASCADED SYSTEMS 16
1.2.2 TRANSFER FUNCTION OF CLOSED-LOOP SYSTEMS 17
1.2.3 STEADY-STATE ERROR 18
1.2.4 REJECTION OFDISTURBANCES 19
1.2.5 ANALYSIS OF CLOSED-LOOP SYSTEMS IN THE FREQUENCY DOMAIN: NYQUIST
PLOT AND STABILITY CRITERION 20
1.3 PI AND PID CONTROLLERS 22
1.3.1 PI CONTROLLER 22
1.3.2 PID CONTROLLER 23
1.4 CONCLUDING REMARKS 24
1.5 NOTES AND REFERENCES 24
2 COMPUTER CONTROL SYSTEMS 25
2.1 INTRODUCTION TO COMPUTER CONTROL 25
2.2 DISCRETIZATION AND OVERVIEW OF SAMPLED-DATA SYSTEMS 28
2.2.1 DISCRETIZATION AND CHOICE OF SAMPLING FREQUENCY 28
2.2.2 CHOICE OF THE SAMPLING FREQUENCY FOR CONTROL SYSTEMS 31
2.3 DISCRETE-TIME MODELS 34
2.3.1 TIME DOMAIN 34
XV
IMAGE 3
XVI CONTENTS
2.3.2 FREQUENCY DOMAIN 38
2.3.3 GENERAL FORMS OF LINEAR DISCRETE-TIME MODELS 42
2.3.4 STABILITY OF DISCRETE-TIME SYSTEMS 44
2.3.5 STEADY-STATE GAIN 46
2.3.6 MODELS FOR SAMPLED-DATA SYSTEMS WITH HOLD 47
2.3.7 ANALYSIS OFFIRST-ORDER SYSTEMS WITH TIME DELAY 49
2.3.8 ANALYSIS OF SECOND-ORDER SYSTEMS 52
2.4 CLOSED LOOP DISCRETE-TIME SYSTEMS 55
2.4.1 CLOSED LOOP SYSTEM TRANSFER FUNCTION 55
2.4.2 STEADY-STATE ERROR 56
2.4.3 REJECTION OF DISTURBANCES 57
2.5 BASIC PRINCIPLES OF MODERN METHODS FOR DESIGN OF DIGITAL CONTROLLERS
58
2.5.1 STRUCTUREOF DIGITAL CONTROLLERS 58
2.5.2 DIGITAL CONTROLLER CANONICAL STRUCTURE 61
2.5.3 CONTROL SYSTEM WITH PI DIGITAL CONTROLLER 64
2.6 ANALYSIS OF THE CLOSED LOOP SAMPLED-DATA SYSTEMS IN THE FREQUENCY
DOMAIN 66
2.6.1 CLOSED LOOP SYSTEMS STABILITY 66
2.6.2 CLOSED LOOP SYSTEM ROBUSTNESS 69
2.7 CONCLUDING REMARKS 81
2.8 NOTES AND REFERENCES 84
3 ROBUST DIGITAL CONTROLLER DESIGN METHODS 85
3.1 INTRODUCTION 85
3.2 DIGITAL PID CONTROLLER 86
3.2.1 STRUCTURE OF THE DIGITAL PID 1 CONTROLLER 87
3.2.2 DESIGN OFTHE DIGITAL PID 1 CONTROLLER 90
3.2.3 DIGITAL PID 1 CONTROLLER: EXAMPLES 95
3.2.4 DIGITAL PID 2 CONTROLLER 99
3.2.5 EFFECT OF AUXILIARY POLES 102
3.2.6 DIGITAL PID CONTROLLER: CONCLUSIONS 104
3.3 POLE PLACEMENT 105
3.3.1 STRUCTURE 105
3.3.2 CHOICE OFTHE CLOSED LOOP POLES (P(Q -1 )) 107
3.3.3 REGULATION (COMPUTATION OF R(Q _1 ) AND S(Q -1 )) 108
3.3.4 TRACKING (COMPUTATION OFT(Q -1 )) 113
3.3.5 POLE PLACEMENT: EXAMPLES 116
3.4 TRACKING AND REGULATION WITH INDEPENDENT OBJ ECTIVES 117
3.4.1 STRUCTURE 120
3.4.2 REGULATION (COMPUTATION OF R(Q') AND S(Q"')) 121
3.4.3 TRACKING (COMPUTATION OF T(Q"')) 124
3.4.4 TRACKING AND REGULATION WITH INDEPENDENT OBJ ECTIVES: EXAMPLES 125
3.5 INTERNAL MODEL CONTROL (TRACKING AND REGULATION) 129
3.5.1 REGULATION 129
3.5.2 TRACKING 131
IMAGE 4
CONTENTS XVII
3.5.3 AN INTERPRETATION OF THE INTERNAL MODEL CONTROL 132
3.5.4 THE SENSITIVITY FUNCTIONS 133
3.5.5 PARTIAL INTERNAL MODEL CONTROL (TRACKING AND REGULATION) 134 3.5.6
INTERNAL MODEL CONTROL FOR PLANT MODELS WITH STAHLE ZEROS 135 3.5.7
EXAMPLE: CONTROL OF SYSTEMS WITH TIME DELAY 136
3.6 POLE PLACEMENT WITH SENSITIVITY FUNCTION SHAPING 141
3.6.1 PROPERTIES OF THE OUTPUT SENSITIVITY FUNCTION 142
3.6.2 PROPERTIES OF THE INPUT SENSITIVITY FUNCTION 152
3.6.3 DEFINITION OF THE "TEMPLATES" FOR THE SENSITIVITY FUNCTIONS 155
3.6.4 SHAPING OF THE SENSITIVITY FUNCTIONS 157
3.6.5 SHAPING OF THE SENSITIVITY FUNCTIONS: EXAMPLE 1 160
3.6.6 SHAPING OF THE SENSITIVITY FUNCTIONS: EXAMPLE 2 161
3.7 CONCLUDING REMARKS 165
3.8 NOTES AND REFERENCES 166
4 DESIGN OF DIGITAL CONTROLLERS IN THE PRESENCE OF RANDOM DISTURBANCES
169
4.1 MODELS FOR RANDOM DISTURBANCES 169
4.1.1 DESCRIPTION OF THE DISTURBANCES 169
4.1.2 MODELS OF RANDOM DISTURBANCES 174
4.1.3 THE ARMAX MODEL (PLANT + DISTURBANCE) 178
4.1.4 OPTIMAL PREDICTION 179
4.2 MINIMUM VARIANCE TRACKING AND REGULATION 181
4.2.1 AN EXAMPLE 183
4.2.2 GENERAL CASE 186
4.2.3 MINIMUM VARIANCE TRACKING AND REGULATION: EXAMPLE 191 4.3 THE CASE
OF UNSTABLE ZEROS: APPROXIMATION OF THE MINIMUM VARIANCE TRACKING AND
REGULATION BY MEANS OF POLE PLACEMENT 192
4.3.1 CONTROLLER DESIGN 192
4.3.2 AN EXAMPLE 194
4.4 GENERALIZED MINIMUM VARIANCE TRACKING AND REGULATION 195
4.4.1 CONTROLLER DESIGN 196
4.5 CONCLUDING REMARKS 197
4.6 NOTES AND REFERENCES 199
5 SYSTEM IDENTIFICATION: THE BASES 201
5.1 SYSTEM MODEL IDENTIFICATION PRINCIPLES 201
5.2 ALGORITHMS FOR PARAMETER ESTIMATION 207
5.2.1 INTRODUCTION 207
5.2.2 GRADIENT ALGORITHM 209
5.2.3 LEAST SQUARES ALGORITHM 215
5.2.4 CHOICE OF THE ADAPTATION GAIN 221
5.3 CHOICE OF THE INPUT SEQUENCE FOR SYSTEM IDENTIFICATION 226
5.3.1 THE PROBLEM 226
5.3.2 PSEUDO-RANDOM BINARY SEQUENCES (PRBS) 230
5.4 EFFECTS OF RANDOM DISTURBANCES UPON PARAMETER ESTIMATION 233
5.5 STRUCTURE OF RECURSIVE IDENTIFICATION METHODS 236
IMAGE 5
XVIII CONTENTS
5.6 CONCLUDING REMARKS 240
5.7 NOTES AND REFERENCES 245
6 SYSTEM IDENTIFICATION METHODS 247
6.1 IDENTIFICATION METHODS BASED ON THE WHITENING OF THE PREDICTION
ERROR (TYPE I) 247
6.1.1 RECURSIVE LEAST SQUARES (RLS) 247
6.1.2 EXTENDED LEAST SQUARES (ELS) 248
6.1.3 RECURSIVE MAXIMUM LIKELIHOOD (RML) 251
6.1.4 OUTPUT ERROR WITH EXTENDED PREDICTION MODEL (OEEPM) 252 6.1.5
GENERALIZED LEAST SQUARES (GLS) 254
6.2 VALIDATION OF THE MODELS IDENTIFIED WITH TYPE I METHODS 256
6.3 IDENTIFICATION METHODS BASED ON THE UNCORRELATION OF THE OBSERVATION
VECTOR AND THE PREDICTION ERROR (TYPE II) 258
6.3.1 INSTRUMENTAL VARIABLE WITH AUXILIARY MODEL 259
6.3.2 OUTPUT ERROR WITH FIXED COMPENSATOR 261
6.3.3 OUTPUT ERROR WITH (ADAPTIVE) FILTERED OBSERVATIONS 263
6.4 VALIDATION OF THE MODELS IDENTIFIED WITH TYPE II METHODS 265
6.5 ESTIMATION OF THE MODEL COMPLEXITY 267
6.5.1 ANEXAMPLE 267
6.5.2 THE IDEAL CASE (NO NOISE) 269
6.5.3 THE NOISY CASE 270
6.5.4 CRITERION FOR COMPLEXITY ESTIMATION 273
6.6 CONCLUDING REMARKS 274
6.7 NOTES AND REFERENCES 276
7 PRACTICAL ASPECTS OF SYSTEM IDENTIFICATION 279
7.1 INPUT/OUTPUT DATA ACQUISITION 279
7.1.1 ACQUISITION PROTOCOL 279
7.1.2 ANTI-ALIASING FILTERING 282
7.1.3 OVERSAMPLING 282
7.2 SIGNAL CONDITIONING 284
7.2.1 ELIMINATION OF THE DC COMPONENT 284
7.2.2 IDENTIFICATION OF A PLANT CONTAINING A PURE INTEGRATOR 284
7.2.3 IDENTIFICATION OF A PLANT CONTAINING A PURE DIFFERENTIATOR 285
7.2.4 SCALING OF THELNPUTS AND OUTPUTS 285
7.3 SELECTION (ESTIMATION) OF THE MODEL COMPLEXITY 285
7.4 IDENTIFICATION OF SIMULATED MODELS: EXAMPLES 290
7.5 PLANT IDENTIFICATION EXAMPLES 296
7.5.1 AIRHEATER 296
7.5.2 DISTILLATION COLUMN 300
7.5.3 DC MOTOR 305
7.5.4 FLEXIBLE TRANSMISSION 309
7.6 CONCLUDING REMARKS 314
7.7 NOTES AND REFERENCES 315
IMAGE 6
CONTENTS XIX
8 PRACTICAL ASPECTS OF DIGITAL CONTROL 317
8.1 IMPLEMENTATION OF DIGITAL CONTROLLERS 317
8.1.1 CHOICE OF THE DESIRED PERFORMANCES 317
8.1.2 EFFECT OF THE COMPUTATIONAL TIME DELAY 319
8.1.3 EFFECT OF THE DIGITAL-TO-ANALOG CONVERSION 320
8.1.4 EFFECT OF THE SATURATION: ANTIWINDUP DEVICE 321
8.1.5 BUMPLESS TRANSFER FROM OPEN LOOP TO CLOSED LOOP OPERATION 326
8.1.6 DIGITAL CASCADE CONTROL 326
8.1.7 HARDWARE FOR CONTROLLER IMPLEMENTATION 328
8.1.8 MEASURING THE QUALITY OF A CONTROL LOOP 328
8.1.9 ADAPTIVE CONTROL 331
8.2 DIGITAL CONTROL OF AN AIR HEATER 333
8.3 DC MOTOR SPEED CONTROL 341
8.4 CASCADE POSITION CONTROL OF ADC MOTOR AXIS 344
8.5 POSITION CONTROL BY MEANS OF A FLEXIBLE TRANSMISSION 352
8.6 CONTROL OFA 360FLEXIBLE ROBOT ARM 358
8.7 CONTROL OF DEPOSITED ZINC IN HOT DIP GALVANIZING (SOLLAC-FLORANGE).
364 8.7.1 DESCRIPTION OF THE PROCESS 364
8.7.2 PROCESS MODEL 365
8.7.3 MODEL IDENTIFICATION 367
8.7.4 CONTROLLER DESIGN 368
8.7.5 OPEN LOOP ADAPTATION 369
8.7.6 RESULTS 371
8.8 CONCLUDING REMARKS 372
8.9 NOTES AND REFERENCES 373
9 IDENTIFICATION IN CLOSED LOOP 375
9.1 INTRODUCTION 375
9.2 CLOSED LOOP OUTPUT ERROR IDENTIFICATION METHODS 377
9.2.1 THEPRINCIPLE 377
9.2.2 THE CLOE, F-CLOE AND AF-CLOE METHODS 378
9.2.3 EXTENDED CLOSED LOOP OUTPUT ERROR (X-CLOE) 382
9.2.4 IDENTIFICATION IN CLOSED LOOP OF SYSTEMS CONTAINING AN INTEGRATOR
383
9.2.5 MODEL VALIDATION IN CLOSED LOOP 384
9.3 OTHER METHODS FOR IDENTIFICATION IN CLOSED LOOP 387
9.4 IDENTIFICATION IN CLOSED LOOP: A SIMULATED EXAMPLE 388
9.5 IDENTIFICATION IN CLOSED LOOP AND CONTROLLER RE-DESIGN (THE FLEXIBLE
TRANSMISSION) 391
9.6 CONCLUDING REMARKS 396
9.7 NOTES AND REFERENCES 397
10. REDUCTION OF CONTROLLER COMPLEXITY 399
10.1 INTRODUCTION 399
10.2 ESTIMATION OF REDUCED ORDER CONTROLLERS BY IDENTIFICATION IN CLOSED
LOOP 404
10.2.1 CLOSED LOOP INPUT MATCHING (CLIM) 404
IMAGE 7
XX CONTENTS
10.2.2 CLOSED LOOP OUTPUT MATCHING (CLOM) 407
10.2.3 TAKING INTO ACCOUNT THE FIXED PARTS OF THE NOMINAL CONTROLLER 407
10.2.4 RE-DESIGNOFPOLYNOMIALLXQ" 1 ) 408
10.3 VALIDATION OFREDUCED ORDER CONTROLLERS 408
10.3.1 THE CASEOFSIMULATED DATA 409
10.3.2 THE CASE OF REAL DATA 409
10.4 PRACTICAL ASPECTS 410
10.5 CONTROL OF A FLEXIBLE TRANSMISSION - REDUCTION OF CONTROLLER
COMPLEXITY 410
10.6 CONCLUDING REMARKS 415
10.7 NOTES AND REFERENCES 415
A A BRIEF REVIEW OF SOME RESULTS FROM THEORY OF SIGNALS AND PROBABILITY
417
A.L SOME FUNDAMENTAL SIGNALS 417
A.2 THE Z - TRANSFORM 419
A.3 THE GAUSS BELL 419
B DESIGN OF RST DIGITAL CONTROLLERS IN THE TIME DOMAIN 423
B.L INTRODUCTION 423
B.2 PREDICTORS FOR DISCRETE TIME SYSTEMS 424
B.3 ONE STEP AHEAD MODEL PREDICTIVE CONTROL 429
B.4 AN INTERPRETATION OF THE CONTROL OF SYSTEMS WITH DELAY 431
B.5 LONG RANGE MODEL PREDICTIVE CONTROL 434
B.6 NOTES AND REFERENCES 440
C STATE-SPACE APPROACH FOR THE DESIGN OF RST CONTROLLERS 441
C.L. STATE-SPACE DESIGN 441
C.2. LINEAR QUADRATIC CONTROL 449
C.3. NOTES AND REFERENCES 450
D GENERALIZED STABILITY MARGIN AND NORMALIZED DISTANCE BETWEEN TWO
TRANSFER FUNCTIONS 451
D.L GENERALIZED STABILITY MARGIN 451
D.2 NORMALIZED DISTANCE BETWEEN TWO TRANSFER FUNCTIONS 453
D.3 ROBUST STABILITY CONDITION 454
D.4 NOTES AND REFERENCES 455
E THE YOULA-KUCERA CONTROLLER PARAMETRIZATION 457
E.L CONTROLLER PARAMETRIZATION 457
E.2 NOTES AND REFERENCES 460
F THE ADAPTATION GAIN UPDATING - THE U-D FACTORIZATION F.L THE U-D
FACTORIZATION 461
F.2 NOTES AND REFERENCES 462
IMAGE 8
CONTENTS XXI
G LABORATORY SESSIONS 463
G.L SAMPLED-DATA SYSTEMS 463
G.2 DIGITAL PID CONTROLLER 464
G.3 SYSTEM IDENTIFICATION 465
G.4 DIGITAL CONTROL (DISTILLATION COLUMN CONTROL DESIGN) 467
G.5 CLOSED LOOP IDENTIFICATION 468
G.6 CONTROLLER REDUCTION 469
H LIST OF FUNCTIONS (MATLAB, SCILAB AND C ++ ) 471
REFERENCES 473
INDEX 479 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Landau, Ioan D. 1938- Zito, Gianluca |
| author_GND | (DE-588)115568263 |
| author_facet | Landau, Ioan D. 1938- Zito, Gianluca |
| author_role | aut aut |
| author_sort | Landau, Ioan D. 1938- |
| author_variant | i d l id idl g z gz |
| building | Verbundindex |
| bvnumber | BV020858450 |
| callnumber-first | T - Technology |
| callnumber-label | TJ223 |
| callnumber-raw | TJ223.M53 |
| callnumber-search | TJ223.M53 |
| callnumber-sort | TJ 3223 M53 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ZQ 5020 ZQ 5340 ZQ 5440 |
| ctrlnum | (OCoLC)70068551 (DE-599)BVBBV020858450 |
| dewey-full | 629.8/9 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8/9 |
| dewey-search | 629.8/9 |
| dewey-sort | 3629.8 19 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV020858450 |
| illustrated | Illustrated |
| index_date | 2024-07-02T13:22:11Z |
| indexdate | 2024-07-09T20:26:48Z |
| institution | BVB |
| isbn | 1846280559 |
| language | English French |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-014180046 |
| oclc_num | 70068551 |
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| owner_facet | DE-92 DE-1102 DE-573 DE-83 |
| physical | XXIV, 484 S. Ill., graph. Darst. |
| publishDate | 2006 |
| publishDateSearch | 2006 |
| publishDateSort | 2006 |
| publisher | Springer |
| record_format | marc |
| series2 | Communications and Control Engineering |
| spelling | Landau, Ioan D. 1938- Verfasser (DE-588)115568263 aut Commande des systèmes Digital Control Systems Design, identification and implementation Ioan D. Landau and Gianluca Zito London Springer 2006 XXIV, 484 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Communications and Control Engineering Rev. translation Controle digital (sistemas;projeto e construção) larpcal Digital control systems Digitale Regelung (DE-588)4012293-1 gnd rswk-swf Digitale Regelung (DE-588)4012293-1 s DE-604 Zito, Gianluca Verfasser aut text/html http://deposit.dnb.de/cgi-bin/dokserv?id=2648294&prov=M&dok_var=1&dok_ext=htm Inhaltstext http://www.gbv.de/dms/ilmenau/toc/490240453.PDF kostenfrei Inhaltsverzeichnis http://www.loc.gov/catdir/enhancements/fy0663/2005931921-d.html Publisher description kostenfrei http://www.loc.gov/catdir/enhancements/fy0824/2005931921-b.html Contributor biographical information kostenfrei http://www.loc.gov/catdir/enhancements/fy0824/2005931921-t.html kostenfrei Inhaltsverzeichnis http://www3.ub.tu-berlin.de/ihv/001768633.pdf Inhaltsverzeichnis GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=014180046&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Landau, Ioan D. 1938- Zito, Gianluca Digital Control Systems Design, identification and implementation Controle digital (sistemas;projeto e construção) larpcal Digital control systems Digitale Regelung (DE-588)4012293-1 gnd |
| subject_GND | (DE-588)4012293-1 |
| title | Digital Control Systems Design, identification and implementation |
| title_alt | Commande des systèmes |
| title_auth | Digital Control Systems Design, identification and implementation |
| title_exact_search | Digital Control Systems Design, identification and implementation |
| title_exact_search_txtP | Digital Control Systems Design, identification and implementation |
| title_full | Digital Control Systems Design, identification and implementation Ioan D. Landau and Gianluca Zito |
| title_fullStr | Digital Control Systems Design, identification and implementation Ioan D. Landau and Gianluca Zito |
| title_full_unstemmed | Digital Control Systems Design, identification and implementation Ioan D. Landau and Gianluca Zito |
| title_short | Digital Control Systems |
| title_sort | digital control systems design identification and implementation |
| title_sub | Design, identification and implementation |
| topic | Controle digital (sistemas;projeto e construção) larpcal Digital control systems Digitale Regelung (DE-588)4012293-1 gnd |
| topic_facet | Controle digital (sistemas;projeto e construção) Digital control systems Digitale Regelung |
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