Robust control systems: theory and case studies
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | German |
| Veröffentlicht: |
Berlin [u.a.]
Springer
2004
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XVI, 519 S. zahlr. graph. Darst. |
| ISBN: | 3540209298 |
Internformat
MARC
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| 245 | 1 | 0 | |a Robust control systems |b theory and case studies |c Uwe Mackenroth |
| 264 | 1 | |a Berlin [u.a.] |b Springer |c 2004 | |
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Datensatz im Suchindex
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|---|---|
| adam_text | UWE MACKENROTH ROBUST CONTROL SYSTEMS THEORY AND CASE STUDIES WITH 221
FIGURES SPRINGER CONTENTS 1 INTRODUCTION 1 1.1 CONTROL SYSTEMS: BASIC
DEFINITIONS AND CONCEPTS 1 1.2 OUTLINE OF THE BOOK 8 1.3 THE MAIN STEPS
OF CONTROLLER DESIGN 11 2 RATIONAL TRANSFER FUNCTIONS 17 2.1
INTRODUCTORY EXAMPLES 17 2.1.1 PLANTS FOR PRESSURE CONTROL 17 2.1.2
ELECTROMECHANICAL PLANTS . . . 20 2.2 BASIC PROPERTIES 23 2.2.1
DEFINITIONS AND PRODUCT DECOMPOSITION 23 2.2.2 STABILITY 28 2.2.3
FREQUENCY RESPONSE 32 2.3 ELEMENTARY TRANSFER FUNCTIONS 34 2.3.1 TYPE-0
SYSTEMS OF FIRST OR SECOND ORDER 34 2.3.2 FURTHER BASIC SYSTEMS 38 3
SISO FEEDBACK SYSTEMS 41 3.1 THE BASIC TRANSFER FUNCTIONS 42 3.2
INTERNAL STABILITY 44 3.3 STATIONARY BEHAVIOR OF THE FEEDBACK LOOP 48
3.4 NYQUIST STABILITY CRITERION 50 3.5 REQUIREMENTS FOR FEEDBACK SYSTEMS
54 3.5.1 PERFORMANCE 54 3.5.2 ROBUST STABILITY 56 3.5.3 ROBUST
PERFORMANCE .* . 60 4 CLASSICAL DESIGN METHODS 63 4.1 SPECIFICATION OF
THE CLOSED-LOOP SYSTEM 63 4.1.1 ROBUST STABILITY AND PHASE MARGIN 63
4.1.2 PERFORMANCE AND GAIN CROSSOVER FREQUENCY 65 XII CONTENTS 4.2
CONTROLLER DESIGN WITH THE NYQUIST CRITERION 69 4.2.1 DESIGN METHOD 69
4.2.2 CASE STUDY: CONTROLLER SYNTHESIS FOR A DC MOTOR 74 4.3 GENERALIZED
STRUCTURE OF SISO FEEDBACK SYSTEMS 78 4.4 SUMMARY AND OUTLOOK 83 NOTES
AND REFERENCES 84 5 LINEAR DYNAMICAL SYSTEMS 85 5.1 LINEARIZATION 86 5.2
GENERAL PROPERTIES OF LINEAR SYSTEMS 88 5.2.1 SOLUTION FORMULA AND
TRANSFER MATRICES 88 5.2.2 STABILITY 92 5.2.3 FREQUENCY RESPONSE 96 5.3
CONTROLLABILITY 97 5.3.1 REALIZATION OF TRANSFER FUNCTIONS AND
CONTROLLER-CANONICAL FORM 97 5.3.2 CONDITIONS FOR CONTROLLABILITY . 102
5.4 OBSERVABILITY 108 5.5 STATE SPACE REALIZATIONS FOR TRANSFER MATRICES
. 113 5.6 POLES AND ZEROS OF MULTIVARIABLE SYSTEMS 118 5.7 LYAPUNOV
EQUATIONS 122 5.8 LINEAR DYNAMICAL SYSTEMS WITH STOCHASTIC INPUTS 125
5.8.1 GAUSSIAN RANDOM PROCESSES 125 5.8.2 SOLUTIONS OF LINEAR
DIFFERENTIAL EQUATIONS WITH WHITE NOISE INPUTS . . . 127 5.8.3 COLORED
NOISE AND SHAPING FILTERS 131 NOTES AND REFERENCES 132 6 BASIC
PROPERTIES OF MULTIVARIABLE FEEDBACK SYSTEMS 133 6.1 CONTROLLERS WITH
STATE FEEDBACK . . . 134 6.2 ESTIMATION OF THE STATE VECTOR 139 6.2.1
LUENBERGER OBSERVER AND OBSERVER-BASED CONTROLLERS 139 6.2.2 REDUCED
OBSERVER 141 6.3 POLE PLACEMENT FOR SISO SYSTEMS 144 6.3.1 FORMULA FOR
THE FEEDBACK GAINS 144 6.3.2 ROBUST POLE PLACEMENT 146 6.3.3 EXAMPLE:
POLE PLACEMENT FOR A SECOND-ORDER SYSTEM 152 6.4 POLE PLACEMENT FOR MIMO
SYSTEMS 155 6.4.1 POLE PLACEMENT AND CONTROLLABILITY V . . 155 6.4.2
ROBUST EIGENSTRUCTURE ASSIGNMENT 157 6.5 GENERAL FEEDBACK SYSTEMS 160
6.5.1 STRUCTURE OF GENERAL FEEDBACK SYSTEMS 160 6.5.2 INTERNAL STABILITY
AND GENERALIZED NYQUIST CRITERION 165 NOTES AND REFERENCES 170 CONTENTS
XIII 7 NORMS OF SYSTEMS AND PERFORMANCE 171 7.1 NORMS OF VECTORS AND
MATRICES 172 7.2 NORMS OF SYSTEMS 175 7.2.1 THE HARDY-SPACE U 2 AND AND
THE LAPLACE TRANSFORM 175 7.2.2 THE H 2 NORM AS AN OPERATOR NORM 178
7.2.3 THE HARDY SPACE H X AND AN INDUCED OPERATOR NORM 180 7.3
CALCULATION OF OPERATOR NORMS 183 7.4 SPECIFICATION FOR FEEDBACK SYSTEMS
187 7.5 PERFORMANCE LIMITATIONS 190 7.6 COPRIME FACTORIZATION AND INNER
FUNCTIONS . 195 NOTES AND REFERENCES 199 8 H 2 OPTIMAL CONTROL 201 8.1
LQ CONTROLLERS 202 8.1.1 CONTROLLER DESIGN BY MINIMIZATION OF A COST
FUNCTIONAL .... 202 8.1.2 ALGEBRAIC RICCATI EQUATION 207 8.2
CHARACTERIZATION OF H 2 OPTIMAL CONTROLLERS 214 8.2.1 PROBLEM
FORMULATION AND CHARACTERIZATION THEOREM 214 8.2.2 STATE FEEDBACK 217
8.2.3 PROOF OF THE CHARACTERIZATION THEOREM 220 8.3 KALMAN BUCY FILTER
224 8.3.1 KALMANBUCY FILTER AS SPECIAL U 2 STATE ESTIMATOR 224 8.3.2
KALMAN FILTERING WITH NON-WHITE NOISE 227 8.3.3 RANGE AND VELOCITY
ESTIMATE OF AN AIRCRAFT 229 8.4 LQG CONTROLLER AND FURTHER PROPERTIES OF
LQ CONTROLLERS 231 8.4.1 LQG CONTROLLER AS SPECIAL H 2 CONTROLLER 231
8.4.2 AN ESTIMATE FOR THE INPUT RETURN DIFFERENCE MATRIX 233 8.4.3 POLES
OF LQ FEEDBACK SYSTEMS AND LOOP TRANSFER RECOVERY . . 235 8.5 RELATED
PROBLEMS 238 8.5.1 OPTIMAL CONTROL PROBLEMS. . 238 8.5.2 SYSTEMS
DESCRIBED BY PARTIAL DIFFERENTIAL EQUATIONS . : . . . . 242 NOTES AND
REFERENCES 247 9 U X OPTIMAL CONTROL: RICCATI-APPROACH 249 9.1
FORMULATION OF THE GENERAL H M PROBLEM 250 9.2 CHARACTERIZATION OF H *
SUBOPTIMAL CONTROLLERS BY MEANS OF RICCATI EQUATIONS 252 9.2.1
CHARACTERIZATION THEOREM FOR OUTPUT FEEDBACK 252 9.2.2 OUTLINE OF THE
PROOF -....* 254 9.2.3 CONTRACTION AND STABILITY 258 9.3 W_ CONTROL WITH
FULL INFORMATION 261 9.3.1 MIXED HANKEL-TOEPLITZ OPERATORS 261 9.3.2
PROOF OF THE CHARACTERIZATION THEOREM FOR FULL INFORMATION . . 267 9.4
PROOF OF THE CHARACTERIZATION THEOREM FOR OUTPUT FEEDBACK 271 XIV
CONTENTS 9.5 GENERAL H M PROBLEM: SCALING AND LOOP SHIFTING 276 9.6
MIXED SENSITIVITY DESIGN 281 9.6.1 WEIGHTING SCHEMES 281 9.6.2 POLE-ZERO
CANCELLATIONS 284 NOTES AND REFERENCES 288 10 H _ OPTIMAL CONTROL:
LMI-APPROACH AND APPLICATIONS 289 10.1 CHARACTERIZATION OF H M
SUBOPTIMAL CONTROLLERS BY LINEAR MATRIX INEQUALITIES 290 10.1.1 BOUNDED
REAL LEMMA 290 10.1.2 NONCONVEX CHARACTERIZATION OF H M SUBOPTIMAL
CONTROLLERS 292 10.1.3 CONVEX CHARACTERIZATION OF H X SUBOPTIMAL
CONTROLLERS . . 298 10.2 PROPERTIES OF H^ SUBOPTIMAL CONTROLLERS 303
10.2.1 CONNECTION BETWEEN RICCATI-AND LMI-APPROACHES .... 303 10.2.2
LIMITING BEHAVIOUR . . . 304 10.3 H X SYNTHESIS WITH POLE PLACEMENTS
CONSTRAINTS 305 10.3.1 LMI REGIONS . . 305 10.3.2 DESIGN OF D-STABLE H.
CONTROLLERS 307 10.4 GAIN SCHEDULING 310 10.5 H^ OPTIMAL CONTROL FOR A
SECOND ORDER PLANT . . . . . . . . . . 315 10.5.1 CHOICE OF THE WEIGHTS
315 10.5.2 PLANT WITH NONVANISHING DAMPING. . 316 10.5.3 PLANT WITH A
POLE PAIR ON THE IMAGINARY AXIS 321 NOTES AND REFERENCES 326 11 CASE
STUDIES FOR H 2 AND H * OPTIMAL CONTROL . 327 11.1 CONTROL OF AN
INVERTED PENDULUM 328 11.1.1 ANALYSIS OF THE PLANT DYNAMICS 328 11.1.2
DESIGN OF AN LQ CONTROLLER 332 11.1.3 DESIGN OF AN LQG CONTROLLER 336
11.2 CONTROL OF A CONTINUOUSLY STIRRED TANK . 339 11.2.1 ANALYSIS OF THE
PLANT DYNAMICS 339 11.2.2 CONTROLLER DESIGN BY POLE POSITIONING 342 11.3
CONTROL OF AIRCRAFT 345 11.3.1 NONLINEAR AND LINEARIZED DYNAMICS 345
11.3.2 ANALYSIS OF THE LINEARIZED PLANT DYNAMICS 351 11.3.3 IMPROVEMENT
OF THE LATERAL DYNAMICS BY STATE FEEDBACK. . 355 11.3.4 LQ CONTROLLER
FOR THE LATERAL MOTION 358 11.3.5 H X CONTROLLER FOR THE LATERAL MOTION
362 12 REPRESENTATION OF UNCERTAINTY 367 12.1 MODEL UNCERTAINTY 367 12.2
UNSTRUCTURED UNCERTAINTIES 369 12.3 STRUCTURED MODEL UNCERTAINTIES 373
CONTENTS XV 12.3.1 INTRODUCTORY EXAMPLES 373 12.3.2 STRUCTURED STATE
SPACE UNCERTAINTIES 375 12.3.3 PARAMETER UNCERTAINTY FOR TRANSFER
FUNCTIONS 379 12.4 GENERAL FRAMEWORK FOR UNCERTAINTY 380 12.5 EXAMPLE
383 13 SYNTHESIS OF ROBUST CONTROLLERS 387 13.1 SMALL GAIN THEOREM 388
13.2 ROBUST STABILITY UNDER STABLE UNSTRUCTURED UNCERTAINTIES 392 13.3
STRUCTURED SINGULAR VALUE N 397 13.3.1 BASIC IDEA AND DEFINITION 397
13.3.2 BASIC PROPERTIES OF THE STRUCTURED SINGULAR VALUE /J. .... 398
13.3.3 ESTIMATES FOR /J. 401 13.4 STRUCTURED ROBUST STABLITY AND
PERFORMANCE 404 13.4.1 ROBUST STABILITY 404 13.4.2 ROBUST PERFORMANCE
406 13.5 D-K ITERATION 410 13.6 REDUCTION OF THE CONTROLLER ORDER 414
13.6.1 BALANCED REALIZATIONS 414 13.6.2 BALANCED TRUNCATION 416 13.7
ROBUST CONTROL OF A SECOND-ORDER PLANT 420 NOTES AND REFERENCES 427 14
CASE STUDIES FOR ROBUST CONTROL 429 14.1 ROBUST CONTROL OF AIRCRAFT 430
14.1.1 ?{* CONTROLLER FOR THE LATERAL CONTROL WITH GOOD DISTURBANCE
REJECTION 430 14.1.2 WEIGHTINGS FOR THE ROBUST CONTROLLER 432 14.1.3 D-K
ITERATION AND SIMULATION RESULTS 435 14.1.4 COMPARISION WITH THE LQ
CONTROLLER 439 14.2 ROBUST RUDDER ROLL STABILIZATION FOR SHIPS 441
14.2.1 NONLINEAR AND LINEAR PLANT MODEL 441 14.2.2 SEPARATE DESIGN FOR
THE CONTROLLERS FOR COURSE AND ROLL MOTION 445 14.2.3 ROBUST CONTROL OF
COURSE AND ROLL MOTION 450 14.3 ROBUST CONTROL OF A GUIDED MISSILE 454
14.3.1 LINEAR PLANT MODEL 454 14.3.2 DESIGN OF A ROBUST CONTROLLER 459
14.3.3 CONTROL OF THE ELASTIC MISSILE _ . 465 14.4 ROBUST CONTROL OF A
DISTILLATION COLUMN 467 14.4.1 NONLINEAR MODEL OF THE COLUMN 467 14.4.2
NONLINEAR MODEL IN THE CASE OF PERFECT LEVEL CONTROL ... 471 14.4.3
LINEAR PLANT MODEL AND PI CONTROLLER 474 14.4.4 PERFORMANCE
SPECIFICATION AND ROBUSTNESS ANALYSIS XVI CONTENTS OF THE PI CONTROLLER
478 14.4.5 N OPTIMAL CONTROLLER 481 NOTES AND REFERENCES 485 A
MATHEMATICAL BACKGROUND 487 A.I. LINEAR ALGEBRA 487 A. 1.1 LINEAR
MAPPINGS AND MATRICES 487 A.1.2 EIGENVALUES AND EIGENVECTORS 489 A. 1.3
SELF-ADJOINT, UNITARY AND POSITIVE DEFINITE MATRICES . . . . 490 A.1.4
MATRIX INVERSION AND DETERMINANT FORMULAS . 494 A. 1.5 A MINIMUM NORM
PROBLEM FOR MATRICES 495 A.2. ANALYSIS 497 A.2.1 BANACH AND HILBERT
SPACES 497 A.2.2 OPERATORS 500 A.2.3 COMPLEX ANALYSIS 502 NOTES AND
REFERENCES 503 BIBLIOGRAPHY 505 NOTATION AND SYMBOLS 513 INDEX 515 .J
|
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| callnumber-subject | TJ - Mechanical Engineering and Machinery |
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| dewey-sort | 3629.8 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV019326834 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T19:57:44Z |
| institution | BVB |
| isbn | 3540209298 |
| language | German |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-012793882 |
| oclc_num | 249647860 |
| open_access_boolean | |
| owner | DE-898 DE-BY-UBR DE-703 DE-92 DE-91G DE-BY-TUM DE-573 DE-706 DE-83 |
| owner_facet | DE-898 DE-BY-UBR DE-703 DE-92 DE-91G DE-BY-TUM DE-573 DE-706 DE-83 |
| physical | XVI, 519 S. zahlr. graph. Darst. |
| publishDate | 2004 |
| publishDateSearch | 2004 |
| publishDateSort | 2004 |
| publisher | Springer |
| record_format | marc |
| spelling | Mackenroth, Uwe Verfasser aut Robust control systems theory and case studies Uwe Mackenroth Berlin [u.a.] Springer 2004 XVI, 519 S. zahlr. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Reglerentwurf - Robuste Regelung - H-unendlich-Methode Reglerentwurf - Robuste Regelung - Kontrolltheorie Reglerentwurf - Robuste Regelung - Optimale Kontrolle Robust control Optimale Kontrolle (DE-588)4121428-6 gnd rswk-swf H-unendlich-Methode (DE-588)4558033-9 gnd rswk-swf Robuste Regelung (DE-588)4206985-3 gnd rswk-swf Kontrolltheorie (DE-588)4032317-1 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 s Robuste Regelung (DE-588)4206985-3 s Optimale Kontrolle (DE-588)4121428-6 s DE-604 Kontrolltheorie (DE-588)4032317-1 s H-unendlich-Methode (DE-588)4558033-9 s HEBIS Datenaustausch Darmstadt application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012793882&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Mackenroth, Uwe Robust control systems theory and case studies Reglerentwurf - Robuste Regelung - H-unendlich-Methode Reglerentwurf - Robuste Regelung - Kontrolltheorie Reglerentwurf - Robuste Regelung - Optimale Kontrolle Robust control Optimale Kontrolle (DE-588)4121428-6 gnd H-unendlich-Methode (DE-588)4558033-9 gnd Robuste Regelung (DE-588)4206985-3 gnd Kontrolltheorie (DE-588)4032317-1 gnd Reglerentwurf (DE-588)4177447-4 gnd |
| subject_GND | (DE-588)4121428-6 (DE-588)4558033-9 (DE-588)4206985-3 (DE-588)4032317-1 (DE-588)4177447-4 |
| title | Robust control systems theory and case studies |
| title_auth | Robust control systems theory and case studies |
| title_exact_search | Robust control systems theory and case studies |
| title_full | Robust control systems theory and case studies Uwe Mackenroth |
| title_fullStr | Robust control systems theory and case studies Uwe Mackenroth |
| title_full_unstemmed | Robust control systems theory and case studies Uwe Mackenroth |
| title_short | Robust control systems |
| title_sort | robust control systems theory and case studies |
| title_sub | theory and case studies |
| topic | Reglerentwurf - Robuste Regelung - H-unendlich-Methode Reglerentwurf - Robuste Regelung - Kontrolltheorie Reglerentwurf - Robuste Regelung - Optimale Kontrolle Robust control Optimale Kontrolle (DE-588)4121428-6 gnd H-unendlich-Methode (DE-588)4558033-9 gnd Robuste Regelung (DE-588)4206985-3 gnd Kontrolltheorie (DE-588)4032317-1 gnd Reglerentwurf (DE-588)4177447-4 gnd |
| topic_facet | Reglerentwurf - Robuste Regelung - H-unendlich-Methode Reglerentwurf - Robuste Regelung - Kontrolltheorie Reglerentwurf - Robuste Regelung - Optimale Kontrolle Robust control Optimale Kontrolle H-unendlich-Methode Robuste Regelung Kontrolltheorie Reglerentwurf |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012793882&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT mackenrothuwe robustcontrolsystemstheoryandcasestudies |