Multivariable feedback control: analysis and design
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| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Chichester [u.a.]
Wiley
2005
|
| Edition: | 2. ed. |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis Inhaltsverzeichnis |
| Physical Description: | XIV, 574 S. graph. Darst. |
| ISBN: | 0470011688 |
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Record in the Search Index
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| adam_text | Titel: Multivariable feedback control
Autor: Skogestad, Sigurd
Jahr: 2005
CONTENTS
PREFACE ........................................ xi
1 INTRODUCTION............................................................1
1.1 The process of control system design............................................1
1.2 The control problem ............................................................2
1.3 Transfer functions................................................................3
1.4 Scaling ..........................................................................5
1.5 Deriving linear models..........................................................7
1.6 Notation..........................................................................10
2 CLASSICAL FEEDBACK CONTROL............................................15
2.1 Frequency response..............................................................15
2.2 Feedback control................................................................20
2.3 Closed-loop stability............................................................26
2.4 Evaluating closed-loop performance............................................28
2.5 Controller design................................................................40
2.6 Loop shaping....................................................................42
2.7 IMC design procedure and PID control for stable plants........................54
2.8 Shaping closed-loop transfer functions..........................................59
2.9 Conclusion ......................................................................65
3 INTRODUCTION TO MULTIVARIABLE CONTROL............. 67
3.1 Introduction................................... 67
3.2 Transfer functions for MIMO systems..................... 68
3.3 Multivariable frequency response analysis................... 71
3.4 Relative gain array (RGA)........................... 82
3.5 Control of multivariable plants......................... 91
3.6 Introduction to multivariable RHP-zeros.................... 95
3.7 Introduction to MIMO robustness ....................... 98
3.8 General control problem formulation......................104
3.9 Additional exercises...............................115
3.10 Conclusion...................................117
4 ELEMENTS OF LINEAR SYSTEM THEORY..................119
4.1 System descriptions...............................119
4.2 State controllability and state observability...................127
viii MULTIVARIABLE FEEDBACK CONTROL
4.3 Stability.....................................134
4.4 Poles.......................................135
4.5 Zeros ......................................138
4.6 Some important remarks on poles and zeros..................141
4.7 Internal stability of feedback systems......................144
4.8 Stabilizing controllers..............................148
4.9 Stability analysis in the frequency domain...................150
4.10 System norms..................................156
4.11 Conclusion ...................................162
5 LIMITATIONS ON PERFORMANCE IN SISO SYSTEMS...........163
5.1 Input-output controllability...........................163
5.2 Fundamental limitations on sensitivity.....................167
5.3 Fundamental limitations: bounds on peaks...................172
5.4 Perfect control and plant inversion.......................180
5.5 Ideal ISE optimal control............................181
5.6 Limitations imposed by time delays......................182
5.7 Limitations imposed by RHP-zeros.......................183
5.8 Limitations imposed by phase lag .......................191
5.9 Limitations imposed by unstable (RHP) poles.................192
5.10 Performance requirements imposed by disturbances and commands .....198
5.11 Limitations imposed by input constraints....................199
5.12 Limitations imposed by uncertainty ......................203
5.13 Summary: controllability analysis with feedback control ...........206
5.14 Summary: controllability analysis with feedforward control..........209
5.15 Applications of controllability analysis.....................210
5.16 Conclusion ...................................219
6 LIMITATIONS ON PERFORMANCE IN MIMO SYSTEMS..........221
6.1 Introduction...................................221
6.2 Fundamental limitations on sensitivity.....................222
6.3 Fundamental limitations: bounds on peaks...................223
6.4 Functional controllability............................232
6.5 Limitations imposed by time delays......................233
6.6 Limitations imposed by RHP-zeros.......................235
6.7 Limitations imposed by unstable (RHP) poles.................238
6.8 Performance requirements imposed by disturbances..............238
6.9 Limitations imposed by input constraints....................240
6.10 Limitations imposed by uncertainty ......................242
6.11 MIMO input-output controllability.......................253
6.12 Conclusion ...................................258
7 UNCERTAINTY AND ROBUSTNESS FOR SISO SYSTEMS .........259
7.1 Introduction to robustness............................259
7.2 Representing uncertainty............................260
7.3 Parametric uncertainty .............................262
7.4 Representing uncertainty in the frequency domain...............265
7.5 SISO robust stability..............................274
CONTENTS ix
7.6 SISO robust performance............................281
7.7 Additional exercises...............................287
7.8 Conclusion ...................................288
8 ROBUST STABILITY AND PERFORMANCE ANALYSIS FOR MIMO
SYSTEMS ......................................289
8.1 General control configuration with uncertainty.................289
8.2 Representing uncertainty............................290
8.3 Obtaining P, N and M.............................298
8.4 Definitions of robust stability and robust performance.............299
8.5 Robust stability of the MA-structure......................301
8.6 Robust stability for complex unstructured uncertainty.............302
8.7 Robust stability with structured uncertainty: motivation............305
8.8 The structured singular value..........................306
8.9 Robust stability with structured uncertainty..................313
8.10 Robust performance...............................316
8.11 Application: robust performance with input uncertainty............320
8.12 /z-synthesis and DK-iteration .........................328
8.13 Further remarks on ii..............................336
8.14 Conclusion ...................................338
9 CONTROLLER DESIGN..............................341
9.1 Trade-offs in MIMO feedback design .....................341
9.2 LQG control...................................344
9.3 H2 and Hoo control...............................352
9.4 Hoo loop-shaping design............................364
9.5 Conclusion ...................................381
10 CONTROL STRUCTURE DESIGN........................383
10.1 Introduction...................................383
10.2 Optimal operation and control.........................385
10.3 Selection of primary controlled outputs ....................388
10.4 Regulatory control layer............................403
10.5 Control configuration elements.........................419
10.6 Decentralized feedback control.........................428
10.7 Conclusion ...................................453
11 MODEL REDUCTION...............................455
11.1 Introduction...................................455
11.2 Truncation and residualization.........................456
11.3 Balanced realizations..............................457
11.4 Balanced truncation and balanced residualization...............458
11.5 Optimal Hankel norm approximation......................459
11.6 Reduction of unstable models..........................462
11.7 Model reduction using Matlab.........................462
11.8 Two practical examples.............................463
11.9 Conclusion ...................................471
X MULTIVARIABLE FEEDBACK CONTROL
12 LINEAR MATRIX INEQUALITIES........................473
12.1 Introduction to LMI problems.........................473
12.2 Types of LMI problems.............................476
12.3 Tricks in LMI problems.............................479
12.4 Case study: anti-windup compensator synthesis................484
12.5 Conclusion...................................490
13 CASE STUDIES...................................491
13.1 Introduction...................................491
13.2 Helicopter control................................492
13.3 Aero-engine control...............................500
13.4 Distillation process...............................509
13.5 Conclusion ...................................514
A MATRIX THEORY AND NORMS.........................515
A.l Basics......................................515
A.2 Eigenvalues and eigenvectors..........................518
A.3 Singular value decomposition..........................520
A.4 Relative gain array ...............................526
A.5 Norms......................................530
A.6 All-pass factorization of transfer function matrices ..............541
A.7 Factorization of the sensitivity function ....................542
A.8 Linear fractional transformations........................543
B PROJECT WORK AND SAMPLE EXAM....................547
B.l Project work...................................547
B.2 Sample exam..................................548
BIBLIOGRAPHY....................................553
INDEX..........................................563
|
| adam_txt |
Titel: Multivariable feedback control
Autor: Skogestad, Sigurd
Jahr: 2005
CONTENTS
PREFACE . xi
1 INTRODUCTION.1
1.1 The process of control system design.1
1.2 The control problem .2
1.3 Transfer functions.3
1.4 Scaling .5
1.5 Deriving linear models.7
1.6 Notation.10
2 CLASSICAL FEEDBACK CONTROL.15
2.1 Frequency response.15
2.2 Feedback control.20
2.3 Closed-loop stability.26
2.4 Evaluating closed-loop performance.28
2.5 Controller design.40
2.6 Loop shaping.42
2.7 IMC design procedure and PID control for stable plants.54
2.8 Shaping closed-loop transfer functions.59
2.9 Conclusion .65
3 INTRODUCTION TO MULTIVARIABLE CONTROL. 67
3.1 Introduction. 67
3.2 Transfer functions for MIMO systems. 68
3.3 Multivariable frequency response analysis. 71
3.4 Relative gain array (RGA). 82
3.5 Control of multivariable plants. 91
3.6 Introduction to multivariable RHP-zeros. 95
3.7 Introduction to MIMO robustness . 98
3.8 General control problem formulation.104
3.9 Additional exercises.115
3.10 Conclusion.117
4 ELEMENTS OF LINEAR SYSTEM THEORY.119
4.1 System descriptions.119
4.2 State controllability and state observability.127
viii MULTIVARIABLE FEEDBACK CONTROL
4.3 Stability.134
4.4 Poles.135
4.5 Zeros .138
4.6 Some important remarks on poles and zeros.141
4.7 Internal stability of feedback systems.144
4.8 Stabilizing controllers.148
4.9 Stability analysis in the frequency domain.150
4.10 System norms.156
4.11 Conclusion .162
5 LIMITATIONS ON PERFORMANCE IN SISO SYSTEMS.163
5.1 Input-output controllability.163
5.2 Fundamental limitations on sensitivity.167
5.3 Fundamental limitations: bounds on peaks.172
5.4 Perfect control and plant inversion.180
5.5 Ideal ISE optimal control.181
5.6 Limitations imposed by time delays.182
5.7 Limitations imposed by RHP-zeros.183
5.8 Limitations imposed by phase lag .191
5.9 Limitations imposed by unstable (RHP) poles.192
5.10 Performance requirements imposed by disturbances and commands .198
5.11 Limitations imposed by input constraints.199
5.12 Limitations imposed by uncertainty .203
5.13 Summary: controllability analysis with feedback control .206
5.14 Summary: controllability analysis with feedforward control.209
5.15 Applications of controllability analysis.210
5.16 Conclusion .219
6 LIMITATIONS ON PERFORMANCE IN MIMO SYSTEMS.221
6.1 Introduction.221
6.2 Fundamental limitations on sensitivity.222
6.3 Fundamental limitations: bounds on peaks.223
6.4 Functional controllability.232
6.5 Limitations imposed by time delays.233
6.6 Limitations imposed by RHP-zeros.235
6.7 Limitations imposed by unstable (RHP) poles.238
6.8 Performance requirements imposed by disturbances.238
6.9 Limitations imposed by input constraints.240
6.10 Limitations imposed by uncertainty .242
6.11 MIMO input-output controllability.253
6.12 Conclusion .258
7 UNCERTAINTY AND ROBUSTNESS FOR SISO SYSTEMS .259
7.1 Introduction to robustness.259
7.2 Representing uncertainty.260
7.3 Parametric uncertainty .262
7.4 Representing uncertainty in the frequency domain.265
7.5 SISO robust stability.274
CONTENTS ix
7.6 SISO robust performance.281
7.7 Additional exercises.287
7.8 Conclusion .288
8 ROBUST STABILITY AND PERFORMANCE ANALYSIS FOR MIMO
SYSTEMS .289
8.1 General control configuration with uncertainty.289
8.2 Representing uncertainty.290
8.3 Obtaining P, N and M.298
8.4 Definitions of robust stability and robust performance.299
8.5 Robust stability of the MA-structure.301
8.6 Robust stability for complex unstructured uncertainty.302
8.7 Robust stability with structured uncertainty: motivation.305
8.8 The structured singular value.306
8.9 Robust stability with structured uncertainty.313
8.10 Robust performance.316
8.11 Application: robust performance with input uncertainty.320
8.12 /z-synthesis and DK-iteration .328
8.13 Further remarks on ii.336
8.14 Conclusion .338
9 CONTROLLER DESIGN.341
9.1 Trade-offs in MIMO feedback design .341
9.2 LQG control.344
9.3 H2 and Hoo control.352
9.4 Hoo loop-shaping design.364
9.5 Conclusion .381
10 CONTROL STRUCTURE DESIGN.383
10.1 Introduction.383
10.2 Optimal operation and control.385
10.3 Selection of primary controlled outputs .388
10.4 Regulatory control layer.403
10.5 Control configuration elements.419
10.6 Decentralized feedback control.428
10.7 Conclusion .453
11 MODEL REDUCTION.455
11.1 Introduction.455
11.2 Truncation and residualization.456
11.3 Balanced realizations.457
11.4 Balanced truncation and balanced residualization.458
11.5 Optimal Hankel norm approximation.459
11.6 Reduction of unstable models.462
11.7 Model reduction using Matlab.462
11.8 Two practical examples.463
11.9 Conclusion .471
X MULTIVARIABLE FEEDBACK CONTROL
12 LINEAR MATRIX INEQUALITIES.473
12.1 Introduction to LMI problems.473
12.2 Types of LMI problems.476
12.3 Tricks in LMI problems.479
12.4 Case study: anti-windup compensator synthesis.484
12.5 Conclusion.490
13 CASE STUDIES.491
13.1 Introduction.491
13.2 Helicopter control.492
13.3 Aero-engine control.500
13.4 Distillation process.509
13.5 Conclusion .514
A MATRIX THEORY AND NORMS.515
A.l Basics.515
A.2 Eigenvalues and eigenvectors.518
A.3 Singular value decomposition.520
A.4 Relative gain array .526
A.5 Norms.530
A.6 All-pass factorization of transfer function matrices .541
A.7 Factorization of the sensitivity function .542
A.8 Linear fractional transformations.543
B PROJECT WORK AND SAMPLE EXAM.547
B.l Project work.547
B.2 Sample exam.548
BIBLIOGRAPHY.553
INDEX.563 |
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| index_date | 2024-07-02T13:21:12Z |
| indexdate | 2024-07-09T20:26:44Z |
| institution | BVB |
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| spelling | Skogestad, Sigurd Verfasser aut Multivariable feedback control analysis and design Sigurd Skogestad ; Ian Postlethwaite 2. ed. Chichester [u.a.] Wiley 2005 XIV, 574 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Feedback control systems Mehrgrößenregelung (DE-588)4038377-5 gnd rswk-swf Rückkopplung (DE-588)4050851-1 gnd rswk-swf Mehrgrößenregelung (DE-588)4038377-5 s DE-604 Rückkopplung (DE-588)4050851-1 s 1\p DE-604 Postlethwaite, Ian Verfasser aut http://www3.ub.tu-berlin.de/ihv/001693671.pdf Inhaltsverzeichnis HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=014177320&sequence=000004&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Skogestad, Sigurd Postlethwaite, Ian Multivariable feedback control analysis and design Feedback control systems Mehrgrößenregelung (DE-588)4038377-5 gnd Rückkopplung (DE-588)4050851-1 gnd |
| subject_GND | (DE-588)4038377-5 (DE-588)4050851-1 |
| title | Multivariable feedback control analysis and design |
| title_auth | Multivariable feedback control analysis and design |
| title_exact_search | Multivariable feedback control analysis and design |
| title_exact_search_txtP | Multivariable feedback control analysis and design |
| title_full | Multivariable feedback control analysis and design Sigurd Skogestad ; Ian Postlethwaite |
| title_fullStr | Multivariable feedback control analysis and design Sigurd Skogestad ; Ian Postlethwaite |
| title_full_unstemmed | Multivariable feedback control analysis and design Sigurd Skogestad ; Ian Postlethwaite |
| title_short | Multivariable feedback control |
| title_sort | multivariable feedback control analysis and design |
| title_sub | analysis and design |
| topic | Feedback control systems Mehrgrößenregelung (DE-588)4038377-5 gnd Rückkopplung (DE-588)4050851-1 gnd |
| topic_facet | Feedback control systems Mehrgrößenregelung Rückkopplung |
| url | http://www3.ub.tu-berlin.de/ihv/001693671.pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=014177320&sequence=000004&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT skogestadsigurd multivariablefeedbackcontrolanalysisanddesign AT postlethwaiteian multivariablefeedbackcontrolanalysisanddesign |
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