Analysis and synthesis of single-input single-output control systems:
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Zürich/Singen
vdf, Hochsch.-Verl. an der ETH
2007
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| Schriftenreihe: | vdf Vorlesungsskript, Ingenieurwesen
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| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XIV, 352 S. Ill., graph. Darst. |
| ISBN: | 9783728131461 3728131466 |
Internformat
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Datensatz im Suchindex
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| adam_text | LINO GUZZELLA ANALYSIS AND SYNTHESIS OF SINGLE-INPUT SINGLE-OUTPUT
CONTROL SYSTEMS L+KJA» UJA )W 2 (JA» UM CONTENTS 1 DEFINITIONS AND
PROBLEM FORMULATIONS 1 1.1 INTRODUCTION 1 1.2 DEFINITIONS 1 1.2.1
SYSTEMS AND SIGNALS 1 1.2.2 SISO/MIMO SYSTEMS 3 1.2.3 LINEAR/NONLINEAR
SYSTEMS 4 1.3 SYSTEM CLASSIFICATION 5 1.4 MODELS 6 1.5 CONTROL SYSTEMS 8
1.6 CONTROL SYSTEM DESIGN PROBLEMS 11 1.6.1 GENERAL REMARKS 11 1.6.2
SYSTEMS ANALYSIS 11 1.6.3 REFERENCE TRACKING 12 1.6.4 DISTURBANCE
REJECTION 12 1.6.5 TRADEOFF ROBUSTNESS VERSUS PERFORMANCE 12 1.6.6
STABILIZATION 13 1.6.7 NOISE ATTENUATION 13 2 MODELING OF DYNAMIC
SYSTEMS 15 2.1 INTRODUCTION 15 2.2 GENERAL MODELING GUIDELINES 16 2.3
SOME EXAMPLES 17 2.3.1 EXAMPLE WATER TANK 17 2.3.2 EXAMPLE STIRRED
REACTOR 18 2.3.3 EXAMPLE CRUISE CONTROL 20 2.3.4 EXAMPLE LOUDSPEAKER 22
2.3.5 EXAMPLE CONVEYOR BELT 23 2.4 MODEL UNCERTAINTY 24 VIII CONTENTS 3
SYSTEM REPRESENTATION AND TRANSFORMATION 27 3.1 INTRODUCTION 27 3.1.1
LOUDSPEAKER, FIRST-ORDER EQUATIONS 28 3.1.2 OBJECTIVES 28 3.2
NORMALIZATION 29 3.2.1 EXAMPLE WATER TANK, NORMALIZATION 30 3.2.2
EXAMPLE CRUISE CONTROL, NORMALIZATION 30 3.3 LINEARIZATION 31 3.3.1
EXAMPLE WATER TANK, LINEARIZATION 33 3.3.2 EXAMPLE CRUISE CONTROL,
LINEARIZATION 34 3.4 PARAMETRIC UNCERTAINTY 35 3.4.1 GENERAL REMARKS 35
3.4.2 EXAMPLE CRUISE CONTROL, PARAMETRIC UNCERTAINTY 35 3.5 LINEAR STATE
SPACE FORMS 37 3.5.1 EXAMPLE LOUDSPEAKER SYSTEM, STATE SPACE FORM 37
3.5.2 STATE SPACE AND SYSTEM COORDINATES 38 3.5.3 PLANT AND CONTROL
SYSTEM INTERFACE 39 4 ANALYSIS OF LINEAR SYSTEMS * PART I 41 4.1
INTRODUCTION 41 4.2 TIME DOMAIN BEHAVIOR OF LINEAR SYSTEMS 42 4.2.1
MATRIX EXPONENTIALS 42 4.2.2 GENERAL SOLUTION 43 4.3 FIRST-ORDER SYSTEMS
45 4.3.1 IMPULSE RESPONSE 46 4.3.2 STEP RESPONSE 47 4.3.3 RAMP RESPONSE
48 4.3.4 HARMONIE RESPONSE 49 4.4 STABILITY 50 4.4.1 DEFINITIONS 50
4.4.2 SPECTRAL METHODS 51 4.4.3 STABILITY OF THE INVERTED PENDULUM 53
4.4.4 NON-EXPONENTIAL ASYMPTOTIC STABILITY* 54 5 ANALYSIS OF LINEAR
SYSTEMS * PART II 55 5.1 INTRODUCTION 55 5.2 REACHABILITY,
CONTROLLABILITY AND STABILIZABILITY 56 5.2.1 INTRODUCTION 56 5.2.2
REACHABILITY CONDITIONS 56 5.2.3 AN EXPLICIT FEEDFORWARD CONTROL SIGNAL*
58 5.2.4 EXAMPLE CONTROLLABILITY OF A GEOSTATIONARY SATELLITE ... 59
5.2.5 NONLINEAR SYSTEMS* 60 5.3 OBSERVABILITY CONDITIONS 62 5.3.1
OBSERVABILITY OF THE INVERTED PENDULUM 63 5.4 STATE SPACE DECOMPOSITION
64 CONTENTS IX 5.5 SPECTRAL DECOMPOSITIONS* 65 5.6 I/O DESCRIPTIONS AND
CANONICAL REALIZATIONS 67 5.6.1 I/O DESCRIPTION ** STATE-SPACE
DESCRIPTION 67 5.6.2 STATE-SPACE -+ I/O DESCRIPTION* 71 5.6.3 COORDINATE
TRANSFORMATIONS* 73 5.7 CONCLUDING REMARKS 74 LAPLACE TRANSFORMATION *
PART I 75 6.1 INTRODUCTION 75 6.2 PROPERTIES OF THE LAPLACE
TRANSFORMATION 76 6.3 TRANSFER FUNCTIONS 78 6.3.1 INTRODUCTION AND
DEFINITIONS 78 6.3.2 PROPERTIES OF TRANSFER FUNCTIONS 79 6.3.3 TRANSFER
FUNCTIONS AND SYSTEM REALIZATIONS 81 6.3.4 TRANSFER FUNCTIONS AS
CONFORMAL MAPPINGS* 84 6.3.5 OVERVIEW SYSTEM REPRESENTATIONS AND
TRANSFORMATIONS 86 LAPLACE TRANSFORMATION * PART II 87 7.1 INTRODUCTION
87 7.2 SOLUTION OF LOW-ORDER ODE 87 7.2.1 EXAMPLE OF A INVERSE LAPLACE
TRANSFORMATION 89 7.3 POLES AND ZEROS OF TRANSFER FUNCTIONS 89 7.3.1
POLES AND BIBO STABILITY 89 7.3.2 DEFINITION AND INTERPRETATION OF
SYSTEM ZEROS 91 7.3.3 INFLUENCE OF POLES AND ZEROS ON SYSTEM DYNAMICS 93
7.4 ALGEBRAIC STABILITY CRITERIA* 100 7.4.1 INTRODUCTION 100 7.4.2 THE
HURWITZ CRITERION 101 7.4.3 THE KHARITONOV THEOREM 104 FREQUENCY
RESPONSES 107 8.1 INTRODUCTION 107 8.2 FREQUENCY RESPONSES 107 8.2.1
DEFINITION OF FREQUENCY RESPONSES 107 8.2.2 REPRESENTATION OF FREQUENCY
RESPONSES 110 8.2.3 BODE S AMPLITUDE/PHASE LAW* 113 8.3 ASYMPTOTIC
SYSTEM PROPERTIES 115 8.4 SYSTEM IDENTIFICATION USING FREQUENCY
RESPONSES 116 8.4.1 GENERAL REMARKS 116 8.4.2 EXAMPLE SYSTEM
IDENTIFICATION 117 8.5 NONPARAMETRIC UNCERTAINTY 120 8.5.1 INTRODUCTION
120 8.5.2 UNCERTAINTY REPRESENTATIONS 120 8.5.3 UNCERTAINTY ESTIMATION
122 X CONTENTS 9 ANALYSIS OF FEEDBACK SYSTEMS 131 9.1 INTRODUCTION 131
9.2 DEFINITIONS 131 9.3 CLOSED-LOOP SYSTEM STABILITY 133 9.4 NYQUIST
THEOREM 135 9.4.1 NOMINAL CLOSED-LOOP SYSTEM STABILITY 135 9.4.2 ROBUST
CLOSED-LOOP SYSTEM STABILITY 138 9.5 CONSTRAINTS ON CLOSED-LOOP SYSTEMS
138 9.5.1 SPECTRAL PROPERTIES OF NOISE AND DISTURBANCE 138 9.5.2
SENSITIVITY CONSTRAINTS 140 9.5.3 LIMITATIONS ON CROSSOVER FREQUENCIES
142 9.5.4 EXAMPLE PENDULUM ON A CART* 151 9.6 SUMMARY 153 10
SPECIFICATIONS FOR FEEDBACK SYSTEMS 155 10.1 INTRODUCTION 155 10.2
STATIC ERRORS 155 10.3 SPECIFICATIONS BASED ON SECOND-ORDER SYSTEMS 156
10.4 FREQUENCY-DOMAIN SPECIFICATIONS 159 10.4.1 INTRODUCTION 159 10.4.2
PEAKING LIMITATIONS 161 10.4.3 MULTIPLICATIVE SPECIFICATIONS OF THE
SENSITIVITY* 161 10.5 SUMMARY 168 11 FEEDBACK CONTROL DESIGN * 1 169
11.1 INTRODUCTION 169 11.2 PID CONTROLLERS 170 11.2.1 INTRODUCTION 170
11.2.2 PID TUNING RULES 172 11.2.3 LOOP SHAPING BY PARAMETER TUNING 176
11.3 CLASSICAL ITERATIVE LOOP SHAPING 179 11.3.1 FIRST-ORDER LEAD/LAG
ELEMENTS 180 11.3.2 SECOND-ORDER LEAD/LAG ELEMENTS 181 11.4 CLOSED-FORM
CROSS-OVER SPECIFICATION* 184 11.5 ASTROEM AND HAEGGLUND RULES* 187 11.6
PREDICTIVE PI CONTROL SYSTEMS* 189 11.6.1 PREDICTIVE PI CONTROL OF
SIMPLE PLANTS 190 11.6.2 SMITH PREDICTORS 191 11.6.3 NUMERICAL
OPTIMIZATION 193 12 FEEDBACK CONTROL DESIGN * II 199 12.1 INTRODUCTION
199 12.2 LOOP SHAPING AND ROBUSTNESS 199 12.2.1 INTRODUCTION 199 12.2.2
PLANT INVERSION METHODS 200 CONTENTS XI 12.3 LOOP SHAPING AND
NON-MINIMUM PHASE ZEROS 204 12.3.1 INTRODUCTION 204 12.3.2 EXAMPLE LOOP
SHAPING FOR NMP PLANTS 204 12.4 LOOP SHAPING FOR UNSTABLE SYSTEMS 207
12.4.1 INTRODUCTION 207 12.4.2 EXAMPLE CONTROL OF INVERTED PENDULUM I
207 13 FEEDBACK CONTROL DESIGN * III 211 13.1 INTRODUCTION 211 13.2
CASCADED CONTROL LOOPS 211 13.2.1 GENERAL REMARKS 211 13.2.2 AN EXAMPLE
213 13.3 ROOT-LOCUS METHODS 216 13.3.1 INTRODUCTION 216 13.3.2 GENERAL
RULES OF ROOT LOCUS DESIGNS 217 13.3.3 COMPENSATION IN ROOT LOCUS
DESIGNS 218 14 CONTROL SYSTEMS IMPLEMENTATION* 225 14.1 INTRODUCTION 225
14.2 PID CONTROLLERS IN PRACTICAL APPLICATIONS 226 14.2.1 ENHANCED PID
STRUCTURES 226 14.2.2 DEALING WITH ACTUATOR SATURATION 227 14.2.3
BUMPLESS TRANSFER AND GAIN SCHEDULING 229 14.3 REALIZATION WITH ANALOG
COMPONENTS 231 14.4 REALIZATION WITH DIGITAL COMPUTERS 233 15 CASE
STUDY* 237 15.1 INTRODUCTION 237 15.2 MODELING 237 15.2.1 GENERAL
REMARKS 237 15.2.2 MODEL DEVELOPMENT 238 15.2.3 LINEARIZATION AND
CONTROLLER DEVELOPMENT 240 15.2.4 ESTIMATION OF THE MODEL UNCERTAINTIES
241 15.3 SPECIFICATIONS 242 15.4 CONTROLLER DESIGN 245 A LIBRARY OF
STANDARD ELEMENTS 251 A.L INTEGRATOR ELEMENT 252 A.2 DIFFERENTIATOR
ELEMENT 253 A.3 FIRST-ORDER ELEMENT 254 A.4 REALIZABLE DERIVATIVE
ELEMENT ( DIRTY D ) 255 A.5 SECOND-ORDER ELEMENT 256 A.6 LAG ELEMENT 257
A.7 LEAD ELEMENT 258 A.8 PID ELEMENT 259 XII CONTENTS A.9 FIRST-ORDER
ALL-PASS ELEMENT 260 A.10 DELAY ELEMENT 261 B SOME MATHEMATICAL RESULTS
263 B.L LINEAR ALGEBRA 263 B.L.L NOTATION 263 B.1.2 GEOMETRY 264 B.L.3
DETERMINANTS AND TRACES 267 B.L.4 LINEAR EQUATIONS 269 B.L.5
CHARACTERISTIC POLYNOMIALS 270 B.1.6 EIGENPROBLEMS 272 B.L.7 STRUCTURED
MATRICES 274 B.2 COMPLEX ANALYSIS 276 B.2.1 SIGNAL POWER SPECTRA 277
B.2.2 SOME THEOREMS 278 B.3 PROOF OF THE NYQUIST THEOREM 279 B.4 PROOF
OF THE CROSS-OVER FREQUENCY SPECIFICATION METHOD 281 B.5 PROOF OF THE
APOLLONIUS CIRCLE CONDITION 284 C SOLUTIONS TO QUICK CHECKS 285 C.L
DEFINITIONS AND PROBLEM FORMULATIONS 285 C.L.L INTRODUCTION 285 C.1.2
DEFINITIONS 285 C.L.3 SYSTEM CLASSIFICATION 287 C.1.4 MODELS 287 C.1.5
CONTROL SYSTEMS 288 C.L.6 CONTROL SYSTEM DESIGN PROBLEMS 289 C.2
MODELING OF DYNAMIC SYSTEMS 290 C.2.1 INTRODUCTION 290 C.2.2 GENERAL
MODELING GUIDELINES 290 C.2.3 SOME EXAMPLES 290 C.3 SYSTEM
REPRESENTATION AND TRANSFORMATION 291 C.3.1 INTRODUCTION 291 C.3.2
NORMALIZATION 291 C.3.3 LINEARIZATION 292 C.3.4 LINEAR STATE SPACE FORMS
293 C.4 ANALYSIS OF LINEAR SYSTEMS * PART I 293 C.4.1 INTRODUCTION 293
C.4.2 TIME-DOMAIN BEHAVIOR OF LINEAR SYSTEMS 293 C.4.3 FIRST-ORDER
SYSTEMS 295 C.4.4 STABILITY 297 C.5 ANALYSIS OF LINEAR SYSTEMS * PART II
299 C.5.1 INTRODUCTION 299 C.5.2 REACHABILITY, CONTROLLABILITY AND
STABILIZABILITY 299 C.5.3 OBSERVABILITY CONDITIONS 301 CONTENTS XIII
C.5.4 STATE SPACE DECOMPOSITION 302 C.5.5 SPECTRAL DECOMPOSITIONS 302
C.5.6 I/O DESCRIPTIONS AND CANONICAL REALIZATIONS 303 C.6 LAPLACE
TRANSFORMATION * PART 1 306 C.6.1 INTRODUCTION 306 C.6.2 PROPERTIES OF
THE LAPLACE TRANSFORMATION 306 C.6.3 TRANSFER FUNCTIONS 307 C.7 LAPLACE
TRANSFORMATION * PART II 310 C.7.1 INTRODUCTION 310 C.7.2 SOLUTION OF
LOW-ORDER ODE 310 C.7.3 POLES AND ZEROS OF TRANSFER FUNCTIONS 311 C.7.4
ALGEBRAIC STABILITY CRITERIA 313 C.8 FREQUENCY RESPONSES 315 C.8.1
INTRODUCTION 315 C.8.2 FREQUENCY RESPONSES 315 C.8.3 ASYMPTOTIC SYSTEM
PROPERTIES 318 C.8.4 SYSTEM IDENTIFICATION USING FREQUENCY RESPONSES 319
C.8.5 NONPARAMETRIC UNCERTAINTY 321 C.9 ANALYSIS OF FEEDBACK SYSTEMS 322
C.9.1 INTRODUCTION 322 C.9.2 DEFINITIONS 322 C.9.3 CLOSED-LOOP SYSTEM
STABILITY 323 C.9.4 NYQUIST THEOREM 323 C.9.5 CONSTRAINTS ON CLOSED-LOOP
SYSTEMS 327 C.10 SPECIFICATIONS FOR FEEDBACK SYSTEMS 329 C.10.1
INTRODUCTION 329 C.10.2 SPECS BASED ON SECOND-ORDER SYSTEM
APPROXIMATIONS . 330 C.10.3 FREQUENCY DOMAIN SPECIFICATIONS 330 C.LL
FEEDBACK CONTROL DESIGN * I 333 C.LL.L INTRODUCTION 333 C.11.2 PID
CONTROLLERS 333 C.LL.3 CLASSICAL ITERATIVE LOOP SHAPING 336 C.LL.4
CLOSED-FORM CROSS OVER SPECIFICATION 336 C.LL.5 PREDICTIVE PI CONTROL
SYSTEMS 336 C.12 FEEDBACK CONTROL DESIGN * II 337 C.12.1 INTRODUCTION
337 C.12.2 LOOP SHAPING AND ROBUSTNESS 337 C.12.3 LOOP SHAPING AND
NON-MINIMUM PHASE ZEROS 338 C.12.4 LOOP SHAPING FOR UNSTABLE SYSTEMS 338
C.13 FEEDBACK CONTROL DESIGN * III 340 C.13.1 INTRODUCTION 340 C.13.2
ROOT-LOCUS METHODS 340 C.14 CONTROL SYSTEMS IMPLEMENTATION 341 C.14.1
INTRODUCTION 341 C.14.2 PID CONTROLLERS IN PRACTICAL APPLICATIONS 341
XTV CONTENTS C.14.3 REALIZATION WITH ANALOG COMPONENTS 342 C.14.4
REALIZATION WITH DIGITAL COMPUTERS 343 D TRANSLATION ENGLISH TO GERMAN
345 E LIST OF SYMBOLS 347 REFERENCES 351
|
| adam_txt |
LINO GUZZELLA ANALYSIS AND SYNTHESIS OF SINGLE-INPUT SINGLE-OUTPUT
CONTROL SYSTEMS L+KJA» \UJA )W 2 (JA»\ UM CONTENTS 1 DEFINITIONS AND
PROBLEM FORMULATIONS 1 1.1 INTRODUCTION 1 1.2 DEFINITIONS 1 1.2.1
SYSTEMS AND SIGNALS 1 1.2.2 SISO/MIMO SYSTEMS 3 1.2.3 LINEAR/NONLINEAR
SYSTEMS 4 1.3 SYSTEM CLASSIFICATION 5 1.4 MODELS 6 1.5 CONTROL SYSTEMS 8
1.6 CONTROL SYSTEM DESIGN PROBLEMS 11 1.6.1 GENERAL REMARKS 11 1.6.2
SYSTEMS ANALYSIS 11 1.6.3 REFERENCE TRACKING 12 1.6.4 DISTURBANCE
REJECTION 12 1.6.5 TRADEOFF ROBUSTNESS VERSUS PERFORMANCE 12 1.6.6
STABILIZATION 13 1.6.7 NOISE ATTENUATION 13 2 MODELING OF DYNAMIC
SYSTEMS 15 2.1 INTRODUCTION 15 2.2 GENERAL MODELING GUIDELINES 16 2.3
SOME EXAMPLES 17 2.3.1 EXAMPLE WATER TANK 17 2.3.2 EXAMPLE STIRRED
REACTOR 18 2.3.3 EXAMPLE CRUISE CONTROL 20 2.3.4 EXAMPLE LOUDSPEAKER 22
2.3.5 EXAMPLE CONVEYOR BELT 23 2.4 MODEL UNCERTAINTY 24 VIII CONTENTS 3
SYSTEM REPRESENTATION AND TRANSFORMATION 27 3.1 INTRODUCTION 27 3.1.1
LOUDSPEAKER, FIRST-ORDER EQUATIONS 28 3.1.2 OBJECTIVES 28 3.2
NORMALIZATION 29 3.2.1 EXAMPLE WATER TANK, NORMALIZATION 30 3.2.2
EXAMPLE CRUISE CONTROL, NORMALIZATION 30 3.3 LINEARIZATION 31 3.3.1
EXAMPLE WATER TANK, LINEARIZATION 33 3.3.2 EXAMPLE CRUISE CONTROL,
LINEARIZATION 34 3.4 PARAMETRIC UNCERTAINTY 35 3.4.1 GENERAL REMARKS 35
3.4.2 EXAMPLE CRUISE CONTROL, PARAMETRIC UNCERTAINTY 35 3.5 LINEAR STATE
SPACE FORMS 37 3.5.1 EXAMPLE LOUDSPEAKER SYSTEM, STATE SPACE FORM 37
3.5.2 STATE SPACE AND SYSTEM COORDINATES 38 3.5.3 PLANT AND CONTROL
SYSTEM INTERFACE 39 4 ANALYSIS OF LINEAR SYSTEMS * PART I 41 4.1
INTRODUCTION 41 4.2 TIME DOMAIN BEHAVIOR OF LINEAR SYSTEMS 42 4.2.1
MATRIX EXPONENTIALS 42 4.2.2 GENERAL SOLUTION 43 4.3 FIRST-ORDER SYSTEMS
45 4.3.1 IMPULSE RESPONSE 46 4.3.2 STEP RESPONSE 47 4.3.3 RAMP RESPONSE
48 4.3.4 HARMONIE RESPONSE 49 4.4 STABILITY 50 4.4.1 DEFINITIONS 50
4.4.2 SPECTRAL METHODS 51 4.4.3 STABILITY OF THE INVERTED PENDULUM 53
4.4.4 NON-EXPONENTIAL ASYMPTOTIC STABILITY* 54 5 ANALYSIS OF LINEAR
SYSTEMS * PART II 55 5.1 INTRODUCTION 55 5.2 REACHABILITY,
CONTROLLABILITY AND STABILIZABILITY 56 5.2.1 INTRODUCTION 56 5.2.2
REACHABILITY CONDITIONS 56 5.2.3 AN EXPLICIT FEEDFORWARD CONTROL SIGNAL*
58 5.2.4 EXAMPLE CONTROLLABILITY OF A GEOSTATIONARY SATELLITE . 59
5.2.5 NONLINEAR SYSTEMS* 60 5.3 OBSERVABILITY CONDITIONS 62 5.3.1
OBSERVABILITY OF THE INVERTED PENDULUM 63 5.4 STATE SPACE DECOMPOSITION
64 CONTENTS IX 5.5 SPECTRAL DECOMPOSITIONS* 65 5.6 I/O DESCRIPTIONS AND
CANONICAL REALIZATIONS 67 5.6.1 I/O DESCRIPTION ** STATE-SPACE
DESCRIPTION 67 5.6.2 STATE-SPACE -+ I/O DESCRIPTION* 71 5.6.3 COORDINATE
TRANSFORMATIONS* 73 5.7 CONCLUDING REMARKS 74 LAPLACE TRANSFORMATION *
PART I 75 6.1 INTRODUCTION 75 6.2 PROPERTIES OF THE LAPLACE
TRANSFORMATION 76 6.3 TRANSFER FUNCTIONS 78 6.3.1 INTRODUCTION AND
DEFINITIONS 78 6.3.2 PROPERTIES OF TRANSFER FUNCTIONS 79 6.3.3 TRANSFER
FUNCTIONS AND SYSTEM REALIZATIONS 81 6.3.4 TRANSFER FUNCTIONS AS
CONFORMAL MAPPINGS* 84 6.3.5 OVERVIEW SYSTEM REPRESENTATIONS AND
TRANSFORMATIONS 86 LAPLACE TRANSFORMATION * PART II 87 7.1 INTRODUCTION
87 7.2 SOLUTION OF LOW-ORDER ODE 87 7.2.1 EXAMPLE OF A INVERSE LAPLACE
TRANSFORMATION 89 7.3 POLES AND ZEROS OF TRANSFER FUNCTIONS 89 7.3.1
POLES AND BIBO STABILITY 89 7.3.2 DEFINITION AND INTERPRETATION OF
SYSTEM ZEROS 91 7.3.3 INFLUENCE OF POLES AND ZEROS ON SYSTEM DYNAMICS 93
7.4 ALGEBRAIC STABILITY CRITERIA* 100 7.4.1 INTRODUCTION 100 7.4.2 THE
HURWITZ CRITERION 101 7.4.3 THE KHARITONOV THEOREM 104 FREQUENCY
RESPONSES 107 8.1 INTRODUCTION 107 8.2 FREQUENCY RESPONSES 107 8.2.1
DEFINITION OF FREQUENCY RESPONSES 107 8.2.2 REPRESENTATION OF FREQUENCY
RESPONSES 110 8.2.3 BODE'S AMPLITUDE/PHASE LAW* 113 8.3 ASYMPTOTIC
SYSTEM PROPERTIES 115 8.4 SYSTEM IDENTIFICATION USING FREQUENCY
RESPONSES 116 8.4.1 GENERAL REMARKS 116 8.4.2 EXAMPLE SYSTEM
IDENTIFICATION 117 8.5 NONPARAMETRIC UNCERTAINTY 120 8.5.1 INTRODUCTION
120 8.5.2 UNCERTAINTY REPRESENTATIONS 120 8.5.3 UNCERTAINTY ESTIMATION
122 X CONTENTS 9 ANALYSIS OF FEEDBACK SYSTEMS 131 9.1 INTRODUCTION 131
9.2 DEFINITIONS 131 9.3 CLOSED-LOOP SYSTEM STABILITY 133 9.4 NYQUIST
THEOREM 135 9.4.1 NOMINAL CLOSED-LOOP SYSTEM STABILITY 135 9.4.2 ROBUST
CLOSED-LOOP SYSTEM STABILITY 138 9.5 CONSTRAINTS ON CLOSED-LOOP SYSTEMS
138 9.5.1 SPECTRAL PROPERTIES OF NOISE AND DISTURBANCE 138 9.5.2
SENSITIVITY CONSTRAINTS 140 9.5.3 LIMITATIONS ON CROSSOVER FREQUENCIES
142 9.5.4 EXAMPLE PENDULUM ON A CART* 151 9.6 SUMMARY 153 10
SPECIFICATIONS FOR FEEDBACK SYSTEMS 155 10.1 INTRODUCTION 155 10.2
STATIC ERRORS 155 10.3 SPECIFICATIONS BASED ON SECOND-ORDER SYSTEMS 156
10.4 FREQUENCY-DOMAIN SPECIFICATIONS 159 10.4.1 INTRODUCTION 159 10.4.2
PEAKING LIMITATIONS 161 10.4.3 MULTIPLICATIVE SPECIFICATIONS OF THE
SENSITIVITY* 161 10.5 SUMMARY 168 11 FEEDBACK CONTROL DESIGN * 1 169
11.1 INTRODUCTION 169 11.2 PID CONTROLLERS 170 11.2.1 INTRODUCTION 170
11.2.2 PID TUNING RULES 172 11.2.3 LOOP SHAPING BY PARAMETER TUNING 176
11.3 CLASSICAL ITERATIVE LOOP SHAPING 179 11.3.1 FIRST-ORDER LEAD/LAG
ELEMENTS 180 11.3.2 SECOND-ORDER LEAD/LAG ELEMENTS 181 11.4 CLOSED-FORM
CROSS-OVER SPECIFICATION* 184 11.5 ASTROEM AND HAEGGLUND RULES* 187 11.6
PREDICTIVE PI CONTROL SYSTEMS* 189 11.6.1 PREDICTIVE PI CONTROL OF
SIMPLE PLANTS 190 11.6.2 SMITH PREDICTORS 191 11.6.3 NUMERICAL
OPTIMIZATION 193 12 FEEDBACK CONTROL DESIGN * II 199 12.1 INTRODUCTION
199 12.2 LOOP SHAPING AND ROBUSTNESS 199 12.2.1 INTRODUCTION 199 12.2.2
PLANT INVERSION METHODS 200 CONTENTS XI 12.3 LOOP SHAPING AND
NON-MINIMUM PHASE ZEROS 204 12.3.1 INTRODUCTION 204 12.3.2 EXAMPLE LOOP
SHAPING FOR NMP PLANTS 204 12.4 LOOP SHAPING FOR UNSTABLE SYSTEMS 207
12.4.1 INTRODUCTION 207 12.4.2 EXAMPLE CONTROL OF INVERTED PENDULUM I
207 13 FEEDBACK CONTROL DESIGN * III 211 13.1 INTRODUCTION 211 13.2
CASCADED CONTROL LOOPS 211 13.2.1 GENERAL REMARKS 211 13.2.2 AN EXAMPLE
213 13.3 ROOT-LOCUS METHODS 216 13.3.1 INTRODUCTION 216 13.3.2 GENERAL
RULES OF ROOT LOCUS DESIGNS 217 13.3.3 COMPENSATION IN ROOT LOCUS
DESIGNS 218 14 CONTROL SYSTEMS IMPLEMENTATION* 225 14.1 INTRODUCTION 225
14.2 PID CONTROLLERS IN PRACTICAL APPLICATIONS 226 14.2.1 ENHANCED PID
STRUCTURES 226 14.2.2 DEALING WITH ACTUATOR SATURATION 227 14.2.3
BUMPLESS TRANSFER AND GAIN SCHEDULING 229 14.3 REALIZATION WITH ANALOG
COMPONENTS 231 14.4 REALIZATION WITH DIGITAL COMPUTERS 233 15 CASE
STUDY* 237 15.1 INTRODUCTION 237 15.2 MODELING 237 15.2.1 GENERAL
REMARKS 237 15.2.2 MODEL DEVELOPMENT 238 15.2.3 LINEARIZATION AND
CONTROLLER DEVELOPMENT 240 15.2.4 ESTIMATION OF THE MODEL UNCERTAINTIES
241 15.3 SPECIFICATIONS 242 15.4 CONTROLLER DESIGN 245 A LIBRARY OF
STANDARD ELEMENTS 251 A.L INTEGRATOR ELEMENT 252 A.2 DIFFERENTIATOR
ELEMENT 253 A.3 FIRST-ORDER ELEMENT 254 A.4 REALIZABLE DERIVATIVE
ELEMENT ("DIRTY D") 255 A.5 SECOND-ORDER ELEMENT 256 A.6 LAG ELEMENT 257
A.7 LEAD ELEMENT 258 A.8 PID ELEMENT 259 XII CONTENTS A.9 FIRST-ORDER
ALL-PASS ELEMENT 260 A.10 DELAY ELEMENT 261 B SOME MATHEMATICAL RESULTS
263 B.L LINEAR ALGEBRA 263 B.L.L NOTATION 263 B.1.2 GEOMETRY 264 B.L.3
DETERMINANTS AND TRACES 267 B.L.4 LINEAR EQUATIONS 269 B.L.5
CHARACTERISTIC POLYNOMIALS 270 B.1.6 EIGENPROBLEMS 272 B.L.7 STRUCTURED
MATRICES 274 B.2 COMPLEX ANALYSIS 276 B.2.1 SIGNAL POWER SPECTRA 277
B.2.2 SOME THEOREMS 278 B.3 PROOF OF THE NYQUIST THEOREM 279 B.4 PROOF
OF THE CROSS-OVER FREQUENCY SPECIFICATION METHOD 281 B.5 PROOF OF THE
APOLLONIUS CIRCLE CONDITION 284 C SOLUTIONS TO QUICK CHECKS 285 C.L
DEFINITIONS AND PROBLEM FORMULATIONS 285 C.L.L INTRODUCTION 285 C.1.2
DEFINITIONS 285 C.L.3 SYSTEM CLASSIFICATION 287 C.1.4 MODELS 287 C.1.5
CONTROL SYSTEMS 288 C.L.6 CONTROL SYSTEM DESIGN PROBLEMS 289 C.2
MODELING OF DYNAMIC SYSTEMS 290 C.2.1 INTRODUCTION 290 C.2.2 GENERAL
MODELING GUIDELINES 290 C.2.3 SOME EXAMPLES 290 C.3 SYSTEM
REPRESENTATION AND TRANSFORMATION 291 C.3.1 INTRODUCTION 291 C.3.2
NORMALIZATION 291 C.3.3 LINEARIZATION 292 C.3.4 LINEAR STATE SPACE FORMS
293 C.4 ANALYSIS OF LINEAR SYSTEMS * PART I 293 C.4.1 INTRODUCTION 293
C.4.2 TIME-DOMAIN BEHAVIOR OF LINEAR SYSTEMS 293 C.4.3 FIRST-ORDER
SYSTEMS 295 C.4.4 STABILITY 297 C.5 ANALYSIS OF LINEAR SYSTEMS * PART II
299 C.5.1 INTRODUCTION 299 C.5.2 REACHABILITY, CONTROLLABILITY AND
STABILIZABILITY 299 C.5.3 OBSERVABILITY CONDITIONS 301 CONTENTS XIII
C.5.4 STATE SPACE DECOMPOSITION 302 C.5.5 SPECTRAL DECOMPOSITIONS 302
C.5.6 I/O DESCRIPTIONS AND CANONICAL REALIZATIONS 303 C.6 LAPLACE
TRANSFORMATION * PART 1 306 C.6.1 INTRODUCTION 306 C.6.2 PROPERTIES OF
THE LAPLACE TRANSFORMATION 306 C.6.3 TRANSFER FUNCTIONS 307 C.7 LAPLACE
TRANSFORMATION * PART II 310 C.7.1 INTRODUCTION 310 C.7.2 SOLUTION OF
LOW-ORDER ODE 310 C.7.3 POLES AND ZEROS OF TRANSFER FUNCTIONS 311 C.7.4
ALGEBRAIC STABILITY CRITERIA 313 C.8 FREQUENCY RESPONSES 315 C.8.1
INTRODUCTION 315 C.8.2 FREQUENCY RESPONSES 315 C.8.3 ASYMPTOTIC SYSTEM
PROPERTIES 318 C.8.4 SYSTEM IDENTIFICATION USING FREQUENCY RESPONSES 319
C.8.5 NONPARAMETRIC UNCERTAINTY 321 C.9 ANALYSIS OF FEEDBACK SYSTEMS 322
C.9.1 INTRODUCTION 322 C.9.2 DEFINITIONS 322 C.9.3 CLOSED-LOOP SYSTEM
STABILITY 323 C.9.4 NYQUIST THEOREM 323 C.9.5 CONSTRAINTS ON CLOSED-LOOP
SYSTEMS 327 C.10 SPECIFICATIONS FOR FEEDBACK SYSTEMS 329 C.10.1
INTRODUCTION 329 C.10.2 SPECS BASED ON SECOND-ORDER SYSTEM
APPROXIMATIONS . 330 C.10.3 FREQUENCY DOMAIN SPECIFICATIONS 330 C.LL
FEEDBACK CONTROL DESIGN * I 333 C.LL.L INTRODUCTION 333 C.11.2 PID
CONTROLLERS 333 C.LL.3 CLASSICAL ITERATIVE LOOP SHAPING 336 C.LL.4
CLOSED-FORM CROSS OVER SPECIFICATION 336 C.LL.5 PREDICTIVE PI CONTROL
SYSTEMS 336 C.12 FEEDBACK CONTROL DESIGN * II 337 C.12.1 INTRODUCTION
337 C.12.2 LOOP SHAPING AND ROBUSTNESS 337 C.12.3 LOOP SHAPING AND
NON-MINIMUM PHASE ZEROS 338 C.12.4 LOOP SHAPING FOR UNSTABLE SYSTEMS 338
C.13 FEEDBACK CONTROL DESIGN * III 340 C.13.1 INTRODUCTION 340 C.13.2
ROOT-LOCUS METHODS 340 C.14 CONTROL SYSTEMS IMPLEMENTATION 341 C.14.1
INTRODUCTION 341 C.14.2 PID CONTROLLERS IN PRACTICAL APPLICATIONS 341
XTV CONTENTS C.14.3 REALIZATION WITH ANALOG COMPONENTS 342 C.14.4
REALIZATION WITH DIGITAL COMPUTERS 343 D TRANSLATION ENGLISH TO GERMAN
345 E LIST OF SYMBOLS 347 REFERENCES 351 |
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| discipline | Maschinenbau / Maschinenwesen Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Maschinenbau / Maschinenwesen Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
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| genre_facet | Lehrbuch |
| id | DE-604.BV023047200 |
| illustrated | Illustrated |
| index_date | 2024-07-02T19:23:06Z |
| indexdate | 2024-07-09T21:09:45Z |
| institution | BVB |
| isbn | 9783728131461 3728131466 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-016250640 |
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| physical | XIV, 352 S. Ill., graph. Darst. |
| publishDate | 2007 |
| publishDateSearch | 2007 |
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| publisher | vdf, Hochsch.-Verl. an der ETH |
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| series2 | vdf Vorlesungsskript, Ingenieurwesen |
| spelling | Guzzella, Lino Verfasser aut Analysis and synthesis of single-input single-output control systems Lino Guzzella Zürich/Singen vdf, Hochsch.-Verl. an der ETH 2007 XIV, 352 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier vdf Vorlesungsskript, Ingenieurwesen Frequenzanalyse (DE-588)4155397-4 gnd rswk-swf Laplace-Transformation (DE-588)4034577-4 gnd rswk-swf Regelungssystem (DE-588)4134712-2 gnd rswk-swf Rückkopplung (DE-588)4050851-1 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Systemsynthese (DE-588)4198909-0 gnd rswk-swf (DE-588)4123623-3 Lehrbuch gnd-content Regelungssystem (DE-588)4134712-2 s Laplace-Transformation (DE-588)4034577-4 s Frequenzanalyse (DE-588)4155397-4 s DE-604 Reglerentwurf (DE-588)4177447-4 s Rückkopplung (DE-588)4050851-1 s Systemsynthese (DE-588)4198909-0 s GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016250640&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Guzzella, Lino Analysis and synthesis of single-input single-output control systems Frequenzanalyse (DE-588)4155397-4 gnd Laplace-Transformation (DE-588)4034577-4 gnd Regelungssystem (DE-588)4134712-2 gnd Rückkopplung (DE-588)4050851-1 gnd Reglerentwurf (DE-588)4177447-4 gnd Systemsynthese (DE-588)4198909-0 gnd |
| subject_GND | (DE-588)4155397-4 (DE-588)4034577-4 (DE-588)4134712-2 (DE-588)4050851-1 (DE-588)4177447-4 (DE-588)4198909-0 (DE-588)4123623-3 |
| title | Analysis and synthesis of single-input single-output control systems |
| title_auth | Analysis and synthesis of single-input single-output control systems |
| title_exact_search | Analysis and synthesis of single-input single-output control systems |
| title_exact_search_txtP | Analysis and synthesis of single-input single-output control systems |
| title_full | Analysis and synthesis of single-input single-output control systems Lino Guzzella |
| title_fullStr | Analysis and synthesis of single-input single-output control systems Lino Guzzella |
| title_full_unstemmed | Analysis and synthesis of single-input single-output control systems Lino Guzzella |
| title_short | Analysis and synthesis of single-input single-output control systems |
| title_sort | analysis and synthesis of single input single output control systems |
| topic | Frequenzanalyse (DE-588)4155397-4 gnd Laplace-Transformation (DE-588)4034577-4 gnd Regelungssystem (DE-588)4134712-2 gnd Rückkopplung (DE-588)4050851-1 gnd Reglerentwurf (DE-588)4177447-4 gnd Systemsynthese (DE-588)4198909-0 gnd |
| topic_facet | Frequenzanalyse Laplace-Transformation Regelungssystem Rückkopplung Reglerentwurf Systemsynthese Lehrbuch |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016250640&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT guzzellalino analysisandsynthesisofsingleinputsingleoutputcontrolsystems |