Control of nonlinear dynamical systems: methods and applications
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Berlin [u.a.]
Springer
2008
|
| Schriftenreihe: | Communications and Control Engineering
Springer complexity |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XI, 396 S. graph. Darst. 235 mm x 155 mm |
| ISBN: | 9783540707820 ebook 9783540707844 |
Internformat
MARC
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| 020 | |a 9783540707820 |c Gb. : EUR 96.25 (freier Pr.), sfr 149.50 (freier Pr.) |9 978-3-540-70782-0 | ||
| 020 | |a ebook |a 9783540707844 |9 978-3-540-70784-4 | ||
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| 100 | 1 | |a Černusʹko, Feliks L. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Control of nonlinear dynamical systems |b methods and applications |c Felix L. Chernousko ; Igor M. Ananievski ; Sergey A. Reshmin |
| 264 | 1 | |a Berlin [u.a.] |b Springer |c 2008 | |
| 300 | |a XI, 396 S. |b graph. Darst. |c 235 mm x 155 mm | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Communications and Control Engineering | |
| 490 | 0 | |a Springer complexity | |
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| 650 | 0 | 7 | |a Komplexes System |0 (DE-588)4114261-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Nichtlineare Regelung |0 (DE-588)4132964-8 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Nichtlineare Regelung |0 (DE-588)4132964-8 |D s |
| 689 | 0 | 1 | |a Nichtlineares dynamisches System |0 (DE-588)4126142-2 |D s |
| 689 | 0 | 2 | |a Komplexes System |0 (DE-588)4114261-5 |D s |
| 689 | 0 | |5 DE-604 | |
| 700 | 1 | |a Ananievskij, Igorʹ M. |e Verfasser |4 aut | |
| 700 | 1 | |a Rešmin, Sergej A. |e Verfasser |4 aut | |
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| 999 | |a oai:aleph.bib-bvb.de:BVB01-016789783 | ||
Datensatz im Suchindex
| _version_ | 1804138100375420928 |
|---|---|
| adam_text | CONTENTS
INTRODUCTION 1
1 OPTIMAL CONTROL
11
1.1 STATEMENT OF THE OPTIMAL CONTROL PROBLEM 11
1.2 THE MAXIMUM PRINCIPLE 16
1.3 OPEN-LOOP AND FEEDBACK CONTROL 21
1.4 EXAMPLES 23
2 METHOD OF DECOMPOSITION (THE FIRST APPROACH)
31
2.1 PROBLEM STATEMENT AND GAME APPROACH 31
2.1.1 CONTROLLED MECHANICAL SYSTEM 31
2.1.2 SIMPLIFYING ASSUMPTIONS 32
2.1.3 DECOMPOSITION 35
2.1.4 GAME PROBLEM 36
2.2 CONTROL OF THE SUBSYSTEM AND FEEDBACK CONTROL DESIGN 37
2.2.1 OPTIMAL CONTROL FOR THE SUBSYSTEM 37
2.2.2 SIMPLIFIED CONTROL FOR THE SUBSYSTEM 42
2.2.3 COMPARATIVE ANALYSIS OF THE RESULTS 45
2.2.4 CONTROL FOR THE INITIAL SYSTEM 52
2.3 WEAK COUPLING BETWEEN DEGREES OF FREEDOM 54
2.3.1 MODIFIKATION OF THE DECOMPOSITION METHOD 54
2.3.2 ANALYSIS OF THE CONTROLLED MOTIONS 56
2.3.3 DETERMINATION OF THE PARAMETERS 59
2.3.4 CASE OF ZERO INITIAL VELOCITIES 61
2.4 NONLINEAR DAMPING 67
2.4.1 SUBSYSTEM WITH NONLINEAR DAMPING 67
2.4.2 CONTROL FOR THE NONLINEAR SUBSYSTEM 69
2.4.3 SIMPLIFIED CONTROL FOR THE SUBSYSTEM AND COMPARATIVE
ANALYSIS 74
2.5 APPLICATIONS AND NUMERICAL EXAMPLES 82
2.5.1 APPLICATION TO ROBOTICS 82
GESCANNT DURCH
BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/989262960
DIGITALISIERT DURCH
CONTENTS
2.5.2 FEEDBACK CONTROL DESIGN AND MODELLING OF MOTIONS FOR
TWO-LINK MANIPULATOR WITH DIRECT DRIVES 86
2.5.3 MODELLING OF MOTIONS OF THREE-LINK MANIPULATOR 92
METHOD OF DECOMPOSITION (THE SECOND APPROACH)
103
3.1 PROBLEM STATEMENT AND GAME APPROACH 103
3.1.1 CONTROLLED MECHANICAL SYSTEM 103
3.1.2 STATEMENT OF THE PROBLEM 105
3.1.3 CONTROL IN THE ABSENCE OF EXTERNAL FORCES 106
3.1.4 DECOMPOSITION 108
3.2 FEEDBACK CONTROL DESIGN AND ITS GENERALIZATIONS 112
3.2.1 FEEDBACK CONTROL DESIGN 112
3.2.2 CONTROL IN THE GENERAL CASE 114
3.2.3 EXTENSION TO THE CASE OF NONZERO TERMINAL VELOCITY 117
3.2.4 TRACKING CONTROL FOR MECHANICAL SYSTEM 124
3.3 APPLICATIONS TO ROBOTS 131
3.3.1 SYMBOLIC GENERATION OF EQUATIONS FOR MULTIBODY SYSTEMS ..
. 131
3.3.2 MODELLING OF CONTROL FOR A TWO-LINK MECHANISM (WITH THREE
DEGREES OF FREEDOM) 136
3.3.3 MODELLING OF TRACKING CONTROL FOR A TWO-LINK MECHANISM
(WITH TWO DEGREES OF FREEDOM) 144
STABILITY BASED CONTROL FOR LAGRANGIAN MECHANICAL SYSTEMS
147
4.
1
SCLERONOMIC AND RHEONOMIC MECHANICAL SYSTEMS 147
4.2 LYAPUNOV STABILITY OF EQUILIBRIUM 151
4.3 LYAPUNOV S DIRECT METHOD FOR AUTONOMOUS SYSTEMS 151
4.4 LYAPUNOV S DIRECT METHOD FOR NONAUTONOMOUS SYSTEMS 153
4.5 STABILIZATION OF MECHANICAL SYSTEMS 153
4.6 MODIFIKATION OF LYAPUNOV S DIRECT METHOD 155
PIECEWISE LINEAR CONTROL FOR MECHANICAL SYSTEMS UNDER UNCERTAINTY
..
. 157
5.1 PIECEWISE LINEAR CONTROL FOR SCLERONOMIC SYSTEMS 157
5.1.1 PROBLEM STATEMENT 157
5.1.2 DESCRIPTION OF THE CONTROL ALGORITHM 159
5.1.3 JUSTIFICATION OF THE ALGORITHM 161
5.1.4 ESTIMATION OF THE TIME OF MOTION 166
5.1.5 SUFFIEIENT CONDITION FOR STEERING THE SYSTEM TO THE
PRESCRIBED STATE 168
5.2 APPLICATIONS TO MECHANICAL SYSTEMS 170
5.2.1 CONTROL OF A TWO-LINK MANIPULATOR 170
5.2.2 CONTROL OF A TWO-MASS SYSTEM WITH UNKNOWN PARAMETERS ..
. 173
5.2.3 THE FIRST STAGE OF THE MOTION 178
5.2.4 THE SECOND STAGE OF THE MOTION 182
5.2.5 SYSTEM A LOAD ON A CART 186
5.2.6 SYSTEM A PENDULUM ON A CART 187
CONTENTS
5.2.7 COMPUTER SIMULATION RESULTS 197
5.3 PIECEWISE LINEAR CONTROL FOR RHEONOMIC SYSTEMS 199
5.3.1 PROBLEM STATEMENT 199
5.3.2 CONTROL ALGORITHM FOR RHEONOMIC SYSTEMS 200
5.3.3 JUSTIFICATION OF THE CONTROL 201
5.3.4 RESULTS OF SIMULATION 210
CONTINUOUS FEEDBACK CONTROL FOR MECHANICAL SYSTEMS UNDER
UNCERTAINTY
213
6.1 FEEDBACK CONTROL FOR SCLERONOMIC SYSTEM WITH A GIVEN MATRIX OF
INERTIA 213
6.1.1 PROBLEM STATEMENT 213
6.1.2 CONTROL FUNCTION 214
6.1.3 JUSTIFICATION OF THE CONTROL 217
6.1.4 SUFFIEIENT CONDITION FOR CONTROLLABILITY 222
6.1.5 COMPUTER SIMULATION RESULTS 223
6.2 CONTROL OF A SCLERONOMIC SYSTEM WITH AN UNKNOWN MATRIX OF INERTIA
229
6.2.1 PROBLEM STATEMENT 229
6.2.2 COMPUTER SIMULATION OF THE MOTION OF A TWO-LINK MANIPULATOR234
6.3 CONTROL OF RHEONOMIC SYSTEMS UNDER UNCERTAINTY 237
6.3.1 PROBLEM STATEMENT 237
6.3.2 COMPUTER SIMULATION RESULTS 241
CONTROL IN DISTRIBUTED-PARAMETER SYSTEMS
245
7.
1
SYSTEM OF LINEAR OSCILLATORS 245
7.1.1 EQUATIONS OF MOTION 245
7.1.2 DECOMPOSITION 246
7.1.3 TIME-OPTIMAL CONTROL PROBLEM 248
7.1.4 UPPER BOUND FOR THE OPTIMAL TIME 249
7.2 DISTRIBUTED-PARAMETER SYSTEMS 252
7.2.1 STATEMENT OF THE CONTROL PROBLEM FOR A DISTRIBUTED
PARAMETER SYSTEM 252
7.2.2 DECOMPOSITION 254
7.2.3 FIRST-ORDER EQUATION IN TIME 257
7.2.4 SECOND-ORDER EQUATION IN TIME 258
7.2.5 ANALYSIS OF THE CONSTRAINTS AND CONSTRUETION OF THE CONTROL .
. 259
7.3 SOLVABILITY CONDITIONS 263
7.3.1 THE ONE-DIMENSIONAL PROBLEMS 263
7.3.2 CONTROL OF BEAM OSCILLATIONS 266
7.3.3 THE TWO-DIMENSIONAL AND THREE-DIMENSIONAL PROBLEMS 267
7.3.4 SOLVABILITY CONDITIONS IN THE GENERAL CASE 270
X CONTENTS
8 CONTROL SYSTEM UNDER COMPLEX CONSTRAINTS
275
8.1 CONTROL DESIGN IN LINEAR SYSTEMS UNDER COMPLEX CONSTRAINTS 275
8.1.1 PROBLEM STATEMENT 275
8.1.2 KALMAN S APPROACH 277
8.2 APPLICATION TO OSCILLATING SYSTEMS 281
8.2.1 CONTROL FOR THE SYSTEM OF OSCILLATORS 281
8.2.2 PENDULUM WITH A SUSPENSION POINT CONTROLLED BY ACCELERATION286
8.2.3 PENDULUM WITH A SUSPENSION POINT CONTROLLED BY
ACCELERATION (CONTINUATION) 290
8.2.4 PENDULUM WITH A SUSPENSION POINT CONTROLLED BY VELOCITY ..
. 296
8.3 APPLICATION TO ELECTRO-MECHANICAL SYSTEMS 303
8.3.1 MODEL OF THE ELECTRO-MECHANICAL SYSTEM 303
8.3.2 ANALYSIS OF THE SIMPLIFIED MODEL 306
8.3.3 CONTROL OF THE ELECTRO-MECHANICAL SYSTEM OF THE FOURTH ORDER 310
8.3.4 ACTIVE DYNAMICAL DAMPER 317
9 OPTIMAL CONTROL PROBLEMS UNDER COMPLEX CONSTRAINTS
327
9.1 TIME-OPTIMAL CONTROL PROBLEM UNDER MIXED AND PHASE CONSTRAINTS .
. 328
9.1.1 PROBLEM STATEMENT 328
9.1.2 TIME-OPTIMAL CONTROL UNDER CONSTRAINTS IMPOSED ON THE
VELOCITY AND ACCELERATION 329
9.1.3 PROBLEM OF CONTROL OF AN ELECTRIC MOTOR 335
9.2 TIME-OPTIMAL CONTROL UNDER CONSTRAINTS IMPOSED ON THE RATE OF
CHANGE OF THE ACCELERATION 340
9.2.1 STATEMENT OF THE PROBLEM 340
9.2.2 OPEN-LOOP OPTIMAL CONTROL 342
9.2.3 FEEDBACK OPTIMAL CONTROL 345
9.3 TIME-OPTIMAL CONTROL UNDER CONSTRAINTS IMPOSED ON THE
ACCELERATION AND ITS RATE 354
9.3.1 PROBLEM STATEMENT 354
9.3.2 POSSIBLE MODES OF CONTROL 357
9.3.3 CONSTRUETION OF THE TRAJEETORIES 359
10 TIME-OPTIMAL SWING-UP AND DAMPING FEEDBACK CONTROLS OF A
NONLINEAR PENDULUM
367
10.
1
OPTIMAL CONTROL STRUETURE 368
10.1.1 STATEMENT OF THE PROBLEM 368
10.1.2 PHASE CYLINDER 369
10.1.3 MAXIMUM PRINCIPLE 370
10.1.4 NUMERICAL ALGORITHM 371
10.2 SWING-UP CONTROL 372
10.2.1 LITERATURE OVERVIEW 372
10.2.2 SPECIAL TRAJEETORIES 373
10.2.3 NUMERICAL RESULTS 375
10.3 DAMPING CONTROL 380
CONTENTS XI
10.3.1 LITERATURE OVERVIEW 380
10.3.2 SPECIAL TRAJEETORIES 382
10.3.3 NUMERICAL RESULTS 383
REFERENCES 389
INDE
X 395
|
| adam_txt |
CONTENTS
INTRODUCTION 1
1 OPTIMAL CONTROL
11
1.1 STATEMENT OF THE OPTIMAL CONTROL PROBLEM 11
1.2 THE MAXIMUM PRINCIPLE 16
1.3 OPEN-LOOP AND FEEDBACK CONTROL 21
1.4 EXAMPLES 23
2 METHOD OF DECOMPOSITION (THE FIRST APPROACH)
31
2.1 PROBLEM STATEMENT AND GAME APPROACH 31
2.1.1 CONTROLLED MECHANICAL SYSTEM 31
2.1.2 SIMPLIFYING ASSUMPTIONS 32
2.1.3 DECOMPOSITION 35
2.1.4 GAME PROBLEM 36
2.2 CONTROL OF THE SUBSYSTEM AND FEEDBACK CONTROL DESIGN 37
2.2.1 OPTIMAL CONTROL FOR THE SUBSYSTEM 37
2.2.2 SIMPLIFIED CONTROL FOR THE SUBSYSTEM 42
2.2.3 COMPARATIVE ANALYSIS OF THE RESULTS 45
2.2.4 CONTROL FOR THE INITIAL SYSTEM 52
2.3 WEAK COUPLING BETWEEN DEGREES OF FREEDOM 54
2.3.1 MODIFIKATION OF THE DECOMPOSITION METHOD 54
2.3.2 ANALYSIS OF THE CONTROLLED MOTIONS 56
2.3.3 DETERMINATION OF THE PARAMETERS 59
2.3.4 CASE OF ZERO INITIAL VELOCITIES 61
2.4 NONLINEAR DAMPING 67
2.4.1 SUBSYSTEM WITH NONLINEAR DAMPING 67
2.4.2 CONTROL FOR THE NONLINEAR SUBSYSTEM 69
2.4.3 SIMPLIFIED CONTROL FOR THE SUBSYSTEM AND COMPARATIVE
ANALYSIS 74
2.5 APPLICATIONS AND NUMERICAL EXAMPLES 82
2.5.1 APPLICATION TO ROBOTICS 82
GESCANNT DURCH
BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/989262960
DIGITALISIERT DURCH
CONTENTS
2.5.2 FEEDBACK CONTROL DESIGN AND MODELLING OF MOTIONS FOR
TWO-LINK MANIPULATOR WITH DIRECT DRIVES 86
2.5.3 MODELLING OF MOTIONS OF THREE-LINK MANIPULATOR 92
METHOD OF DECOMPOSITION (THE SECOND APPROACH)
103
3.1 PROBLEM STATEMENT AND GAME APPROACH 103
3.1.1 CONTROLLED MECHANICAL SYSTEM 103
3.1.2 STATEMENT OF THE PROBLEM 105
3.1.3 CONTROL IN THE ABSENCE OF EXTERNAL FORCES 106
3.1.4 DECOMPOSITION 108
3.2 FEEDBACK CONTROL DESIGN AND ITS GENERALIZATIONS 112
3.2.1 FEEDBACK CONTROL DESIGN 112
3.2.2 CONTROL IN THE GENERAL CASE 114
3.2.3 EXTENSION TO THE CASE OF NONZERO TERMINAL VELOCITY 117
3.2.4 TRACKING CONTROL FOR MECHANICAL SYSTEM 124
3.3 APPLICATIONS TO ROBOTS 131
3.3.1 SYMBOLIC GENERATION OF EQUATIONS FOR MULTIBODY SYSTEMS .
. 131
3.3.2 MODELLING OF CONTROL FOR A TWO-LINK MECHANISM (WITH THREE
DEGREES OF FREEDOM) 136
3.3.3 MODELLING OF TRACKING CONTROL FOR A TWO-LINK MECHANISM
(WITH TWO DEGREES OF FREEDOM) 144
STABILITY BASED CONTROL FOR LAGRANGIAN MECHANICAL SYSTEMS
147
4.
1
SCLERONOMIC AND RHEONOMIC MECHANICAL SYSTEMS 147
4.2 LYAPUNOV STABILITY OF EQUILIBRIUM 151
4.3 LYAPUNOV'S DIRECT METHOD FOR AUTONOMOUS SYSTEMS 151
4.4 LYAPUNOV'S DIRECT METHOD FOR NONAUTONOMOUS SYSTEMS 153
4.5 STABILIZATION OF MECHANICAL SYSTEMS 153
4.6 MODIFIKATION OF LYAPUNOV'S DIRECT METHOD 155
PIECEWISE LINEAR CONTROL FOR MECHANICAL SYSTEMS UNDER UNCERTAINTY
.
. 157
5.1 PIECEWISE LINEAR CONTROL FOR SCLERONOMIC SYSTEMS 157
5.1.1 PROBLEM STATEMENT 157
5.1.2 DESCRIPTION OF THE CONTROL ALGORITHM 159
5.1.3 JUSTIFICATION OF THE ALGORITHM 161
5.1.4 ESTIMATION OF THE TIME OF MOTION 166
5.1.5 SUFFIEIENT CONDITION FOR STEERING THE SYSTEM TO THE
PRESCRIBED STATE 168
5.2 APPLICATIONS TO MECHANICAL SYSTEMS 170
5.2.1 CONTROL OF A TWO-LINK MANIPULATOR 170
5.2.2 CONTROL OF A TWO-MASS SYSTEM WITH UNKNOWN PARAMETERS .
. 173
5.2.3 THE FIRST STAGE OF THE MOTION 178
5.2.4 THE SECOND STAGE OF THE MOTION 182
5.2.5 SYSTEM "A LOAD ON A CART" 186
5.2.6 SYSTEM "A PENDULUM ON A CART" 187
CONTENTS
5.2.7 COMPUTER SIMULATION RESULTS 197
5.3 PIECEWISE LINEAR CONTROL FOR RHEONOMIC SYSTEMS 199
5.3.1 PROBLEM STATEMENT 199
5.3.2 CONTROL ALGORITHM FOR RHEONOMIC SYSTEMS 200
5.3.3 JUSTIFICATION OF THE CONTROL 201
5.3.4 RESULTS OF SIMULATION 210
CONTINUOUS FEEDBACK CONTROL FOR MECHANICAL SYSTEMS UNDER
UNCERTAINTY
213
6.1 FEEDBACK CONTROL FOR SCLERONOMIC SYSTEM WITH A GIVEN MATRIX OF
INERTIA 213
6.1.1 PROBLEM STATEMENT 213
6.1.2 CONTROL FUNCTION 214
6.1.3 JUSTIFICATION OF THE CONTROL 217
6.1.4 SUFFIEIENT CONDITION FOR CONTROLLABILITY 222
6.1.5 COMPUTER SIMULATION RESULTS 223
6.2 CONTROL OF A SCLERONOMIC SYSTEM WITH AN UNKNOWN MATRIX OF INERTIA
229
6.2.1 PROBLEM STATEMENT 229
6.2.2 COMPUTER SIMULATION OF THE MOTION OF A TWO-LINK MANIPULATOR234
6.3 CONTROL OF RHEONOMIC SYSTEMS UNDER UNCERTAINTY 237
6.3.1 PROBLEM STATEMENT 237
6.3.2 COMPUTER SIMULATION RESULTS 241
CONTROL IN DISTRIBUTED-PARAMETER SYSTEMS
245
7.
1
SYSTEM OF LINEAR OSCILLATORS 245
7.1.1 EQUATIONS OF MOTION 245
7.1.2 DECOMPOSITION 246
7.1.3 TIME-OPTIMAL CONTROL PROBLEM 248
7.1.4 UPPER BOUND FOR THE OPTIMAL TIME 249
7.2 DISTRIBUTED-PARAMETER SYSTEMS 252
7.2.1 STATEMENT OF THE CONTROL PROBLEM FOR A DISTRIBUTED
PARAMETER SYSTEM 252
7.2.2 DECOMPOSITION 254
7.2.3 FIRST-ORDER EQUATION IN TIME 257
7.2.4 SECOND-ORDER EQUATION IN TIME 258
7.2.5 ANALYSIS OF THE CONSTRAINTS AND CONSTRUETION OF THE CONTROL .
. 259
7.3 SOLVABILITY CONDITIONS 263
7.3.1 THE ONE-DIMENSIONAL PROBLEMS 263
7.3.2 CONTROL OF BEAM OSCILLATIONS 266
7.3.3 THE TWO-DIMENSIONAL AND THREE-DIMENSIONAL PROBLEMS 267
7.3.4 SOLVABILITY CONDITIONS IN THE GENERAL CASE 270
X CONTENTS
8 CONTROL SYSTEM UNDER COMPLEX CONSTRAINTS
275
8.1 CONTROL DESIGN IN LINEAR SYSTEMS UNDER COMPLEX CONSTRAINTS 275
8.1.1 PROBLEM STATEMENT 275
8.1.2 KALMAN'S APPROACH 277
8.2 APPLICATION TO OSCILLATING SYSTEMS 281
8.2.1 CONTROL FOR THE SYSTEM OF OSCILLATORS 281
8.2.2 PENDULUM WITH A SUSPENSION POINT CONTROLLED BY ACCELERATION286
8.2.3 PENDULUM WITH A SUSPENSION POINT CONTROLLED BY
ACCELERATION (CONTINUATION) 290
8.2.4 PENDULUM WITH A SUSPENSION POINT CONTROLLED BY VELOCITY .
. 296
8.3 APPLICATION TO ELECTRO-MECHANICAL SYSTEMS 303
8.3.1 MODEL OF THE ELECTRO-MECHANICAL SYSTEM 303
8.3.2 ANALYSIS OF THE SIMPLIFIED MODEL 306
8.3.3 CONTROL OF THE ELECTRO-MECHANICAL SYSTEM OF THE FOURTH ORDER 310
8.3.4 ACTIVE DYNAMICAL DAMPER 317
9 OPTIMAL CONTROL PROBLEMS UNDER COMPLEX CONSTRAINTS
327
9.1 TIME-OPTIMAL CONTROL PROBLEM UNDER MIXED AND PHASE CONSTRAINTS .
. 328
9.1.1 PROBLEM STATEMENT 328
9.1.2 TIME-OPTIMAL CONTROL UNDER CONSTRAINTS IMPOSED ON THE
VELOCITY AND ACCELERATION 329
9.1.3 PROBLEM OF CONTROL OF AN ELECTRIC MOTOR 335
9.2 TIME-OPTIMAL CONTROL UNDER CONSTRAINTS IMPOSED ON THE RATE OF
CHANGE OF THE ACCELERATION 340
9.2.1 STATEMENT OF THE PROBLEM 340
9.2.2 OPEN-LOOP OPTIMAL CONTROL 342
9.2.3 FEEDBACK OPTIMAL CONTROL 345
9.3 TIME-OPTIMAL CONTROL UNDER CONSTRAINTS IMPOSED ON THE
ACCELERATION AND ITS RATE 354
9.3.1 PROBLEM STATEMENT 354
9.3.2 POSSIBLE MODES OF CONTROL 357
9.3.3 CONSTRUETION OF THE TRAJEETORIES 359
10 TIME-OPTIMAL SWING-UP AND DAMPING FEEDBACK CONTROLS OF A
NONLINEAR PENDULUM
367
10.
1
OPTIMAL CONTROL STRUETURE 368
10.1.1 STATEMENT OF THE PROBLEM 368
10.1.2 PHASE CYLINDER 369
10.1.3 MAXIMUM PRINCIPLE 370
10.1.4 NUMERICAL ALGORITHM 371
10.2 SWING-UP CONTROL 372
10.2.1 LITERATURE OVERVIEW 372
10.2.2 SPECIAL TRAJEETORIES 373
10.2.3 NUMERICAL RESULTS 375
10.3 DAMPING CONTROL 380
CONTENTS XI
10.3.1 LITERATURE OVERVIEW 380
10.3.2 SPECIAL TRAJEETORIES 382
10.3.3 NUMERICAL RESULTS 383
REFERENCES 389
INDE
X 395 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Černusʹko, Feliks L. Ananievskij, Igorʹ M. Rešmin, Sergej A. |
| author_facet | Černusʹko, Feliks L. Ananievskij, Igorʹ M. Rešmin, Sergej A. |
| author_role | aut aut aut |
| author_sort | Černusʹko, Feliks L. |
| author_variant | f l č fl flč i m a im ima s a r sa sar |
| building | Verbundindex |
| bvnumber | BV035122139 |
| classification_rvk | SK 880 ZQ 5224 |
| ctrlnum | (OCoLC)316286271 (DE-599)DNB989262960 |
| dewey-full | 629.8312 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8312 |
| dewey-search | 629.8312 |
| dewey-sort | 3629.8312 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Mathematik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Maschinenbau / Maschinenwesen Mathematik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV035122139 |
| illustrated | Illustrated |
| index_date | 2024-07-02T22:21:36Z |
| indexdate | 2024-07-09T21:22:49Z |
| institution | BVB |
| isbn | 9783540707820 ebook 9783540707844 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-016789783 |
| oclc_num | 316286271 |
| open_access_boolean | |
| owner | DE-20 DE-384 DE-83 DE-706 |
| owner_facet | DE-20 DE-384 DE-83 DE-706 |
| physical | XI, 396 S. graph. Darst. 235 mm x 155 mm |
| publishDate | 2008 |
| publishDateSearch | 2008 |
| publishDateSort | 2008 |
| publisher | Springer |
| record_format | marc |
| series2 | Communications and Control Engineering Springer complexity |
| spelling | Černusʹko, Feliks L. Verfasser aut Control of nonlinear dynamical systems methods and applications Felix L. Chernousko ; Igor M. Ananievski ; Sergey A. Reshmin Berlin [u.a.] Springer 2008 XI, 396 S. graph. Darst. 235 mm x 155 mm txt rdacontent n rdamedia nc rdacarrier Communications and Control Engineering Springer complexity Nichtlineares dynamisches System (DE-588)4126142-2 gnd rswk-swf Komplexes System (DE-588)4114261-5 gnd rswk-swf Nichtlineare Regelung (DE-588)4132964-8 gnd rswk-swf Nichtlineare Regelung (DE-588)4132964-8 s Nichtlineares dynamisches System (DE-588)4126142-2 s Komplexes System (DE-588)4114261-5 s DE-604 Ananievskij, Igorʹ M. Verfasser aut Rešmin, Sergej A. Verfasser aut DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016789783&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Černusʹko, Feliks L. Ananievskij, Igorʹ M. Rešmin, Sergej A. Control of nonlinear dynamical systems methods and applications Nichtlineares dynamisches System (DE-588)4126142-2 gnd Komplexes System (DE-588)4114261-5 gnd Nichtlineare Regelung (DE-588)4132964-8 gnd |
| subject_GND | (DE-588)4126142-2 (DE-588)4114261-5 (DE-588)4132964-8 |
| title | Control of nonlinear dynamical systems methods and applications |
| title_auth | Control of nonlinear dynamical systems methods and applications |
| title_exact_search | Control of nonlinear dynamical systems methods and applications |
| title_exact_search_txtP | Control of nonlinear dynamical systems methods and applications |
| title_full | Control of nonlinear dynamical systems methods and applications Felix L. Chernousko ; Igor M. Ananievski ; Sergey A. Reshmin |
| title_fullStr | Control of nonlinear dynamical systems methods and applications Felix L. Chernousko ; Igor M. Ananievski ; Sergey A. Reshmin |
| title_full_unstemmed | Control of nonlinear dynamical systems methods and applications Felix L. Chernousko ; Igor M. Ananievski ; Sergey A. Reshmin |
| title_short | Control of nonlinear dynamical systems |
| title_sort | control of nonlinear dynamical systems methods and applications |
| title_sub | methods and applications |
| topic | Nichtlineares dynamisches System (DE-588)4126142-2 gnd Komplexes System (DE-588)4114261-5 gnd Nichtlineare Regelung (DE-588)4132964-8 gnd |
| topic_facet | Nichtlineares dynamisches System Komplexes System Nichtlineare Regelung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016789783&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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