Essentials of control techniques and theory:
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| Main Author: | |
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| Format: | Book |
| Language: | English |
| Published: |
Boca Raton [u.a.]
CRC Press
2010
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| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XIV, 325 S. graph. Darst. |
| ISBN: | 9781420091236 |
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| 245 | 1 | 0 | |a Essentials of control techniques and theory |c John Billingsley |
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|---|---|
| adam_text | Contents
Author
....................................................................
SECTION I ESSENTIALS OF CONTROL TECHNIQUES—
WHAT YOU NEED TO KNOW
1
Introduction: Control in a Nutshell; History, Theory, Art, and
Practice
............................................................................................3
1.1
The Origins of Control
......................................................................3
1.2
Early Days of Feedback
.....................................................................5
1.3
The Origins of Simulation
.................................................................6
1.4
Discrete Time
....................................................................................7
2
Modeling Time
..................................................................................9
2.1
Introduction
......................................................................................9
2.2
A Simple System
................................................................................9
2.3
Simulation
.......................................................................................11
2.4
Choosing a Computing Platform
.....................................................12
2.5
An Alternative Platform
...................................................................15
2.6
Solving the First Order Equation
.....................................................16
2.7
A Second Order Problem
.................................................................19
2.8
Matrix State Equations
....................................................................23
2.9
Analog Simulation
...........................................................................24
2.10
Closed Loop Equations
...................................................................26
3
Simulation with JOLLIES: JavaScript On-Line Learning
Interactive Environment for Simulation
.........................................29
3.1
Introduction
....................................................................................29
3.2
How a JOLLIES Simulation Is Made Up
........................................31
3.3
Moving Images without an Applet
..................................................35
3.4
A Generic Simulation
......................................................................38
vi
■ Contents
Practical
Control
Systems
...............................................................41
4.1
Introduction
....................................................................................41
4.2
The Nature of Sensors
.....................................................................42
4.3
Velocity and Acceleration
...............................................................44
4.4
Output Transducers
........................................................................44
4.5
A Control Experiment
....................................................................46
Adding Control
...............................................................................49
5.1
Introduction
....................................................................................49
5.2
Vector State Equations
.....................................................................49
5.3
Feedback
..........................................................................................52
5.4
Another Approach
...........................................................................53
5.5
A Change of Variables
.....................................................................55
5.6
Systems with Time Delay and the
PID
Controller
...........................57
5.7
Simulating the Water Heater Experiment
........................................60
Systems with Real Components and Saturating
Signals—Use of the Phase Plane
....................................................63
6.1
An Early Glimpse of Pole Assignment
.............................................63
6.2
The Effect of Saturation
...................................................................65
6.3
Meet the Phase Plane
.......................................................................65
6.4
Phase Plane for Saturating Drive
.....................................................70
6.5
Bang-Bang Control and Sliding Mode
...........................................74
Frequency Domain Methods
..........................................................77
7.1
Introduction
...................................................................................77
7.2
Sine-Wave Fundamentals
.................................................................78
7.3
Complex Amplitudes
.......................................................................79
7.4
More Complex Still-Complex Frequencies
......................................81
7.5
Eigenfunctions and Gain
.................................................................81
7.6
A Surfeit of Feedback
.......................................................................83
7.7
Poles and Polynomials
.....................................................................85
7.8
Complex Manipulations
..................................................................87
7.9
Decibels and Octaves
.......................................................................88
7.10
Frequency Plots and Compensators
.................................................89
7.11
Second Order Responses
..................................................................92
7.12
Excited Poles
....................................................................................93
Discrete Time Systems and Computer Control
...............................97
8.1
Introduction
....................................................................................97
8.2
State Transition
...............................................................................98
8.3
Discrete Time State Equations and Feedback
................................101
8.4
Solving Discrete Time Equations
..................................................102
8.5
Matrices and Eigenvectors
.............................................................103
8.6
Eigenvalues and Continuous Time Equations
...............................104
Contents ■
vii
8.7 Simulation
of
a Discrete Time System
...........................................105
8.8
A
Practical Example of
Discrete
Time Control
..............................107
8.9
And There s More
..........................................................................110
8.10
Controllers with Added Dynamics
................................................112
9
Controlling an Inverted Pendulum
................................................115
9.1
Deriving the State Equations
.........................................................115
9.2
Simulating the Pendulum
..............................................................119
9.3
Adding Reality
..............................................................................122
9.4
A Better Choice of Poles
................................................................123
9.5
Increasing the Realism
...................................................................124
9.6
Tuning the Feedback Pragmatically
...............................................126
9.7
Constrained Demand
....................................................................127
9.8
In Conclusion
................................................................................129
SECTION II ESSENTIALS OF CONTROL THEORY—WHAT
YOU OUGHT TO KNOW
10
More Frequency Domain Background Theory
..............................133
10.1
Introduction
..................................................................................133
10.2
Complex Planes and Mappings
......................................................134
10.3
The Cauchy-Riemann Equations
..................................................135
10.4
Complex Integration
......................................................................138
10.5
Differential Equations and the Laplace Transform
........................140
10.6
The Fourier Transform
..................................................................144
11
More Frequency Domain Methods
...............................................147
11.1
Introduction
..................................................................................147
11.2
The Nyquist Plot
............................................................................148
11.3
Nyquist with M-Circles
.................................................................151
11.4
Software for Computing the Diagrams
.........................................153
11.5
The Curly Squares Plot
...............................................................154
11.6
Completing the Mapping
..............................................................155
11.7
Nyquist Summary
.........................................................................156
11.8
The Nichols Chart
.........................................................................156
11.9
The Inverse-Nyquist Diagram
........................................................158
11.10
Summary of Experimental Methods
..............................................162
12
The Root Locus
.............................................................................165
12.1
Introduction
..................................................................................165
12.2
Root Locus and Mappings
.............................................................165
12.3
A Root Locus Plot
.........................................................................169
12.4
Plotting with Poles and Zeroes
......................................................172
12.5
Poles and Polynomials
...................................................................173
viii
■ Contents
12.6
Compensators and Other Examples
...............................................176
12.7
Conclusions
...................................................................................178
13
Fashionable Topics in Control
.......................................................181
13.1
Introduction
..................................................................................181
13.2
Adaptive Control
...........................................................................182
13.3
Optimal Control
...........................................................................182
13.4
Bang-Bang, Variable Structure, and Fuzzy Control
......................182
13.5
Neural Nets
...................................................................................184
13.6
Heuristic and Genetic Algorithms
.................................................184
13.7
Robust Control and //-infinity
......................................................185
13.8
The Describing Function
...............................................................185
13.9
Lyapunov Methods
........................................................................186
13.10
Conclusion
....................................................................................187
14
Linking the Time and Frequency Domains
....................................189
14.1
Introduction
..................................................................................189
14.2
State-Space and Transfer Functions
...............................................189
14.3
Deriving the Transfer Function Matrix
.........................................190
14.4
Transfer Functions and Time Responses
.......................................193
14.5
Filters in Software
..........................................................................197
14.6
Software Filters for Data
................................................................199
14.7
State Equations in the Companion Form
......................................201
15
Time, Frequency, and Convolution
...............................................205
15.1
Delays and the Unit Impulse
.........................................................205
15.2
The Convolution Integral
..............................................................207
15.3
Finite Impulse Response (FIR) Filters
............................................209
15.4
Correlation
....................................................................................211
15.5
Conclusion
....................................................................................215
16
More about Time and State Equations
..........................................217
16.1
Introduction
..................................................................................217
16.2
Juggling the Matrices
....................................................................217
16.3
Eigenvectors and Eigenvalues Revisited
.........................................218
16.4
Splitting a System into Independent Subsystems
...........................221
16.5
Repeated Roots
..............................................................................225
16.6
Controllability and Observability
..................................................227
17
Practical Observers, Feedback with Dynamics
.............................233
17.1
Introduction
..................................................................................233
17.2
The
Kalman
Filter
.........................................................................233
17.3
Reduced-State Observers
...............................................................237
17.4
Control with Added Dynamics
.....................................................242
17.5
Conclusion
...................................................................................246
Contents ■ ix
18 Digital
Control
in
More
Detail......................................................247
18.1
Introduction..................................................................................
247
18.2
Finite Differences
—
The Beta-Operator
.........................................247
18.3
Meet the
z-Transŕorm
....................................................................251
18.4
Trains of Impulses
.........................................................................252
18.5
Some Properties of the .z-Transform
...............................................254
18.6
Initial and Final Value Theorems
...................................................256
18.7
Dead-Beat Response
......................................................................257
18.8
Discrete Time Observers
...............................................................259
19
Relationship between z- and Other Transforms
............................267
19.1
Introduction
..................................................................................267
19.2
The Impulse Modulator
.................................................................267
19.3
Cascading Transforms
..................................................................268
19.4
Tables of Transforms
.....................................................................271
19.5
The Beta and w-Transforms
...........................................................272
20
Design Methods for Computer Control
........................................277
20.1
Introduction
..................................................................................277
20.2
The Digital-to-Analog Convenor
(DAC)
as Zero Order Hold
.......277
20.3
Quantization
.................................................................................279
20.4
A Position Control Example, Discrete Time Root Locus
..............280
20.5
Discrete Time Dynamic Control—Assessing Performance
.............282
21
Errors and Noise
...........................................................................289
21.1
Disturbances
.................................................................................289
21.2
Practical Design Considerations
....................................................292
21.3
Delays and Sample Rates
...............................................................296
21.4
Conclusion
....................................................................................297
22
Optimal Control—Nothing but the Best
.......................................299
22.1
Introduction: The End Point Problem
............................................299
22.2
Dynamic Programming
................................................................300
22.3
Optimal Control of a Linear System
..............................................305
22.4
Time Optimal Control of a Second Order System
........................306
22.5
Optimal or
Suboptimal?...............................................................308
22.6
Quadratic Cost Functions
.............................................................309
22.7
In Conclusion
................................................................................315
Index
...........................................................................................................317
|
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| spelling | Billingsley, John Verfasser aut Essentials of control techniques and theory John Billingsley Boca Raton [u.a.] CRC Press 2010 XIV, 325 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Automatic control Control theory Regelungstechnik (DE-588)4076594-5 gnd rswk-swf Regelungstechnik (DE-588)4076594-5 s DE-604 Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018647919&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Billingsley, John Essentials of control techniques and theory Automatic control Control theory Regelungstechnik (DE-588)4076594-5 gnd |
| subject_GND | (DE-588)4076594-5 |
| title | Essentials of control techniques and theory |
| title_auth | Essentials of control techniques and theory |
| title_exact_search | Essentials of control techniques and theory |
| title_full | Essentials of control techniques and theory John Billingsley |
| title_fullStr | Essentials of control techniques and theory John Billingsley |
| title_full_unstemmed | Essentials of control techniques and theory John Billingsley |
| title_short | Essentials of control techniques and theory |
| title_sort | essentials of control techniques and theory |
| topic | Automatic control Control theory Regelungstechnik (DE-588)4076594-5 gnd |
| topic_facet | Automatic control Control theory Regelungstechnik |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018647919&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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