Control theory for engineers: a primer
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| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Berlin [u.a.]
Springer
2013
|
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Item Description: | Literaturangaben |
| Physical Description: | XV, 257 S. graph. Darst. |
| ISBN: | 9783642343230 3642343236 9783642343247 |
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MARC
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Record in the Search Index
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| adam_text |
IMAGE 1
CONTENTS
PART I MODELLING, DYNAMICAL SYSTEMS AND INPUT-OUTPUT REPRESENTATION
1 BASICS IN DYNAMICAL SYSTEM MODELLING 3
1.1 INTRODUCTION 3
1.2 BALANCE EQUATIONS AND PHENOMENOLOGICAL LAWS 3
1.2.1 BALANCE EQUATIONS 4
1.2.2 PHENOMENOLOGICAL LAWS 5
1.3 BASIC LAWS AND PRINCIPLES O F PHYSICS 6
1.3.1 CONSERVATION O F MASS 7
1.3.2 PRINCIPLES O F THERMODYNAMICS 7
1.3.3 POINT MECHANICS 8
1.3.4 ELECTROMAGNETISM EQUATIONS 8
1.4 APPLICATIONS IN SOLID MECHANICS, FLUID MECHANICS AND ELECTRICITY 9
1.4.1 SOLID MECHANICS 9
1.4.2 FLUID MECHANICS 14
1.4.3 ELEMENTARY MODELS O F ELECTRICAL CIRCUITS 16
1.5 CONCLUSION 16
2 FINITE DIMENSIONAL STATE-SPACE MODELS 17
2.1 INTRODUCTION 17
2.2 DEFINITIONS OF STATE-SPACE MODELS 17
2.3 EXAMPLES OF MODELLING 21
2.3.1 THE INVERTED PENDULUM 21
2.3.2 A MODEL O F WHEEL ON A PLANE 23
2.3.3 AN AIRCRAFT MODEL 26
2.3.4 VIBRATIONS O F A BEAM 28
2.3.5 AN RLC ELECTRICAL CIRCUIT 29
2.3.6 AN ELECTRICAL MOTOR 30
2.3.7 CHEMICAL KINETICS 31
2.3.8 GROWTH OF AN AGE-STRUCTURED POPULATION 33
2.3.9 A BIOREACTOR 34
XI
HTTP://D-NB.INFO/1026184584
IMAGE 2
XII CONTENTS
2.4 DYNAMICAL SYSTEMS 35
2.5 LINEAR DYNAMICAL SYSTEMS 39
2.6 EXERCISES 4 2
3 INPUT-OUTPUT REPRESENTATION 45
3.1 INTRODUCTION 4 5
3.2 INPUT-OUTPUT REPRESENTATION 4 6
3.2.1 DEFINITIONS AND PROPERTIES 4 6
3.2.2 CHARACTERISTIC RESPONSES AND TRANSFER MATRICES 47
3.3 SINGLE-INPUT SINGLE-OUTPUT L.C.S. SYSTEMS 50
3.4 STABILITY AND POLES: ROUTH'S CRITERIA 52
3.5 ZEROS O F A TRANSFER FUNCTION 53
3.6 CONTROLLER SYNTHESIS: THE PID COMPENSATOR 55
3.6.1 FIRST-ORDER OPEN-LOOP SYSTEM 57
3.6.2 OPEN-LOOP SECOND-ORDER SYSTEM 57
3.7 GRAPHICAL METHODS: GAIN AND PHASE MARGINS-STABILITY-PRECISION
DILEMMA 57
3.8 LEAD AND LAG PHASE COMPENSATORS 63
3.9 EXERCISES 65
PART II STABILIZATION BY STATE-SPACE APPROACH
4 STABILITY O F AN EQUILIBRIUM POINT 71
4.1 INTRODUCTION 71
4.2 STABILITY AND ASYMPTOTIC STABILITY O F AN EQUILIBRIUM P O I N T . .
. . 71
4.3 THE CASE O F LINEAR DYNAMICAL SYSTEMS 73
4.4 STABILITY CLASSIFICATION OF THE ZERO EQUILIBRIUM FOR LINEAR SYSTEMS
IN THE PLANE 75
4.5 TANGENT LINEAR SYSTEM AND STABILITY 80
4.6 LYAPUNOV FUNCTIONS AND STABILITY 84
4.7 SKETCH O F STABILIZATION BY LINEAR STATE FEEDBACK 89
4.8 EXERCISES 93
5 CONTINUOUS-TIME LINEAR DYNAMICAL SYSTEMS 97
5.1 INTRODUCTION 97
5.2 DEFINITIONS AND EXAMPLES 98
5.3 STABILITY O F CONTROLLED SYSTEMS 100
5.4 CONTROLLABILITY. REGULATOR 101
5.4.1 CONTROLLABILITY 101
5.4.2 SYSTEMS EQUIVALENCE. CONTROLLABLE CANONICAL FORM . . . 104 5.4.3
REGULATOR 107
IMAGE 3
CONTENTS
XLLL
5.5 OBSERVABILITY. OBSERVER 108
5.6 OBSERVER-REGULATOR SYNTHESIS. THE SEPARATION PRINCIPLE 114
5.7 LINKS WITH THE INPUT-OUTPUT REPRESENTATION 116
5.7.1 IMPULSE RESPONSE AND TRANSFER MATRIX 116
5.7.2 FROM INPUT-OUTPUT REPRESENTATION TO STATE-SPACE REPRESENTATION 118
5.7.3 STABILITY AND POLES 119
5.8 LOCAL STABILIZATION O F A NONLINEAR DYNAMICAL SYSTEM BY LINEAR
FEEDBACK 120
5.9 TRACKING REFERENCE TRAJECTORIES 122
5.9.1 STABILIZATION O F AN EQUILIBRIUM POINT O F A LINEAR DYNAMICAL
SYSTEM 122
5.9.2 STABILIZATION O F A SLOWLY VARYING TRAJECTORY 123
5.9.3 STABILIZATION O F ANY STATE TRAJECTORY 125
5.10 PRACTICAL SET UP. STABILITY-PRECISION DILEMMA 125
5.10.1 STEPS FOR THE ELABORATION O F A CONTROL LAW 125
5.10.2 SENSITIVITY TO MODEL PARAMETER UNCERTAINTY: PRECISION 127
5.10.3 SENSITIVITY TO INPUT DELAY: STABILITY 129
5.11 EXERCISES 130
6 DISCRETE-TIME LINEAR DYNAMICAL SYSTEMS 133
6.1 INTRODUCTION 133
6.2 EXACT DISCRETIZATION O F A CONTINUOUS-TIME LINEAR DYNAMICAL SYSTEM
134
6.3 STABILITY OF DISCRETE-TIME CLASSICAL DYNAMICAL SYSTEMS 137
6.3.1 STABILITY O F AN EQUILIBRIUM POINT 137
6.3.2 CASE OF DISCRETE-TIME LINEAR DYNAMICAL SYSTEMS. . . . 139 6.4
STABILITY O F CONTROLLED DISCRETE-TIME LINEAR DYNAMICAL SYSTEMS 143
6.5 CONTROLLABILITY. REGULATOR 144
6.6 OBSERVABILITY. OBSERVER 146
6.7 OBSERVER-REGULATOR SYNTHESIS. SEPARATION PRINCIPLE 148
6.8 CHOICE O F THE SAMPLING PERIOD 150
6.9 LINKS WITH THE INPUT-OUTPUT REPRESENTATION 151
6.9.1 IMPULSE RESPONSE, TRANSFER MATRIX AND REALIZATION . . . 151 6.9.2
STABILITY AND POLES. JURY CRITERION 153
6.9.3 ZEROS OF A DISCRETE-TIME SCALAR L.C.S. SYSTEM 154
6.9.4 RELATION BETWEEN AN L.C.S. SYSTEM IN CONTINUOUS-TIME AND THE EXACT
DISCRETIZED 155
6.10 LOCAL STABILIZATION O F A NONLINEAR DYNAMICAL SYSTEM BY A CONTROL
LAW IN DISCRETE-TIME 159
IMAGE 4
XIV
CONTENTS
6.11 PRACTICAL SET UP 163
6.12 EXERCISES 163
7 QUADRATIC OPTIMIZATION AND LINEAR FILTERING 165
7.1 INTRODUCTION 165
7.2 QUADRATIC OPTIMIZATION AND CONTROLLER MODES PLACEMENT 166
7.2.1 OPTIMIZATION IN FINITE HORIZON 166
7.2.2 OPTIMIZATION IN INFINITE HORIZON. LINKS WITH CONTROLLABILITY 169
7.2.3 IMPLEMENTATION 171
7.3 KALMAN-BUCY FILTER AND OBSERVER MODES PLACEMENT 171
7.3.1 THE KALMAN-BUCY FILTER 173
7.3.2 CONVERGENCE OF THE FILTER. LINKS WITH OBSERVABILITY. . . 178 7.4
FORMULAS IN THE CONTINUOUS-TIME CASE 179
7.4.1 OPTIMIZATION IN FINITE HORIZON 180
7.4.2 OPTIMIZATION IN INFINITE HORIZON. LINKS WITH CONTROLLABILITY 181
7.4.3 ASYMPTOTIC OBSERVER 184
7.5 PRACTICAL SET UP 184
7.6 EXERCISES 184
PART III DISTURBANCE REJECTION AND POLYNOMIAL APPROACH
8 POLYNOMIAL REPRESENTATION 191
8.1 INTRODUCTION 191
8.2 DEFINITIONS 194
8.3 RESULTS ON POLYNOMIAL MATRICES 196
8.3.1 ELEMENTARY OPERATIONS: HERMITE AND SMITH MATRICES 197
8.3.2 DIVISION AND BEZOUT IDENTITIES 200
8.4 POLES AND ZEROS. STABILITY 201
8.5 EQUIVALENCE BETWEEN LINEAR DIFFERENTIAL SYSTEMS 203
8.6 OBSERVABILITY AND CONTROLLABILITY 205
8.6.1 CONTROLLABILITY 205
8.6.2 OBSERVABILITY 209
8.7 FROM THE STATE-SPACE REPRESENTATION TO THE POLYNOMIAL CONTROLLER AND
OBSERVABLE FORMS 212
8.7.1 FROM THE STATE-SPACE REPRESENTATION TO THE POLYNOMIAL OBSERVER
FORM 212
8.7.2 FROM THE POLYNOMIAL OBSERVER FORM TO THE POLYNOMIAL CONTROLLER
FORM 213
8.8 CLOSED-LOOP TRANSFER FUNCTIONS FROM THE INPUT AND THE DISTURBANCES
TO THE OUTPUTS 215
IMAGE 5
CONTENTS X V
8.9 AFFINE PARAMETERIZATION O F THE CONTROLLER AND ZEROS
PLACEMENT WITH FIXED POLES 217
8.10 THE INVERTED PENDULUM EXAMPLE 218
8.10.1 COMPUTATION O F THE POLYNOMIAL OBSERVER AND CONTROLLER FORMS 218
8.10.2 COMPUTATION O F THE CLOSED-LOOP TRANSFER FUNCTIONS 219
8.10.3 AFFINE PARAMETERIZATION O F THE CONTROLLER 220
8.10.4 PLACEMENT OF REGULATION ZEROS WITH FIXED POLES 222
8.11 EXERCISES 224
APPENDIX A: THE DISCRETE-TIME STATIONARY RICCATI EQUATION 227
APPENDIX B: LAPLACE TRANSFORM AND Z-TRANSFORM 233
APPENDIX C: GAUSSIAN VECTORS 239
APPENDIX D: BODE DIAGRAMS 245
REFERENCES 249
INDEX 253 |
| any_adam_object | 1 |
| author | Andréa-Novel, Brigitte d' 1961- Lara, Michel de |
| author_GND | (DE-588)1033334308 |
| author_facet | Andréa-Novel, Brigitte d' 1961- Lara, Michel de |
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| bvnumber | BV041168547 |
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| ctrlnum | (OCoLC)852486134 (DE-599)DNB1026184584 |
| 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 | Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| illustrated | Illustrated |
| indexdate | 2024-09-10T00:59:21Z |
| institution | BVB |
| isbn | 9783642343230 3642343236 9783642343247 |
| language | English |
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| physical | XV, 257 S. graph. Darst. |
| publishDate | 2013 |
| publishDateSearch | 2013 |
| publishDateSort | 2013 |
| publisher | Springer |
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| spelling | Andréa-Novel, Brigitte d' 1961- Verfasser (DE-588)1033334308 aut Control theory for engineers a primer Brigitte d' Andréa-Novel ; Michel de Lara Berlin [u.a.] Springer 2013 XV, 257 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Literaturangaben Kontrolltheorie (DE-588)4032317-1 gnd rswk-swf Kontrolltheorie (DE-588)4032317-1 s DE-604 Lara, Michel de Verfasser aut Erscheint auch als Online-Ausgabe Control Theory for Engineers X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=4126790&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026143797&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Andréa-Novel, Brigitte d' 1961- Lara, Michel de Control theory for engineers a primer Kontrolltheorie (DE-588)4032317-1 gnd |
| subject_GND | (DE-588)4032317-1 |
| title | Control theory for engineers a primer |
| title_auth | Control theory for engineers a primer |
| title_exact_search | Control theory for engineers a primer |
| title_full | Control theory for engineers a primer Brigitte d' Andréa-Novel ; Michel de Lara |
| title_fullStr | Control theory for engineers a primer Brigitte d' Andréa-Novel ; Michel de Lara |
| title_full_unstemmed | Control theory for engineers a primer Brigitte d' Andréa-Novel ; Michel de Lara |
| title_short | Control theory for engineers |
| title_sort | control theory for engineers a primer |
| title_sub | a primer |
| topic | Kontrolltheorie (DE-588)4032317-1 gnd |
| topic_facet | Kontrolltheorie |
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