Bridging model predictive control and robust linear control theory:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Aachen
Shaker
2015
|
| Schriftenreihe: | Schriftenreihe des Lehrstuhls für Systemdynamik und Prozessführung
2015,5 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis Inhaltstext Inhaltsverzeichnis |
| Beschreibung: | XVIII, 236 Seiten 21 cm, 383 g |
| ISBN: | 9783844036275 |
Internformat
MARC
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|---|---|---|---|
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| 100 | 1 | |a Shah, Gaurang |d 1980- |e Verfasser |0 (DE-588)1079276920 |4 aut | |
| 245 | 1 | 0 | |a Bridging model predictive control and robust linear control theory |c vorgelegt von Gaurang Shah |
| 264 | 1 | |a Aachen |b Shaker |c 2015 | |
| 300 | |a XVIII, 236 Seiten |c 21 cm, 383 g | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Schriftenreihe des Lehrstuhls für Systemdynamik und Prozessführung |v 2015,5 | |
| 502 | |b Dissertation |c Universität Dortmund |d 2015 | ||
| 650 | 0 | 7 | |a Robuste Kontrolle |0 (DE-588)4232797-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Lineare Kontrolltheorie |0 (DE-588)4123657-9 |2 gnd |9 rswk-swf |
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| 650 | 0 | 7 | |a Self-Tuning-Regelung |0 (DE-588)4180913-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Prädiktive Regelung |0 (DE-588)4271836-3 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Rektifizierkolonne |0 (DE-588)4134977-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Prozessregelung |0 (DE-588)4222919-4 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Lineare Regelung |0 (DE-588)4035819-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Reglerentwurf |0 (DE-588)4177447-4 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Regelkreis |0 (DE-588)4133165-5 |2 gnd |9 rswk-swf |
| 653 | |a Linear Model Predictive Control | ||
| 653 | |a Linear MPC | ||
| 653 | |a MPC Tuning | ||
| 653 | |a linear control theory | ||
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| 689 | 0 | 3 | |a Regelkreis |0 (DE-588)4133165-5 |D s |
| 689 | 0 | 4 | |a Lineare Kontrolltheorie |0 (DE-588)4123657-9 |D s |
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| 689 | 0 | 6 | |a Reglerentwurf |0 (DE-588)4177447-4 |D s |
| 689 | 0 | 7 | |a Prozessregelung |0 (DE-588)4222919-4 |D s |
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Datensatz im Suchindex
| _version_ | 1806332890590478336 |
|---|---|
| adam_text |
CONTENTS
1 INTRODUCTION 1
1.1 MOTIVATION 1
1.2 METHODOLOGY AND CONTRIBUTION OF THE THESIS 3
1.3 STRUCTURE OF THE THESIS 4
1.4 PUBLICATIONS 6
2 AN OVERVIEW OF FUNDAMENTALS 7
2.1 BASIC NOTATIONS 7
2.2 MATHEMATICAL CONCEPTS 8
2.2.1 MATRIX INEQUALITIES 8
2.2.2 CONVEX AND NONCONVEX SETS 9
2.2.3 CONVEX AND NONCONVEX FUNCTIONS 10
2.2.4 OPTIMIZATION PROBLEMS 11
2.2.5 VECTOR NORMS. MATRIX NORMS 11
2.2.6 SINGULAR VALUE DECOMPOSITION 13
2.2.7 POLYNOMIAL DIOPHANTINE EQUATIONS 14
2.3 DISCRETE-TIME SIGNALS 16
2.3.1 2-TRANSFORMS 16
2.4 TRANSFER FUNCTIONS, STABILITY, HOO SPACES 18
2.5 DISCRETE-TIME TRANSFER FUNCTIONS 21
2.6 TRANSIENT RESPONSE SPECIFICATIONS 25
2.7 FORMULATION OF A DESIRED CLOSED-LOOP BEHAVIOUR 27
3 PREDICTIVE CONTROL METHODS 29
3.1 INTRODUCTION 29
3.2 MODEL ALGORITHMIC CONTROL (MAC) 32
3.3 DYNAMIC MATRIX CONTROL (DMC) 34
3.4 LIMITATIONS OF MAC AND DMC 35
XI
HTTP://D-NB.INFO/1069858188
XII
CONTENTS
3.5 STATE-SPACE MPC 36
3.6 GENERALIZED PREDICTIVE CONTROL (GPC) 38
3.6.1 PROPERTIES OF GPC 40
4 MPC TUNING FOR SISO PLANTS 45
4.1 INTRODUCTION 45
4.2 LITERATURE REVIEW 46
4.3 CLOSED-LOOP FORMULATION 53
4.4 PROBLEM DEFINITION 55
4.5 THE TUNING APPROACH 56
4.5.1 TUNING FOR DESIRED POLES 56
4.5.2 NECESSARY CONDITIONS FOR OBTAINING A DIAGONAL MATRIX Q 59
4.5.3 TUNING FOR DESIRED ZEROS 60
4.5.4 TUNING HORIZONS 62
4.6 EXAMPLES 62
4.6.1 A SPRING-MASS-DASHPOT SYSTEM 63
4.6.2 A CONTINUOUS STIRRED TANK REACTOR SYSTEM 64
4.7 TUNING THE T(Z
_1
) POLYNOMIAL 76
4.7.1 REVISITING THE CSTR SYSTEM 80
5 MPC TUNING FOR MIMO PLANTS 83
5.1 INTRODUCTION 83
5.2 CHALLENGES IN MULTIVARIABLE CONTROL 84
5.3 CLOSED-LOOP FORMULATION 85
*5.4 TUNING FOR DESIRED CLOSED-LOOP PERFORMANCE 86
5.4.1 EXAMPLE: SHELL STANDARD CONTROL PROBLEM 89
5.5 DISCUSSION: DESIRED CLOSED-LOOP PERFORMANCE 91
5.5.1 EFFECT OF RHP ZEROS AND RHP POLES ON THE CROSS-COUPLING BEHAVIOUR
92
*5.5.1.1 INTERPOLATION CONSTRAINTS 93
5.5.1.2 MIMO PLANT WITH RHP ZEROS AND NO RHP POLES . 94
5.5.1.3 MIMO PLANT WITH RHP ZEROS AND RHP POLES 96
5.5.1.4 PERFORMANCE LIMITATIONS DUE TO R.HP ZEROS, R.HP POLES
AND TIME DELAYS 96
5.5.2 EXAMPLE: A NON-MINIMUM PHASE PLANT 101
*5.5.2.1 INPUT-OUTPUT VARIABLE PAIRINGS 106
CONTENTS XIII
6 COMPUTING THE ACHIEVABLE CLOSED-LOOP PERFORMANCE 111
6.1 INTRODUCTION ILL
6.2 YOULA PARAMETERIZATION 114
6.2.1 IMPROVING THE NUMERICAL EFFICIENCY 117
6.2.2 EXTENSION TO MIMO SYSTEMS 117
6.3 NOMINAL CLOSED-LOOP WITHOUT MODEL UNCERTAINTY 120
6.3.1 EXAMPLE 121
6.4 NOMINAL CLOSED-LOOP WITH MODEL UNCERTAINTY 124
6.4.1 FORMULATION OF THE WCO-NORM CONSTRAINT 127
6.4.2 SEQUENTIAL APPROACH TO THE OPTIMIZATION PROBLEM 130
6.5 DISCUSSION 130
7 MIMO MPC TUNING FOR DESIRED OPEN-LOOP PERFORMANCE 137
7.1 INTRODUCTION 137
7.2 REARRANGING THE CLOSED-LOOP 138
7.3 NEW TUNING APPROACH 139
7.3.1 CONVERGENCE PROBLEMS 140
7.3.2 DETERMINING THE K
L
VALUES 142
7.3.3 DETERMINING Q, A - AN IMPROVED APPROACH 143
7.4 EXAMPLE: SHELL STANDARD CONTROL PROBLEM 145
8 CASE STUDIES 147
8.1 AN ILL-CONDITIONED DISTILLATION COLUMN 147
8.1.1 PROCESS MODEL 148
8.1.2 SENSITIVITIES TO UNCERTAINTIES 149
8.1.3 LV MODEL 152
8.1.3.1 CONTROLLER DESIGN 152
8.1.3.2 DETERMINING MPC TUNING PARAMETERS 155
8.1.4 DV MODEL 159
8.1.4.1 CONTROLLER DESIGN 159
8.1.4.2 DETERMINING THE MPC TUNING PARAMETERS 159
8.1.5 DISCUSSION 160
8.2 DEBUTANIZER COLUMN 163
8.2.1 PROCESS MODEL 163
8.2.2 CONTROLLER DESIGN 164
8.2.3 DETERMINING THE MPC TUNING PARAMETERS 167
XIV CONTENTS
8.2.4 DESIGNING THE PREFILTER 167
8.2.5 DISCUSSION 169
8.3 A CONTINUOUS STIRRED TANK REACTOR 175
8.3.1 PROCESS MODEL 175
8.3.2 NUMERICAL SCALING OF THE PROCESS MODEL 176
8.3.3 CONTROLLER DESIGN 179
8.3.4 DETERMINING THE MPC TUNING PARAMETERS 181
8.3.5 DISCUSSION 182
9 CONCLUSIONS AND FUTURE WORK 185
9.1 CONCLUSIONS 185
9.1.1 LIMITATIONS OF THE FINAL TUNING APPROACH 187
9.1.1.1 EXAMPLE: DISTILLATION COLUMN (LV MODEL) 187
9.2 FUTURE WORK 190
APPENDIX A 193
A.L OBSERVABLE CANONICAL STATE-SPACE REPRESENTATION 193
A.2 CLOSED-LOOP STATE-SPACE REPRESENTATION OF MPC 194
A.3 ROBUST STABILITY OF MATRIX POLYTOPES 196
A.4 DISTANCE TO INSTABILITY 197
A.5 THE HURWITZ CRITERION 198
A.6 PARAMETERIZATION OF STABILIZING CONTROLLERS 198
A.6.1 EXTENSION TO MIMO PLANTS 200
APPENDIX B 203
B.L MODEL PARAMETERS AND MAIN OPERATING POINT OF CSTR 203
APPENDIX C 205
NOMENCLATURE 221
BIBLIOGRAPHY 225
RESUME 237 |
| any_adam_object | 1 |
| author | Shah, Gaurang 1980- |
| author_GND | (DE-588)1079276920 |
| author_facet | Shah, Gaurang 1980- |
| author_role | aut |
| author_sort | Shah, Gaurang 1980- |
| author_variant | g s gs |
| building | Verbundindex |
| bvnumber | BV043175926 |
| classification_rvk | ZQ 5200 |
| ctrlnum | (OCoLC)937217518 (DE-599)HBZHT018814634 |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV043175926 |
| illustrated | Not Illustrated |
| indexdate | 2024-08-03T02:48:03Z |
| institution | BVB |
| isbn | 9783844036275 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-028600009 |
| oclc_num | 937217518 |
| open_access_boolean | |
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| owner_facet | DE-83 |
| physical | XVIII, 236 Seiten 21 cm, 383 g |
| publishDate | 2015 |
| publishDateSearch | 2015 |
| publishDateSort | 2015 |
| publisher | Shaker |
| record_format | marc |
| series | Schriftenreihe des Lehrstuhls für Systemdynamik und Prozessführung |
| series2 | Schriftenreihe des Lehrstuhls für Systemdynamik und Prozessführung |
| spelling | Shah, Gaurang 1980- Verfasser (DE-588)1079276920 aut Bridging model predictive control and robust linear control theory vorgelegt von Gaurang Shah Aachen Shaker 2015 XVIII, 236 Seiten 21 cm, 383 g txt rdacontent n rdamedia nc rdacarrier Schriftenreihe des Lehrstuhls für Systemdynamik und Prozessführung 2015,5 Dissertation Universität Dortmund 2015 Robuste Kontrolle (DE-588)4232797-0 gnd rswk-swf Lineare Kontrolltheorie (DE-588)4123657-9 gnd rswk-swf Rührreaktor (DE-588)4115803-9 gnd rswk-swf Self-Tuning-Regelung (DE-588)4180913-0 gnd rswk-swf Prädiktive Regelung (DE-588)4271836-3 gnd rswk-swf Rektifizierkolonne (DE-588)4134977-5 gnd rswk-swf Prozessregelung (DE-588)4222919-4 gnd rswk-swf Lineare Regelung (DE-588)4035819-7 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Regelkreis (DE-588)4133165-5 gnd rswk-swf Linear Model Predictive Control Linear MPC MPC Tuning linear control theory (DE-588)4113937-9 Hochschulschrift gnd-content Prädiktive Regelung (DE-588)4271836-3 s Lineare Regelung (DE-588)4035819-7 s Self-Tuning-Regelung (DE-588)4180913-0 s Regelkreis (DE-588)4133165-5 s Lineare Kontrolltheorie (DE-588)4123657-9 s Robuste Kontrolle (DE-588)4232797-0 s Reglerentwurf (DE-588)4177447-4 s Prozessregelung (DE-588)4222919-4 s Rektifizierkolonne (DE-588)4134977-5 s Rührreaktor (DE-588)4115803-9 s DE-604 Schriftenreihe des Lehrstuhls für Systemdynamik und Prozessführung 2015,5 (DE-604)BV035738045 2015,5 B:DE-101 application/pdf http://d-nb.info/1069858188/04 Inhaltsverzeichnis X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=5207972&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=028600009&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Shah, Gaurang 1980- Bridging model predictive control and robust linear control theory Schriftenreihe des Lehrstuhls für Systemdynamik und Prozessführung Robuste Kontrolle (DE-588)4232797-0 gnd Lineare Kontrolltheorie (DE-588)4123657-9 gnd Rührreaktor (DE-588)4115803-9 gnd Self-Tuning-Regelung (DE-588)4180913-0 gnd Prädiktive Regelung (DE-588)4271836-3 gnd Rektifizierkolonne (DE-588)4134977-5 gnd Prozessregelung (DE-588)4222919-4 gnd Lineare Regelung (DE-588)4035819-7 gnd Reglerentwurf (DE-588)4177447-4 gnd Regelkreis (DE-588)4133165-5 gnd |
| subject_GND | (DE-588)4232797-0 (DE-588)4123657-9 (DE-588)4115803-9 (DE-588)4180913-0 (DE-588)4271836-3 (DE-588)4134977-5 (DE-588)4222919-4 (DE-588)4035819-7 (DE-588)4177447-4 (DE-588)4133165-5 (DE-588)4113937-9 |
| title | Bridging model predictive control and robust linear control theory |
| title_auth | Bridging model predictive control and robust linear control theory |
| title_exact_search | Bridging model predictive control and robust linear control theory |
| title_full | Bridging model predictive control and robust linear control theory vorgelegt von Gaurang Shah |
| title_fullStr | Bridging model predictive control and robust linear control theory vorgelegt von Gaurang Shah |
| title_full_unstemmed | Bridging model predictive control and robust linear control theory vorgelegt von Gaurang Shah |
| title_short | Bridging model predictive control and robust linear control theory |
| title_sort | bridging model predictive control and robust linear control theory |
| topic | Robuste Kontrolle (DE-588)4232797-0 gnd Lineare Kontrolltheorie (DE-588)4123657-9 gnd Rührreaktor (DE-588)4115803-9 gnd Self-Tuning-Regelung (DE-588)4180913-0 gnd Prädiktive Regelung (DE-588)4271836-3 gnd Rektifizierkolonne (DE-588)4134977-5 gnd Prozessregelung (DE-588)4222919-4 gnd Lineare Regelung (DE-588)4035819-7 gnd Reglerentwurf (DE-588)4177447-4 gnd Regelkreis (DE-588)4133165-5 gnd |
| topic_facet | Robuste Kontrolle Lineare Kontrolltheorie Rührreaktor Self-Tuning-Regelung Prädiktive Regelung Rektifizierkolonne Prozessregelung Lineare Regelung Reglerentwurf Regelkreis Hochschulschrift |
| url | http://d-nb.info/1069858188/04 http://deposit.dnb.de/cgi-bin/dokserv?id=5207972&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028600009&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV035738045 |
| work_keys_str_mv | AT shahgaurang bridgingmodelpredictivecontrolandrobustlinearcontroltheory |
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