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Advanced Modern Control System Theory and Design

Book Description

The definitive guide toadvanced control system design

Advanced Modern Control System Theory and Design offers the most comprehensive treatment of advanced control systems available today. Superbly organized and easy to use, this book is designed for an advanced course and is a companion volume to the introductory text, Modern Control System Theory and Design, Second Edition (or any other introductory book on control systems). In addition, it can serve as an excellent text for practicing control system engineers who need to learn more advanced control systems techniques in order to perform their tasks.

Advanced Modern Control Systems Theory and Design briefly reviews introductory control system analysis concepts and then presents the methods for designing linear control sys-tems using single-degree and two-degrees-of-freedom compensation techniques. The very important subjects of modern control system design using state-space, pole placement, Ackermann's formula, estimation, robust control, and H8 techniques are then presented. The following crucial subjects are then covered in the presentation:

* Digital Control System Analysis and Design-extends the continuous concepts presented to discrete systems

* Nonlinear Control System Design-extends the linear concepts presented tononlinear systems

* Introduction to Optimal Control Theory and Its Applications-presents such key topics as dynamic programming and the maximum principle, as well as applications to the space attitude control problem and the lunar soft-landing problem

* Control System Design Examples: Complete Case Studies-presents the complete case studies of five control system design examples that illustrate practical design projects

Other notable features of this volume are:

* Free MATLAB software containing problem solutions which can be retrieved from the Mathworks, Inc. anonymous FTP server at ftp://ftp.mathworks.com/pub/books/advshinners

* MATLAB programs and a tutorial on the use of MATLAB incorporated directly into the text

* An extensive set of worked-out, illustrative solutions added in dedicated sections at the end of chapters

* End-of-chapter problems-one-third with answers to facilitate self-study

* A solutions manual containing solutions to the remaining two-thirds of the problems available from the Wiley editorial department.

Table of Contents

  1. Cover Page
  2. Title Page
  3. Copyright
  4. Dedication
  5. Contents
  6. PREFACE
    1. Major Enhancement for Learning
    2. Primary Features of Advanced Modem Control System Theory and Design
    3. Chapter Organization
    4. The Learning Package
    5. ACKNOWLEDGMENTS
  7. 1: INTRODUCTION
    1. 1.1. INTRODUCTION
    2. 1.2. GOAL OF ADVANCED MODERN CONTROL SYSTEM THEORY AND DESIGN
    3. 1.3. CONTROL SYSTEM PERFORMANCE OBJECTIVES
    4. 1.4. THE PROCEDURE FOR DESIGNING A CONTROL SYSTEM
    5. 1.5. OUTUNE OF ADVANCED MODERN CONTROL SYSTEM THEORY AND DESIGN
    6. 1.6. ADVANCED MODERN CONTROL SYSTEM THEORY ANDDESIGN TOOLBOX
    7. 1.7. ILLUSTRATIVE PROBLEMS AND SOLUTIONS [ 1 ]
    8. PROBLEMS
    9. REFERENCES
  8. 2: LINEAR CONTROL-SYSTEM COMPENSATION AND DESIGN
    1. 2.1. INTRODUCTION
    2. 2.2. CASCADE-COMPENSATION TECHNIQUES
    3. 2.3. MINOR-LOOP FEEDBACK-COMPENSATION TECHNIQUES
    4. 2.4. PROPORTIONAL-PLUS-INTEGRAL-PLUS DERIVATIVE (PID) COMPENSATORS
    5. 2.5. EXAMPLE FOR THEDESIGN OF A SECOND-ORDER CONTROL SYSTEM
    6. 2.6. COMPENSATION AND DESIGN USING THE BODE-DIAGRAM METHOD
    7. 2.7. APPROXIMATE METHODS FOR PRELIMINARY COMPENSATION AND DESIGN USING THE BODE DIAGRAM
    8. 2.8. COMPENSATION AND DESIGN USING THE NICHOLS CHART
    9. 2.9. COMPENSATION AND DESIGN USING THE ROOT-LOCUS METHOD
    10. 2.10. TRADEOFFS OF USING VARIOUS CASCADE-COMPENSATION METHODS AND MINOR-LOOP FEEDBACK
    11. 2.11. ILLUSTRATIVE PROBLEMS AND SOLUTIONS
    12. PROBLEMS
    13. REFERENCES
  9. 3: MODERN CONTROL-SYSTEM DESIGN USING STATE-SPACE, POLE PLACEMENT, ACKERMANN'S FORMULA, ESTIMATION, ROBUST CONTROL, AND H ∞ TECHNIQUES
    1. 3.1. INTRODUCTION
    2. 3.2. POLE-PLACEMENT DESIGN USING LINEAR-STATE-VARIABLE FEEDBACK
    3. 3.3. CONTROLLER DESIGN USING POLE PLACEMENT AND LINEAR-STATE-VARIABLE FEEDBACK TECHNIQUES
    4. 3.4. CONTROLLABILITY
    5. 3.5. OBSERVABILITY
    6. 3.6. ACKERMANN'S FORMULA FOR DESIGN USING POLE PLACEMENT [ 5 – 7 ]
    7. 3.7. ESTIMATOR DESIGN IN CONJUNCTION WITH THE POLE PLACEMENT APPROACH USING UNEAR-STATE-VARIABLE FEEDBACK
    8. 3.8. COMBINED COMPENSA FOR DESIGN INCLUDING A CONTROLLER AND AN ESTIMATOR FOR A REGULATOR SYSTEM
    9. 3.9. EXTENSION OF COMBINED COMPENSATOR DESIGN INCLUDING A CONTROLLER AND AN ESTIMATOR FOR SYSTEMS CONTAINING A REFERENCE INPUT
    10. 3.10. ROBUST CONTROL SYSTEMS [ 10 – 14 ]
    11. 3.11. AN INTRODUCTION TO H ∞ CONTROL CONCEPTS [ 16 , 17 ]
    12. 3.12. FOUNDATIONS OF H ∞ CONTROL THEORY
    13. 3.13. LINEAR ALGEBRAIC ASPECTS OF CONTROL-SYSTEM DESIGN COMPUTATIONS [ 22 – 25 ]
    14. 3.14. ILLUSTRATIVE PROBLEMS AND SOLUTIONS
    15. PROBLEMS
    16. REFERENCES
  10. 4: DIGITAL CONTROL-SYSTEM ANALYSIS AND DESIGN
    1. 4.1. INTRODUCTION
    2. 4.2. CHARACTERISTICS OF SAMPLING
    3. 4.3. DATA EXTRAPOLATORS
    4. 4.4. z -TRANSFORM THEORY
    5. 4.5. z -TRANSFORM BLOCK-DIAGRAM ALGEBRA
    6. 4.6. CHARACTERISTIC RESPONSE OF A SAMPLER AND ZERO-ORDER HOLD COMBINATION
    7. 4.7. STABILITYANALYSIS USING THE NYQUIST DIAGRAM
    8. 4.8. STABILITY DETERMINATION USING MATHEMATICAL TESTS
    9. 4.9. STABILITY ANALYSIS AND DESIGN USING THE BODE DIAGRAM
    10. 4.10. STABIUTY ANALYSIS AND DESIGN USING THEROOT-LOCUS DIAGRAM
    11. 4.11. BODE AND ROOT-LOCUS DIAGRAMS FOR DISCRETE TIMESYSTEMS USING MATLAB [ 13 ]
    12. 4.12. RAGAZZINI'S METHOD
    13. 4.13. THE DIGITIZATION PROCESS AND THE DESIGN OF DIGITAL FILTERS [ 2 ]
    14. 4.14. SUMMARY
    15. 4.15. IUUSTRATIVE PROBLEMS AND SOLUTIONS
    16. PROBLEMS
    17. REFERENCES
  11. 5: NONLINEAR CONTROL-SYSTEM DESIGN
    1. 5.1. INTRODUCTION
    2. 5.2. NONLINEAR DIFFERENTIAL EQUATIONS
    3. 5.3. PROPERTIES OF LINEAR SYSTEMS THAT ARE NOT VALID FOR NONLINEAR SYSTEMS
    4. 5.4. UNIQUE CHARACTERISTICS OF NONLINEAR SYSTEMS
    5. 5.5. METHODS AVAILABLE FOR ANALYZING NONUNEAR SYSTEMS
    6. 5.6. UNEARIZING APPROXIMATIONS
    7. 5.7. DESCRIBING-FUNCTION CONCEPT
    8. 5.8. DERIVATION OF DESCRIBING FUNCTIONS FOR COMMON NONLINEARITIES
    9. 5.9. USE OF THE DESCRIBING FUNCTION TO PREDICT OSCILLATIONS
    10. 5.10. COMPENSATION AND DESIGN OF NONLINEAR CONTROL SYSTEMS USING DESCRIBING FUNCTIONS
    11. 5.11. DESCRIBING-FUNCTION ANALYSIS AND DESIGN USING MATLAB [ 29 ]
    12. 5.12. DIGITAL COMPUTER PROGRAMS FOR PERFORMING THE DESCRIBING-FUNCTION ANALYSIS
    13. 5.13. PIECEWISE-LINEAR APPROXIMATIONS
    14. 5.14. STATE-VARIABLE ANALYSIS: THE PHASE PLANE
    15. 5.15. CONSTRUCTION OF THE PHASE PORTRAIT
    16. 5.16. CHARACTERISTICS OF THE PHASE PORTRAIT
    17. 5.17. PHASE PLANE FOR SYSTEMS CONTAINING EXTERNAL FORCING FUNCTIONS
    18. 5.18. DESIGN OF NONLINEAR FEEDBACK CONTROL SYSTEMS USING THE STATE-VARIABLE PHASE-PLANE METHOD
    19. 5.19. DIGITAL COMPUTER PROGRAM FOR OBTAINING THE PHASE PLANE
    20. 5.20. LIAPUNOV'S STABIUTY CRITERIA
    21. 5.21. POPOV'S METHOD
    22. 5.22. GENERALIZED CIRCLE CRITERION
    23. 5.23. GUIDELINES FOR SELECTING THE “BEST” NONLINEAR CONTROL SYSTEM METHOD(S) PRESENTED FOR ANALYSIS AND DESIGN
    24. 5.24. ILLUSTRATIVE PROBLEMS AND SOLUTIONS
    25. PROBLEMS
    26. REFERENCES
  12. 6: INTRODUCTION TO OPTIMAL CONTROL THEORY AND ITS APPLICATIONS
    1. 6.1. INTRODUCTION
    2. 6.2. CHARACTERISTICS OF THE OPTIMAL CONTROL PROBLEM
    3. 6.3. CALCULUS OF VARIATIONS
    4. 6.4. DYNAMIC PROGRAMMING
    5. 6.5. PONTRYAGIN'S MAXIMUM PRINCIPLE
    6. 6.6. APPLICATION OF THE MAXIMUM PRINCIPLE TO THE SPACE ATTITUDE-CONTROL PROBLEM
    7. 6.7. APPLICATION OF THE MAXIMUM PRINCIPLE TO THE LUNAR SOFT-LANDING PROBLEM
    8. 6.8. ILLUSTRATIVE PROBLEMS AND SOLUTIONS
    9. PROBLEMS
    10. REFERENCES
  13. 7: CONTROL-SYSTEM DESIGN EXAMPLES: COMPLETE CASE STUDIES
    1. 7.1. INTRODUCTION
    2. 7.2. OUTLINE OF PROCEDURE FOR DESIGNING A CONTROL SYSTEM [ 1 , 2 ]
    3. 7.3. EXAMPLE 1: DESIGN FOR THE POSITIONING SYSTEM OF A TRACKING RADAR USING LINEAR AND NONLINEAR TECHNIQUES JOINTLY [ 1 ]
    4. 7.4. EXAMPLE 2: DESIGN OF AN ANGULAR CONTROL SYSTEM FOR A ROBOT'S JOINT
    5. 7.5. EXAMPLE 3: DESIGN OF THE CONTROLLER AND FULL-ORDER ESTIMATOR FOR A SPACE SATELLITE'S ATTITUDE-CONTROL SYSTEM WITH POLE PLACEMENT USING LINEAR-STATE-VARIABLE FEEDBACK
    6. 7.6. EXAMPLE 4: DESIGN OF A SAMPLED-DATA CONTROL SYSTEM FOR CONTROLLING THE TEMPERATURE OF A LIQUID IN A TANK
    7. 7.7. EXAMPLE 5: DESIGN OF A ROBUST CONTROL SYSTEM FOR CONTROLLING THE FLAPS OF A HYDROFOIL [ 6 – 10 ]
    8. PROBLEMS
    9. REFERENCES
  14. APPENDIX A: TUTORIAL FOR THE EFFECTIVE USE OF MATLAB
    1. A.1. INTRODUCTION
    2. A.2. First Time Usage—Software For Engineering
    3. A.3. Rrst Time Usage—MATLAS Installation
    4. A.4. First Time Usage—Performance Tuning MATLAB
    5. A.5. First Time Usage—MATLAB Fundamental Concepts
    6. A.6. First Time Usage—Matrix Representations
    7. A.7. First Time Usage—MATLAB Fundamentals
    8. A.9. Summary of MATLAB and Advanced Modern Control System Theory and Design Toolbox Commands
  15. APPENDIX B: CHARACTERISTIC RESPONSES OF SECOND-ORDER CONTROL SYSTEMS
  16. APPENDIX C: STATIC ACCURACY
  17. ANSWERS TO SELECTED PROBLEMS
    1. CHAPTER 1
    2. CHAPTER 2
    3. CHAPTER 3
    4. CHAPTER 4
    5. CHAPTER 5
    6. CHAPTER 6
    7. CHAPTER 7
  18. INDEX