Robust Control Engineering : Practical QFT Solutions (Paperback)

PrefaceChapter 1. INTRODUCTION1-1. The control engineer’s leadership1-2. QFT robust control engineering1-3. Book’s outline1-4. Courses and modulesChapter 2. QFT ROBUST CONTROL2-1. Introduction2-2. Plant modeling ?Step 12-3. The nominal plant ?Step 22-4. QFT-templates ?Step 32-5. Stability specifications ?Step 42-6. Performance specifications ?Step 52-7. QFT-bounds ?Steps 6 to 82-8. Controller design, G(s). Loop-shaping ?Step 92-9. Prefilter design, F(s) ?Step 102-10. Analysis and validation ?Steps 11 to 132-11. Model matching2-12. Feedforward control2-13. P.I.D. control: design and tuning with QFT2-14. Practical tips2-15. Summary2-16. PracticeChapter 3. UNSTABLE SYSTEMS AND CONTROL SOLUTIONS3-1. Introduction3-2. Understanding gain/phase margins and Ws circles3-3. The Nyquist stability criterion3-4. Nyquist stability criterion in the Nichols chart3-5. Examples3-6. Guidelines to design controllers3-7. Analysis of the first case3-8. Summary3-9. PracticeChapter 4. TIME-DELAY AND NON-MINIMUM PHASE SYSTEMS4-1. Time-delay systems4-2. Robust design of the Smith Predictor4-3. Continuing with Example 4.14-4. Non-minimum phase systems4-5. Summary4-6. PracticeChapter 5. DISTRIBUTED PARAMETER SYSTEMS5-1. Introduction5-2. Modeling approaches for PDE5-3. Generalized DPS control system structure5-4. Extension of Quantitative Feedback Theory to DPS5-5. Example 5.1: Heat conduction with distributed temperature5-5. Summary5-6. PracticeChapter 6. GAIN SCHEDULING / SWITCHING CONTROL SOLUTIONS6-1. Introduction6-2. System stability under switching6-3. Methodology6-4. Examples6-5. Summary6-6. PracticeChapter 7. NONLINEAR DYNAMIC CONTROL7-1. Introduction7-2. The circle stability criterion7-3. Nonlinear dynamic control. One nonlinearity7-4. Anti wind-up solution for PID controllers7-5. Nonlinear dynamic control. Several nonlinearities7-6. Summary7-7. PracticeChapter 8. MULTI-INPUT MULTI-OUTPUT SYSTEMS: ANALYSIS & CONTROL8-1. Introduction8-2. Formulation for n×n systems8-3. MIMO systems ? description and characteristics8-4. MIMO QFT control ?overview8-5. Non-diagonal MIMO QFT. Method 18-6. Non-diagonal MIMO QFT. Method 28-7. Comparison of Methods 1 and 28-8. Heat exchanger, Example 8.1. MIMO QFT Method 18-9. Heat exchanger, Example 8.1. MIMO QFT Method 28-10. Summary8-11. PracticeChapter 9. CONTROL TOPOLOGIES9-1. Introduction9-2. Cascade control systems9-3. Feedforward control systems9-4. Override control systems9-5. Ratio control systems9-6. Mid-range control systems9-7. Load-sharing control systems9-8. Split-range control systems9-9. Inferential control systems9-10. Auctioneering control systems9-11. Summary9-12. PracticeChapter 10. CONTROLLER IMPLEMENTATION10-1. Introduction10-2. Analog implementation10-3. Digital implementation10-4. Fragility analysis with QFT10-5. Summary10-6. PracticeCase study CS1. Satellite controlCS1-1. DescriptionCS1-2. Plant modelCS1-3. Preliminary analysisCS1-4. Control specificationsCS1-5. Controller designCS1-6. Analysis and validationCS1-7. SummaryCase study CS2. Wind turbine controlCS2-1. DescriptionCS2-2. Plant modelCS2-3. Preliminary analysisCS2-4. Control specificationsCS2-5. Controller designCS2-6. Analysis and validationCS2-7. Extension to higher wind velocitiesCS2-8. SummaryCase study CS3. Wastewater treatment plant controlCS3-1. DescriptionCS3-2. Plant modelCS3-3. Preliminary analysisCS3-4. Control specificationsCS3-5. Controller designCS3-6. Analysis and validationCS3-7. SummaryCase study CS4. Radio-telescope controlCS4-1. DescriptionCS4-2. Plant modelCS4-3. Preliminary analysisCS4-4. Azimuth axis. Velocity controlCS4-5. Azimuth axis. Position controlCS4-6. Simulation: Position and velocity loopsCS4-7. Improving with Nonlinear Dynamic ControlCS4-8. SummaryCase study CS5. Attitude and position control of spacecraft telescopes with flexible appendagesCS5-1. IntroductionCS5-2. System description and modelingCS5-3. Control specificationsCS5-4. Control system designCS5-5. Simulation and validationCS5-6. SummaryAppendix 1. PROJECTS AND PROBLEMSA1-1. PROJECTSProject P1. Vehicle active suspension controlProject P2. DVD Head controlProject P3. Inverted pendulum controlProject P4. Interconnected micro-grids controlProject P5. Distillation column controlProject P6. Central heating system controlProject P7. Multi-tank hydraulic control systemProject P8. Attitude control of a satellite with fuel tanks partially filledA1-2. QUICK PROBLEMSProblem Q1. Definition of uncertaintyProblem Q2. Control of first-order system with uncertaintyProblem Q3. Control of third-order State space system with uncertaintyProblem Q4. Field-controlled DC motorProblem Q5. Formation flying spacecraft control. Deep spaceProblem Q6. Helicopter controlProblem Q7. Two cart problemProblem Q8. Two flow problemProblem Q9. 2×2 MIMO systemProblem Q10. 2×2 MIMO systemProblem Q11. Spacecraft flying in formation in Low Earth OrbitProblem Q12. 3×3 MIMO systemAppendix 2. QFT CONTROL TOOLBOX (QFTCT). USER’S GUIDEAppendix 3. ALGORITHM. NYQUIST STABILITY CRITERION IN NICHOLS CHARTAppendix 4. ALGORITHMS. SMITH PREDICTOR ROBUST CONTROLAppendix 5. ALGORITHMS. DPS ROBUST CONTROLAppendix 6. ALGORITHMS. GAIN SCHEDULING / SWITCHING CONTROLAppendix 7. ALGORITHMS. NONLINEAR DYNAMIC CONTROLAppendix 8. ALGORITHMS. MIMO ROBUST CONTROLAppendix 9. CONVERSION OF UNITSReferences