Classical Feedback Control with Nonlinear Multi-Loop Systems : With MATLAB® and Simulink®, Third Edition (Paperback, 3 ed)

Preface To Instructors Feedback and Sensitivity1.1 Feedback Control System 1.2 Feedback: Positive and Negative1.3 Large Feedback1.4 Loop Gain and Phase Frequency Responses1.5 Disturbance Rejection 1.6 Example of System Analysis 1.7 Effect of Feedback on the Actuator Nondynamic Nonlinearity 1.8 Sensitivity 1.9 Effect of Finite Plant Parameter Variations 1.10 Automatic Signal Level Control 1.11 Lead and PID Compensators 1.12 Conclusion and a Look Ahead Problems Answers to Selected Problems Feedforward, Multi-loop, and MIMO Systems2.1 Command Feedforward 2.2 Prefilter and the Feedback Path Equivalent 2.3 Error Feedforward 2.4 Black’s Feedforward 2.5 Multi-loop Feedback Systems 2.6 Local, Common, and Nested Loops 2.7 Crossed Loops and Main/Vernier Loops 2.8 Block Diagram Manipulations and Transfer Function Calculations 2.9 MIMO Feedback Systems Problems Frequency Response Methods3.1 Conversion of Time Domain Requirements to Frequency Domain 3.2 Closed-Loop Transient Response 3.3 Root Locus 3.4 Nyquist Stability Criterion 3.5 Robustness and Stability Margins 3.6 Nyquist Criterion for Unstable Plants 3.7 Successive Loop Closure Stability Criterion (Bode-Nyquist) 3.8 Nyquist Diagrams for Loop Transfer Functions with Poles at the Origin 3.9 Bode Phase-Gain Relation 3.10 Phase Calculations 3.11 From the Nyquist Diagram to the Bode Diagram 3.12 Non-minimum Phase Lag 3.13 Ladder Networks and Parallel Connections of M.P. Links 3.14 Other Bode Definite Integrals Problems Answers to Selected Problems Shaping the Loop Frequency Response4.1 Optimality of the Compensator Design 4.2 Feedback Maximization 4.3 Feedback Bandwidth Limitations 4.4 Coupling in MIMO Systems 4.5 Shaping Parallel Channel Responses Problems Answers to Selected Problems Compensator Design5.1 Loop Shaping Accuracy 5.2 Asymptotic Bode Diagram 5.3 Approximation of Constant Slope Gain Response 5.4 Lead and Lag Links 5.5 Complex Poles 5.6 Cascaded Links 5.7 Parallel Connection of Links 5.8 Simulation of a PID Controller 5.9 Analog and Digital Controllers 5.10 Digital Compensator DesignProblems Answers to Selected Problems Analog Controller Implementation6.1 Active RC Circuits 6.2 Design and Iterations in the Element Value Domain 6.3 Analog Compensator, Analog or Digitally Controlled 6.4 Switched-Capacitor Filters 6.5 Miscellaneous Hardware Issues 6.6 PID Tunable Controller 6.7 Tunable Compensator with One Variable Parameter 6.8 Loop Response Measurements Problems Answers to Selected Problems Linear Links and System Simulation7.1 Mathematical Analogies 7.2 Junctions of Unilateral Links 7.3 Effect of the Plant and Actuator Impedances on the Plant Transfer Function Uncertainty 7.4 Effect of Feedback on the Impedance (Mobility) 7.5 Effect of Load Impedance on Feedback 7.6 Flowchart for Chain Connection of Bidirectional Two-Ports 7.7 Examples of System Modeling 7.8 Flexible Structures 7.9 Sensor Noise 7.10 Mathematical Analogies to the Feedback System 7.11 Linear Time-Variable Systems Problems Answers to Selected Problems Introduction to Alternative Methods of Controller Design8.1 QFT 8.2 Root Locus and Pole Placement Methods 8.3 State-Space Methods and Full-State Feedback 8.4 LQR and LQG 8.5 H8, μ-Synthesis, and Linear Matrix Inequalities Adaptive Systems9.1 Benefits of Adaptation to the Plant Parameter Variations 9.2 Static and Dynamic Adaptation 9.3 Plant Transfer Function Identification 9.4 Flexible and N. P. Plants 9.5 Disturbance and Noise Rejection 9.6 Pilot Signals and Dithering Systems 9.7 Adaptive Filters Provision of Global Stability10.1 Nonlinearities of the Actuator, Feedback Path, and Plant 10.2 Types of Self-Oscillation 10.3 Stability Analysis of Nonlinear Systems 10.4 Absolute Stability 10.5 Popov Criterion 10.6 Applications of Popov Criterion 10.7 Absolutely Stable Systems with Nonlinear Dynamic Compensation Problems Answers to Selected Problems Describing Functions11.1 Harmonic Balance 11.2 Describing Function 11.3 Describing Functions for Symmetrical Piece-Linear Characteristics 11.4 Hysteresis 11.5 Nonlinear Links Yielding Phase Advance for Large-Amplitude Signals 11.6 Two Nonlinear Links in the Feedback Loop 11.7 NDC with a Single Nonlinear Nondynamic Link 11.8 NDC with Parallel Channels 11.9 NDC Made with Local Feedback 11.10 Negative Hysteresis and Clegg Integrator 11.11 Nonlinear Interaction between the Local and the Common Feedback Loops 11.12 NDC in Multi-loop Systems 11.13 Harmonics and Intermodulation 11.14 Verification of Global Stability Problems Answers to Selected Problems Process Instability12.1 Process Instability 12.2 Absolute Stability of the Output Process 12.3 Jump Resonance 12.4 Subharmonics 12.5 Nonlinear Dynamic Compensation Problems Multiwindow Controllers13.1 Composite Nonlinear Controllers 13.2 Multiwindow Control 13.3 Switching from a Hot Controller to a Cold Controller 13.4 Wind-Up and Anti-Wind-Up Controllers 13.5 Selection Order 13.6 Acquisition and Tracking 13.7 Time-Optimal Control 13.8 ExamplesProblems Nonlinear Multi-Loop Systems with Uncertainty14.1 Systems with High-Frequency Plant Uncertainty 14.2 Stability and Multi-frequency Oscillations in Band-Pass Systems14.3 Bode Single-loop Systems 14.4 Multi-Input Multi-Output Systems14.5 Nonlinear Multi-loop Feedback 14.6 Design of the Internal Loops 14.7 Input Signal Reconstruction Appendix 1: Feedback Control, Elementary Treatment Appendix 2: Frequency Responses Appendix 3: Causal Systems, Passive Systems, Positive Real Functions, and Collocated Control Appendix 4: Derivation of Bode Integrals Appendix 5: Program for Phase Calculation Appendix 6: Generic Single-Loop Feedback System Appendix 7: Effect of Feedback on Mobility Appendix 8: Regulation Appendix 9: Balanced Bridge Feedback Appendix 10: Phase-Gain Relation for Describing FunctionsAppendix 11: Discussions Appendix 12: Design Sequence Appendix 13: Examples Appendix 14: Bode Step Toolbox Appendix 15: Nonlinear Multi-loop Feedback Control (Patent Application)Bibliography Notation Index