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Control Theory - Torkel Glad

Paperback Published: 30th March 2000
ISBN: 9780748408788
Number Of Pages: 482

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This is a textbook designed for an advanced course in control theory. Currently most textbooks on the subject either looks at "multivariate" systems or "non-linear" systems. However, Control Theory is the only textbook available that covers both. It explains current developments in these two types of control techniques, and looks at tools for computer-aided design, for example Matlab and its toolboxes. To make full use of computer design tools, a good understanding of their theoretical basis is necessary, and to enable this, the book presents relevant mathematics clearly and simply. The practical limits of control systems are explored, and the relevance of these to control design are discussed. Control Theory is an ideal textbook for final-year undergraduate and postgraduate courses, and the student will be helped by a series of exercises at the end of each chapter. Professional engineers will also welcome it as a core reference.

Prefacep. xi
Notationp. xiii
Introductionp. 1
Multivariable Systemsp. 2
Nonlinear Systemsp. 5
Discrete and Continuous Time Models and Controllersp. 6
Some Basic Concepts in Controlp. 8
Gain and Signal Sizep. 15
Stability and the Small Gain Theoremp. 18
Commentsp. 22
Linear Systemsp. 25
Representation of Linear Systemsp. 27
Impulse Response and Weighting Functionp. 27
Transfer Function Matricesp. 28
Transfer Operatorp. 30
Input--Output Equationsp. 30
State Space Formp. 31
Discrete Time Systemsp. 37
Commentsp. 41
Properties of Linear Systemsp. 43
Solving the System Equationsp. 43
Controllability and Observabilityp. 44
Poles and Zerosp. 48
Stabilityp. 53
Frequency Response and Frequency Functionsp. 58
Model Reductionp. 63
Discrete Time Systemsp. 68
Commentsp. 77
Proofsp. 79
Sampled Data Systemsp. 83
Approximating Continuous Time Systemsp. 83
System Samplingp. 85
Poles and Zerosp. 90
Controllability and Observabilityp. 93
Frequency Functionsp. 96
Commentsp. 99
Disturbance Modelsp. 101
Disturbancesp. 101
Signal Size and Scalingp. 103
Spectral Description of Disturbancesp. 106
Description of Disturbances in the Time Domainp. 112
Estimation of One Signal from Anotherp. 114
Measurement and System Disturbancesp. 116
Observers and Kalman Filtersp. 124
Discrete Time Systemsp. 131
Practical Aspects of Signal Samplingp. 139
Commentsp. 140
Proofsp. 141
Linear Control Theoryp. 145
The Closed Loop Systemp. 147
The Transfer Functions of the Closed Loop Systemp. 147
Stability of the Closed Systemp. 150
Sensitivity and Robustnessp. 152
Specificationsp. 155
Specifications in the Time Domainp. 156
Specifications in the Frequency Domainp. 159
Sampled Data Controllersp. 164
Commentsp. 169
Basic Limitations in Control Designp. 171
Scaling of Variablesp. 171
Intuitive Analysisp. 172
Loop Gain Limitationsp. 176
S and T: Individual Limitationsp. 179
Consequences for the System Performancep. 186
Effects of Control Signal Boundsp. 192
The Multivariable Casep. 195
Some Examplesp. 201
Commentsp. 208
Proofsp. 209
Controller Structures and Control Designp. 215
Main Ideasp. 216
Configuration of Multivariable Controllersp. 219
Internal Model Controlp. 228
Feedback from Reconstructed Statesp. 233
Commentsp. 237
Minimization of Quadratic Criteria: LQGp. 239
The Criterion and the Main Ideasp. 239
The Optimal Controller: Main Resultsp. 242
Some Practical Aspectsp. 247
Robustness for LQG Controllersp. 257
Discrete Time Systemsp. 264
Commentsp. 271
Proofsp. 273
Loop Shapingp. 277
Direct Methodsp. 277
Formalization of the Requirementsp. 278
Optimal H[subscript 2] Controlp. 284
Optimal H[subscript infinity] Controlp. 285
Robust Loop Shapingp. 293
Discrete Time Systemsp. 300
Commentsp. 301
To Decrease the Spread of the Singular Valuesp. 303
Nonlinear Control Theoryp. 305
Describing Nonlinear Systemsp. 307
Linear Versus Nonlinearp. 308
Examples of Nonlinear Systemsp. 312
Mathematical Descriptionp. 314
Equilibria and Linearizationp. 317
Commentsp. 319
Stability of Nonlinear Systemsp. 321
Stability of Equilibriap. 321
Stability and Lyapunov Functionsp. 323
The Circle Criterionp. 329
Commentsp. 335
Proofsp. 337
Phase Plane Analysisp. 339
Phase Planes for Linear Systemsp. 339
Phase Planes for Nonlinear Systemsp. 346
Commentsp. 352
Oscillations and Describing Functionsp. 355
The Describing Function Methodp. 356
Computing Amplitude and Frequency of Oscillationsp. 360
Commentsp. 364
Some Describing Functionsp. 366
Controller Synthesis for Nonlinear Systemsp. 371
Linear Design and Nonlinear Verificationp. 371
Nonlinear Internal Model Controlp. 372
Parametric Optimizationp. 374
Other Approachesp. 377
State Feedback and Observerp. 378
Commentsp. 382
Model Predictive Controlp. 383
Basic Idea: Predict the Outputp. 383
[kappa]-step Prediction for Linear Systemsp. 384
The Criterion and the Controllerp. 385
Commentsp. 391
To Compensate Exactly for Nonlinearitiesp. 393
Examples of Exact Linearizationp. 393
Relative Degreep. 395
Input-Output Linearizationp. 397
Exact State Linearizationp. 401
Commentsp. 405
Optimal Controlp. 407
The Goddard Rocket Problemp. 407
The Maximum Principlep. 410
Solution of the Goddard Rocket Problemp. 424
Minimum Time Problemsp. 428
Optimal Feedbackp. 436
Numerical Methodsp. 442
Commentsp. 444
Proof of the Maximum Principlep. 445
Some Final Wordsp. 451
Table of Contents provided by Syndetics. All Rights Reserved.

ISBN: 9780748408788
ISBN-10: 0748408789
Audience: Tertiary; University or College
Format: Paperback
Language: English
Number Of Pages: 482
Published: 30th March 2000
Publisher: Taylor & Francis Ltd
Country of Publication: GB
Dimensions (cm): 23.5 x 15.88  x 3.81
Weight (kg): 0.73
Edition Number: 1

Earn 214 Qantas Points
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