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Differentially Flat Systems : Control Engineering - Sunil Kumar Agrawal

Differentially Flat Systems

Control Engineering

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Illustrating the power, simplicity, and generality of the concept of flatness, this reference explains how to identify, utilize, and apply flatness in system planning and design. The book includes a large assortment of exercises and models that range from elementary to complex classes of systems. Leading students and professionals through a vast array of designs, simulations, and analytical studies on the traditional uses of flatness, Differentially Flat Systems contains an extensive amount of examples that showcase the value of flatness in system design, demonstrate how flatness can be assessed in the context of perturbed systems and apply static and dynamic feedback controller design techniques.

Series Introductionp. iii
Prefacep. v
Acknowledgmentsp. xi
Introductionp. 1
Linear Time-Invariant SISO Systemsp. 11
Introductionp. 11
Systems in Transfer Function Formp. 12
A Relation with the Behavioral Approachp. 16
Systems in State Space Formp. 17
The Non-Minimum Phase Issuep. 28
Uses of the Differential Parametrizationp. 33
The Issue of Additive External Perturbationsp. 49
Historical Notes and Referencesp. 57
Problemsp. 57
Linear Time-Invariant MIMO Systemsp. 69
Introductionp. 69
Systems in Polynomial Matrix Representationp. 70
Systems in Rational Transfer Matrix Representationp. 74
Non-square Systems in Polynomial Matrix Descriptionp. 83
Systems in State Space Representationp. 84
Historical Notes and Referencesp. 95
Problemsp. 95
Time-Varying Linear Systemsp. 101
Introductionp. 101
Flatness of SISO Time-Varying Linear Systemsp. 102
Trajectory Tracking in Nonlinear Systemsp. 108
Flatness of MIMO Time-Varying Linear Systemsp. 121
The Non-Uniformly Controllable Casep. 126
Historical Notes and Referencesp. 130
Problemsp. 130
Discrete-Time Linear Systemsp. 137
Introductionp. 137
Systems in Transfer Function Formp. 137
The Non-Minimum Phase Casep. 144
Linear SISO Controllable Systems in State Formp. 146
A Shape Control Problem in a Rolling Millp. 161
Historical Notes and Referencesp. 163
Problemsp. 164
Infinite Dimensional Linear Systemsp. 169
Introductionp. 169
Linear Delay Differential Systemsp. 170
Systems Described by Partial Differential Equationsp. 175
Historical Notes and Referencesp. 187
SISO Nonlinear Systemsp. 191
Introductionp. 191
Definitionsp. 192
Feedback Linearizable SISO Systemsp. 194
Some General Results on the Flatness of SISO Nonlinear Systemsp. 200
The Flatness Property in the Analysis of Nonlinear Systemsp. 202
Tracking Arbitrary Trajectoriesp. 206
Finding the Flat Outputp. 214
Multivariable Nonlinear Systemsp. 221
Introductionp. 221
Systems Linearizable by Static State Feedbackp. 221
Systems Linearizable by Dynamic Feedbackp. 229
Some General Results for MIMO Systemsp. 251
An Alternative View of Flatnessp. 255
Historical Notes and Referencesp. 257
Problemsp. 258
Mobile Robotsp. 269
Introductionp. 269
Modelling Nonholonomic Carsp. 270
Flatness Based Control of a Non-Holonomic Carp. 284
The PPR Planar Robotp. 287
The Hovercraft Systemp. 296
The Walking Toyp. 307
Historical Notes and Referencesp. 314
Problemsp. 314
Flatness and Optimal Trajectoriesp. 323
Introductionp. 323
Functionals of a Single Functionp. 325
Functionals of n Functionsp. 329
Functionals with Higher Derivativesp. 333
Functionals with Constraintsp. 338
Trajectory Optimization Problemsp. 342
Higher-Order or Differentially Flat Formsp. 356
Historical Notesp. 370
Problemsp. 372
Optimal Planning with Constraintsp. 377
First-Order Systems with Inequalitiesp. 377
Higher-Order Systems with Inequalitiesp. 383
Numerical Solution via Nonlinear Programmingp. 388
Feasible Planning in Near Real-Timep. 396
Historical Notesp. 408
Non-Differentially Flat Systemsp. 411
Introductionp. 411
Liouvillian Systemsp. 411
Fuel Consumption in a Carp. 413
The Monge Equationp. 416
The Variable Length Pendulump. 417
A Simplified Model of a Helicopterp. 424
The Underactuated Shipp. 430
The Soft Landing Problemp. 438
A High Frequency Control Approachp. 445
Some Other Non-Differentially Flat Systemsp. 452
Historical Notes and Referencesp. 455
Problemsp. 455
Indexp. 461
Table of Contents provided by Rittenhouse. All Rights Reserved.

ISBN: 9780824754709
ISBN-10: 0824754700
Series: Control Engineering
Audience: Professional
Format: Hardcover
Language: English
Number Of Pages: 450
Published: 1st May 2004
Country of Publication: US
Dimensions (cm): 23.5 x 15.24  x 2.54
Weight (kg): 0.77
Edition Number: 1