Expert Aided Control System Design

1 Artificial Intelligence and Control System Design.- 1.1 Introduction.- 1.2 Why Use an Expert System?.- 1.3 Applications of Expert Systems in CACSD.- 1.4 Description of the Design System.- 1.5 Notation.- 2 The CACSD Method.- 2.1 Introduction.- 2.2 Notation.- 2.3 Summary of Factorization Theory.- 2.4 Computing the Coprime Matrix Fractions.- 2.5 Diagonal Factorization.- 2.6 The Diagonal Factorization Algorithm.- 2.7 The QSTEP Parameter.- 2.8 The Closed Loop Poles.- 2.9 The S Domain.- 2.10 Summary.- 3 Implementation of the CACSD Package.- 3.1 Introduction.- 3.2 Generating the Quadratic Programming Problem.- 3.2.1 Computing the Matrix Fractions.- 3.2.2 Translating the Performance Constraints.- 3.2.3 Translating the Cost Function.- 3.3 Representing the Linear Constraints.- 3.3.1 Time Domain Constraints.- 3.3.2 Frequency Domain Constraints.- 3.3.3 Examples.- 3.4 Solving the Quadratic Programming Problem.- 3.5 The QPSOL Algorithm.- 3.6 Ancillary Functions of the CACSD Package.- 3.6.1 Entry of Transfer Function Matrices.- 3.6.2 Entry of Performance Constraints.- 3.6.3 Graphics Facilities.- 3.6.4 Analysis Facilities.- 3.6.5 Reduced Order Controller Estimation.- 3.7 Summary.- 4 The Expert System.- 4.1 Introduction.- 4.2 The User Interface and Philosophy.- 4.3 Explaining the Design Language and Methodology.- 4.4 Presentation of the Design Status.- 4.5 Formulating the Design Specifications.- 4.5.1 The NEXT STEP Command.- 4.5.2 The SUGGEST Command.- 4.5.3 The COMPLETE Command.- 4.6 Expanding the Scope of the CACSD Package.- 4.7 Optimizing the Use of the CACSD Subroutines.- 4.8 Summary.- 5 Implementation of the Expert System.- 5.1 Introduction.- 5.2 Selection of the Expert System Shell.- 5.3 Communication with External Programs.- 5.4 Database Facilities.- 5.4.1 The RESP-DB Database.- 5.4.2 The SPEC-DB Database.- 5.4.3 The SOLVE-DB Database.- 5.4.4 The PARAM-DB Database.- 5.4.5 The FEATURE-DB Database.- 5.5 Structure of the Expert System.- 5.5.1 Initialization.- 5.5.2 The Command Line Processor.- 5.5.3 The HELP Module.- 5.5.4 The SUGGEST and NEXT STEP Modules.- 5.5.5 The Module Checking for Completeness.- 5.5.6 The Module Explaining Specification Conflicts.- 5.6 Summary.- 6 Sample Design Sessions.- 6.1 Introduction.- 6.2 Example 1: A Mine Milling Plant.- 6.3 Example 2: A Gyroscope.- 6.4 Other Examples.- 6.5 Summary.- 7 Use of the Expert System.- 7.1 Introduction.- 7.2 The Undergraduate Control System Design Project.- 7.3 The Postgraduate Control System Design Project.- 7.3.1 Single Variable Designs.- 7.3.2 INA/DNA Designs.- 7.3.3 Characteristic Loci Designs.- 7.3.4 MV-CXS Designs.- 7.3.5 Comparison of Design Methods.- 7.3.6 Alternative Designs.- 7.4 Summary.- 8 Implementing the Controller.- 8.1 Introduction.- 8.2 Full Controller Implementation.- 8.3 Reduced Order Controller Estimation.- 8.4 Examples of Controller Implementation.- 8.4.1 FIR Implementation.- 8.4.2 Reduced Order Controller Estimation.- 8.5 Summary.- 9 Conclusions.- Appendix A MV-CXS Specifications.- A.l Requirements for the Computer.- A.2 Requirements for the Plant.- A.3 The MV-CXS Command Language Specification.- A.3.1 Commands to Select a Response.- A.3.2 Graphics Commands.- A.3.5 Miscellaneous Commands.- Appendix B The CACSD Package Interface.- Appendix C The MV-CXS Student Design Project Instructions.- References.