Contents Overview |
Acknowledgements |
Preface |
The Elements / I: |
Preview |
The Excitement of Control Engineering / 1: |
Motivation for Control Engineering / 1.1: |
Historical Periods of Control Theory / 1.3: |
Types of Control-System Design / 1.4: |
System Integration / 1.5: |
Summary / 1.6: |
Further Reading / 1.7: |
Introduction to the Principles of Feedback / 2: |
The Principal Goal of Control / 2.1: |
A Motivating Industrial Example / 2.3: |
Definition of the Problem / 2.4: |
Prototype Solution to the Control Problem via Inversion / 2.5: |
High-Gain Feedback and Inversion / 2.6: |
From Open- to Closed-Loop Architectures / 2.7: |
Trade-offs Involved in Choosing the Feedback Gain / 2.8: |
Measurements / 2.9: |
Modeling / 2.10: |
The Raison d'etre for Models / 3.1: |
Model Complexity / 3.3: |
Building Models / 3.4: |
Model Structures / 3.5: |
State Space Models / 3.6: |
Solution of Continuous-Time State Space Models / 3.7: |
High-Order Differential and Difference-Equation Models / 3.8: |
Modeling Errors / 3.9: |
Linearization / 3.10: |
Case Studies / 3.11: |
Problems for the Reader / 3.12: |
Continuous-Time Signals and Systems / 4: |
Linear Continuous-Time Models / 4.1: |
Laplace Transforms / 4.3: |
Laplace Transform. Properties and Examples / 4.4: |
Transfer Functions / 4.5: |
Stability of Transfer Functions / 4.6: |
Impulse and Step Responses of Continuous-Time Linear Systems / 4.7: |
Poles, Zeros, and Time Responses / 4.8: |
Frequency Response / 4.9: |
Fourier Transform / 4.10: |
Models Frequently Encountered / 4.11: |
Modeling Errors for Linear Systems / 4.12: |
Bounds for Modeling Errors / 4.13: |
SISO Control Essentials / 4.14: |
Analysis of SISO Control Loops / 5: |
Feedback Structures / 5.1: |
Nominal Sensitivity Functions / 5.3: |
Closed-Loop Stability Based on the Characteristic Polynomial / 5.4: |
Stability and Polynomial Analysis / 5.5: |
Root Locus (RL) / 5.6: |
Nominal Stability using Frequency Response / 5.7: |
Relative Stability: Stability Margins and Sensitivity Peaks / 5.8: |
Robustness / 5.9: |
Classical PID Control / 5.10: |
PID Structure / 6.1: |
Empirical Tuning / 6.3: |
Ziegler-Nichols (Z-N) Oscillation Method / 6.4: |
Reaction Curve Based Methods / 6.5: |
Lead-Lag Compensators / 6.6: |
Distillation Column / 6.7: |
Synthesis of SISO Controllers / 6.8: |
Polynomial Approach / 7.1: |
PI and PID Synthesis Revisited by using Pole Assignment / 7.3: |
Smith Predictor / 7.4: |
SISO Control Design / 7.5: |
Fundamental Limitations in SISO Control / 8: |
Sensors / 8.1: |
Actuators / 8.3: |
Disturbances / 8.4: |
Model-Error Limitations / 8.5: |
Structural Limitations / 8.6: |
An Industrial Application (Hold-Up Effect in Reversing Mill) / 8.7: |
Remedies / 8.8: |
Design Homogeneity, Revisited / 8.9: |
Frequency-Domain Design Limitations / 8.10: |
Bode's Integral Constraints on Sensitivity / 9.1: |
Integral Constraints on Complementary Sensitivity / 9.3: |
Poisson Integral Constraint on Sensitivity / 9.4: |
Poisson Integral Constraint on Complementary Sensitivity / 9.5: |
Example of Design Trade-offs / 9.6: |
Architectural Issues in SISO Control / 9.7: |
Models for Deterministic Disturbances and References / 10.1: |
Internal Model Principle for Disturbances / 10.3: |
Internal Model Principle for Reference Tracking / 10.4: |
Feedforward / 10.5: |
Industrial Applications of Feedforward Control / 10.6: |
Cascade Control / 10.7: |
Dealing with Constraints / 10.8: |
Wind-Up / 11.1: |
Anti-Wind-up Scheme / 11.3: |
State Saturation / 11.4: |
Introduction to Model Predictive Control / 11.5: |
Digital Computer Control / 11.6: |
Models for Sampled-Data Systems / 12: |
Sampling / 12.1: |
Signal Reconstruction / 12.3: |
Linear Discrete-Time Models / 12.4: |
The Shift Operator / 12.5: |
Z-Transform / 12.6: |
Discrete Transfer Functions / 12.7: |
Discrete Delta-Domain Models / 12.8: |
Discrete Delta-Transform / 12.9: |
Discrete Transfer Functions (Delta Form) / 12.10: |
Transfer Functions and Impulse Responses / 12.11: |
Discrete System Stability / 12.12: |
Discrete Models for Sampled Continuous Systems / 12.13: |
Using Continuous State Space Models / 12.14: |
Frequency Response of Sampled-Data Systems / 12.15: |
Digital Control / 12.16: |
Discrete-Time Sensitivity Functions / 13.1: |
Zeros of Sampled-Data Systems / 13.3: |
Is a Dedicated Digital Theory Really Necessary? / 13.4: |
Approximate Continuous Designs / 13.5: |
At-Sample Digital Design / 13.6: |
Internal Model Principle for Digital Control / 13.7: |
Fundamental Performance Limitations / 13.8: |
Hybrid Control / 13.9: |
Hybrid Analysis / 14.1: |
Models for Hybrid Control Systems / 14.3: |
Analysis of Intersample Behavior / 14.4: |
Repetitive Control Revisited / 14.5: |
Poisson Summation Formula / 14.6: |
Advanced SISO Control / 14.7: |
SISO Controller Parameterizations / 15: |
Open-Loop Inversion Revisited / 15.1: |
Affine Parameterization: The Stable Case / 15.3: |
PID Synthesis by using the Affine Parameterization / 15.4: |
Affine Parameterization for Systems Having Time Delays / 15.5: |
Undesirable Closed-Loop Poles / 15.6: |
Affine Parameterization: The Unstable Open-Loop Case / 15.7: |
Discrete-Time Systems / 15.8: |
Further reading / 15.9: |
Control Design Based on Optimization / 15.11: |
Optimal Q (Affine) Synthesis / 16.1: |
Robust Control Design with Confidence Bounds / 16.3: |
Cheap Control Fundamental Limitations / 16.4: |
Frequency-Domain Limitations Revisited / 16.5: |
Linear State Space Models / 16.6: |
Linear Continuous-Time State Space Models / 17.1: |
Similarity Transformations / 17.3: |
Transfer Functions Revisited / 17.4: |
From Transfer Function to State Space Representation / 17.5: |
Controllability and Stabilizability / 17.6: |
Observability and Detectability / 17.7: |
Canonical Decomposition / 17.8: |
Pole-Zero Cancellation and System Properties / 17.9: |
Synthesis Via State Space Methods / 17.10: |
Pole Assignment by State Feedback / 18.1: |
Observers / 18.3: |
Combining State Feedback with an Observer / 18.4: |
Transfer-Function Interpretations / 18.5: |
Reinterpretation of the Affine Parameterization of all Stabilizing Controllers / 18.6: |
State Space Interpretation of Internal Model Principle / 18.7: |
Trade-Offs in State Feedback and Observers / 18.8: |
Dealing with Input Constraints in the Context of State-Estimate Feedback / 18.9: |
Introduction to Nonlinear Control / 18.10: |
Linear Control of a Nonlinear Plant / 19.1: |
Switched Linear Controllers / 19.3: |
Control of Systems with Smooth Nonlinearities / 19.4: |
Static Input Nonlinearities / 19.5: |
Smooth Dynamic Nonlinearities for Stable and Stably Invertible Models / 19.6: |
Disturbance Issues in Nonlinear Control / 19.7: |
More General Plants with Smooth Nonlinearities / 19.8: |
Nonsmooth Nonlinearities / 19.9: |
Stability of Nonlinear Systems / 19.10: |
Generalized Feedback Linearization for nonstability-Invertible Plants / 19.11: |
MIMO Control Essentials / 19.12: |
Analysis of MIMO Control Loops / 20: |
Motivational Examples / 20.1: |
Models for Multivariable Systems / 20.3: |
The Basic MIMO Control Loop / 20.4: |
Closed-Loop Stability / 20.5: |
Steady-State Response for Step Inputs / 20.6: |
Frequency-Domain Analysis / 20.7: |
Robustness Issues / 20.8: |
Exploiting Siso Techniques in MIMO Control / 20.9: |
Completely Decentralized Control / 21.1: |
Pairing of Inputs and Outputs / 21.3: |
Robustness Issues in Decentralized Control / 21.4: |
Feedforward Action in Decentralized Control / 21.5: |
Converting MIMO Problems to SISO Problems / 21.6: |
Industrial Case Study (Strip Flatness Control) / 21.7: |
MIMO Control Design / 21.8: |
Design Via Optimal Control Techniques / 22: |
State-Estimate Feedback / 22.1: |
Dynamic Programming and Optimal Control / 22.3: |
The Linear Quadratic Regulator (LQR) / 22.4: |
Properties of the Linear Quadratic Optimal Regulator / 22.5: |
Model Matching Based on Linear Quadratic Optimal Regulators / 22.6: |
Discrete-Time Optimal Regulators / 22.7: |
Connections to Pole Assignment / 22.8: |
Observer Design / 22.9: |
Linear Optimal Filters / 22.10: |
Transfer-Function Interpretation / 22.11: |
Achieving Integral Action in LQR Synthesis / 22.13: |
Industrial Applications / 22.14: |
Model Predictive Control / 22.15: |
Anti-Wind-Up Revisited / 23.1: |
What is Model Predictive Control? / 23.3: |
Stability / 23.4: |
Linear Models with Quadratic Cost Function / 23.5: |
State Estimation and Disturbance Prediction / 23.6: |
Rudder Roll Stabilization of Ships / 23.7: |
Fundamental Limitations in MIMO Control / 23.8: |
Closed-Loop Transfer Function / 24.1: |
MIMO Internal Model Principle / 24.3: |
The Cost of the Internal Model Principle / 24.4: |
RHP Poles and Zeros / 24.5: |
Time-Domain Constraints / 24.6: |
Poisson Integral Constraints on MIMO Complementary Sensitivity / 24.7: |
Poisson Integral Constraints on MIMO Sensitivity / 24.8: |
Interpretation / 24.9: |
An Industrial Application: Sugar Mill / 24.10: |
Nonsquare Systems / 24.11: |
Advanced MIMO Control / 24.12: |
MIMO Controller Parameterizations / 25: |
Affine Parameterization: Stable MIMO Plants / 25.1: |
Achieved Sensitivities / 25.3: |
Dealing with Model Relative Degree / 25.4: |
Dealing with NMP Zeros / 25.5: |
Affine Parameterization: Unstable MIMO Plants / 25.6: |
State Space Implementation / 25.7: |
Decoupling / 25.8: |
Stable Systems / 26.1: |
Pre- and PostDiagonalization / 26.3: |
Unstable Systems / 26.4: |
Zeros of Decoupled and Partially Decoupled Systems / 26.5: |
Frequency-Domain Constraints for Dynamically Decoupled Systems / 26.6: |
The Cost of Decoupling / 26.7: |
Input Saturation / 26.8: |
MIMO Anti-Wind-Up Mechanism / 26.9: |
Appendices / 26.10: |
Notation, Symbols, and Acronyms / A: |
Smith-McMillan Forms / B: |
Introduction / B.1: |
Polynomial Matrices / B.2: |
Smith Form for Polynomial Matrices / B.3: |
Smith-McMillan Form for Rational Matrices / B.4: |
Poles and Zeros / B.5: |
Matrix Fraction Descriptions (MFD) / B.6: |
Results From Analytic Function Theory / C: |
Independence of Path / C.1: |
Simply Connected Domains / C.3: |
Functions of a Complex Variable / C.4: |
Derivatives and Differentials / C.5: |
Analytic Functions / C.6: |
Integrals Revisited / C.7: |
Poisson and Jensen Integral Formulas / C.8: |
Application of the Poisson-Jensen Formula to Certain Rational Functions / C.9: |
Bode's Theorems / C.10: |
Properties of Continuous-Time Riccati Equations / D: |
Solutions of the CTDRE / D.1: |
Solutions of the CTARE / D.2: |
The stabilizing solution of the CTARE / D.3: |
Convergence of Solutions of the CTARE to the Stabilizing Solution of the CTARE / D.4: |
Duality between Linear Quadratic Regulator and Optimal Linear Filter / D.5: |
Matlab Support / E: |