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Digital Control Applications Illustrated with MATLAB® [Kõva köide]

(University of Hartford, Connecticut, USA)
  • Formaat: Hardback, 384 pages, kõrgus x laius: 254x178 mm, kaal: 861 g, 19 Tables, black and white; 287 Illustrations, black and white
  • Ilmumisaeg: 13-Feb-2015
  • Kirjastus: CRC Press Inc
  • ISBN-10: 1482236699
  • ISBN-13: 9781482236699
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Digital Control Applications Illustrated with MATLAB®Suurem pilt
  • Formaat: Hardback, 384 pages, kõrgus x laius: 254x178 mm, kaal: 861 g, 19 Tables, black and white; 287 Illustrations, black and white
  • Ilmumisaeg: 13-Feb-2015
  • Kirjastus: CRC Press Inc
  • ISBN-10: 1482236699
  • ISBN-13: 9781482236699
Teised raamatud teemal:
Püsilink: https://www.kriso.ee/db/9781482236699.html
Märksõnad:
Shertukde presents students, academics, researchers, and professionals working in a wide variety of contexts with a comprehensive guide to the modeling, analysis, and design of linear discrete control systems. The author has organized the main body of his text in nine chapters devoted to an introduction and overview of digital control, mathematical models of discrete systems, performance criteria and the design process, compensator design via discrete equivalent, compensator design via direct methods, and a wide variety of other related subjects. Hemchandra Madhusudan Shertukde is a faculty member of the University of Hartford, Connecticut. Annotation ©2015 Ringgold, Inc., Portland, OR (protoview.com) Digital Control Applications Illustrated with MATLAB® covers the modeling, analysis, and design of linear discrete control systems. Illustrating all topics using the micro-computer implementation of digital controllers aided by MATLAB®, Simulink®, and FEEDBACK®, this practical text:Describes the process of digital control, followed by a review of Z-transforms, feedback control concepts, and s-to-z plane conversions, mappings, signal sampling, and data reconstructionPresents mathematical representations of discrete systems affected by the use of advances in computing methodologies and the advent of computersDemonstrates state-space representations and the construction of transfer functions and their corresponding discrete equivalentsExplores steady-state and transient response analysis using Root-Locus, as well as frequency response plots and digital controller design using Bode PlotsExplains the design approach, related design processes, and how to evaluate performance criteria through simulations and the review of classical designsStudies advances in the design of compensators using the discrete equivalent and elucidates stability tests using transformationsEmploys test cases, real-life examples, and drill problems to provide students with hands-on experience suitable for entry-level jobs in the industryDigital Control Applications Illustrated with MATLAB® is an ideal textbook for digital control courses at the advanced undergraduate and graduate level.

Arvustused

"This book is an asset for practicing controls engineers as well as students of advanced control systems courses. Books on this topic have been usually quite theoretically oriented, and a common complaint of the students is that they do not get a practical flavor after going through a course, or even multiple courses. The author brings a fresh approach, backed up by decades of teaching and professional experience, which is oriented toward practical application. I look forward to having this book on my shelf." Amit Patra, Indian Institute of Technology Kharagpur

"The author provides a mathematically detailed yet accessible presentation of topics in digital control theory. After introducing digital control systems and reviewing the modeling and performance of discrete systems, several chapters are dedicated to different design methods. These methods include discrete equivalent, direct, state-variable feedback, Lyapunov, and optimal. Throughout the book, the emphasis is on application of the theory rather than on theorems and abstract mathematics." Patricia Mellodge, University of Hartford, Connecticut, USA

"This book has an excellent flow of material for teaching design of digital control or computer control of dynamic systems. In particular, and following the well-organized design chapters, the microprocessor/computer implementation hardware and software aspects in chapter 9 are very valuable, well presented, and certainly well appreciated in this book. Chapters 1 through 4 provide clear and concise presentation of prerequisite material/knowledge for a digital control system design course, and could be very well appreciated in a previous senior-level control design course. The design chapters 5 through 8 progress effectively with the right sequence of techniques, starting with design by digital equivalents, followed by transformed domain techniques, and then moving into the time domain state space design including state estimators both full order and reduced order. Using MATLAB® software and simulations for examples and case studies provides students with valuable practice opportunities for the material presented throughout the book. This fits exactly in how I teach my first in a two-graduate-course sequence 'Computer Control of Dynamic Systems' here at California State University, Chico (the second is 'Adaptive Control Systems')."

Dr. Adel A Ghandakly, California State University, Chico, USA "This book is an asset for practicing controls engineers as well as students of advanced control systems courses. Books on this topic have been usually quite theoretically oriented, and a common complaint of the students is that they do not get a practical flavor after going through a course, or even multiple courses. The author brings a fresh approach, backed up by decades of teaching and professional experience, which is oriented toward practical application. I look forward to having this book on my shelf." Amit Patra, Indian Institute of Technology Kharagpur

"The author provides a mathematically detailed yet accessible presentation of topics in digital control theory. After introducing digital control systems and reviewing the modeling and performance of discrete systems, several chapters are dedicated to different design methods. These methods include discrete equivalent, direct, state-variable feedback, Lyapunov, and optimal. Throughout the book, the emphasis is on application of the theory rather than on theorems and abstract mathematics." Patricia Mellodge, University of Hartford, Connecticut, USA

"This book has an excellent flow of material for teaching design of digital control or computer control of dynamic systems. In particular, and following the well-organized design chapters, the microprocessor/computer implementation hardware and software aspects in chapter 9 are very valuable, well presented, and certainly well appreciated in this book. Chapters 1 through 4 provide clear and concise presentation of prerequisite material/knowledge for a digital control system design course, and could be very well appreciated in a previous senior-level control design course. The design chapters 5 through 8 progress effectively with the right sequence of techniques, starting with design by digital equivalents, followed by transformed domain techniques, and then moving into the time domain state space design including state estimators both full order and reduced order. Using MATLAB® software and simulations for examples and case studies provides students with valuable practice opportunities for the material presented throughout the book. This fits exactly in how I teach my first in a two-graduate-course sequence 'Computer Control of Dynamic Systems' here at California State University, Chico (the second is 'Adaptive Control Systems')." Dr. Adel A Ghandakly, California State University, Chico, USA

Preface xiii
Author xvii
1 Digital Control Introduction and Overview 1(36)
1.1 Overview of Process Control: Historical Perspective
1(2)
1.2 Feedback Control Structures for Continuous Systems: Mathematical Representation of (Sub) System Dynamics
3(1)
1.3 Basic Feedback Control Loop: Single Input Single Output (SISO) System
4(1)
1.3.1 Goal
4(1)
1.4 Continuous Control Structures: Output Feedback
5(1)
1.5 Continuous Control Structures: State Variable Feedback
6(1)
1.6 Digital Control Basic Structure
7(1)
1.7 Relationship of Time Signals and Samples
8(1)
1.8 A Typical Algorithm for H
9(1)
1.9 Differences in Digital versus Analog Control Methods
10(1)
1.10 Computing the Time Response of a Linear, Time Invariant, Discrete Model to an Arbitrary Input
10(2)
1.11 Review of z-Transforms for Discrete Systems
12(1)
1.12 Some Useful Results for One-Sided z-Transforms
12(1)
1.13 How to Find y(k) Using z-Transforms
13(1)
1.14 Use of z-Transforms to Solve nth Order Difference Equations
14(3)
1.15 Stability of the Time Response
17(1)
1.16 Continuous versus Discrete Relationships
17(2)
1.17 s-to-z Plane Mappings
19(1)
1.18 LOCI of Constant Damping Ratio (ζ) and Natural Frequency (&omgea;n) in s-Plane to z-Plane Mapping
19(1)
1.19 Signal Sampling and Data Reconstruction
20(1)
1.20 Impulse Sampling
21(1)
1.21 Laplace Transform of a Sampled Signal
22(1)
1.22 Nyquist Theorem
23(2)
1.22.1 Nyquist Result
24(1)
1.23 Recovering f(t) from f*(t)
25(1)
1.24 Aliasing
26(1)
1.25 How to Avoid Aliasing
27(1)
1.26 Interpretation of Aliasing in s-Plane
28(1)
1.27 Example of Aliasing in a Control Setting
28(1)
Problems
29(8)
2 Mathematical Models of Discrete Systems 37(34)
2.1 Discrete Time System Representations
37(1)
2.1.1 Difference Equation Form
37(1)
2.1.2 Signal Flow Diagram and Analysis
38(1)
2.2 State Equations from Node Equations
38(1)
2.3 State Variable Forms: I
39(1)
2.4 State Variable Forms
40(1)
2.5 Transfer Function of a State-Space Model
41(1)
2.6 State Variable Transformation
42(1)
2.7 Example
43(1)
2.8 Obtaining the Time Response X(k)
44(2)
2.9 Computing G(z) from A, B, C, d
46(1)
2.10 Leverier Algorithm Implementation
47(1)
2.11 Analysis of the Basic Digital Control Loop
48(1)
2.12 Discrete System Time Signals
49(1)
2.13 Models for Equivalent Discrete System, G(Z)
50(1)
2.14 Computing Φ and Γ (or Ψ)
51(1)
2.15 Algorithm for Obtaining Ψ(h) and Φ,Γ
52(1)
2.16 Some Discussion on the Selection of h
53(1)
2.17 Examples
54(3)
2.18 Discrete System Equivalents: Transfer Function Approach
57(2)
2.19 Relationship between G(s) and G(z)
59(1)
2.20 Comparison of a Continuous and Discrete Equivalent Bode Plot
60(1)
2.21 Effects of Time Step h on G(z = jwh)
60(1)
2.22 Anatomy of a Discrete Transfer Function
60(2)
2.23 Modeling a Process with Delay in Control, τ = Mh + element of
62(2)
2.24 State Model for a Process with Fractional Delay element of < h
64(1)
2.25 State Model for a Process with Large Delay
65(1)
2.26 Transfer Function Approach to Modeling a Process with Delay
66(1)
Problems
67(4)
3 Performance Criteria and the Design Process 71(34)
3.1 Design Approaches and the Design Process
71(4)
3.1.1 Elements of Feedback System Design
71(1)
3.1.1.1 Introduction: Series Compensation Design Structure ("Classical")
71(1)
3.1.2 Elements of FB System Design II
72(1)
3.1.3 Closed-Loop System Zeros
73(1)
3.1.4 Design Approaches to Be Considered
74(1)
3.2 Performance Measure for a Design Process
75(10)
3.2.1 Stability of the Closed-Loop System
76(5)
3.2.1.1 Steady-State Accuracy to a Step Input
78(1)
3.2.1.2 Steady-State Accuracy to a Ramp Input
79(1)
3.2.1.3 Steady-State Error to Sinusoidal Inputs
80(1)
3.2.2 Speed of Transient Response
81(1)
3.2.3 Sensitivity and Return Difference
82(2)
3.2.4 Example: Evaluation and Simulation
84(1)
3.3 Simulation of Closed-Loop Time Response
85(6)
3.3.1 Simulation Structure
86(1)
3.3.2 Flow Diagram for Simulation Program for a Control Algorithm
87(1)
3.3.3 Modifications to Time Delay
87(1)
3.3.4 Control (Cntrl) Algorithm Simulation
88(1)
3.3.5 Simulation of Time Delay, τ
89(2)
3.3.6 Required Modifications to Simulation Flow Diagram
91(1)
3.4 Tools for Control Design and Analysis
91(1)
3.5 Overview of Classical Design Techniques (Continuous Time)
92(8)
3.5.1 Lag Compensator Design, H(s)
93(1)
3.5.2 Lead Compensator Design
94(1)
3.5.3 Example of Lag Compensator Design
95(1)
3.5.4 Lag Compensation Design
96(1)
3.5.5 Example of Lead Compensator Design
96(1)
3.5.6 Lead Compensation Design
97(1)
3.5.7 Critique of Continuous Time H(s) Design
98(2)
Problems
100(5)
4 Compensator Design via Discrete Equivalent 105(30)
4.1 Stability of Discrete Systems
105(6)
4.1.1 Jury Test
106(2)
4.1.1.1 Applications of Jury Test
106(1)
4.1.1.2 Application to State Variable Feedback (SVFB) Example
107(1)
4.1.2 Stability with Respect to a Parameter β
108(1)
4.1.3 Stability with Respect to Multiple Parameters: αβ
109(1)
4.1.4 A More Complicated, State-Space Example
110(1)
4.1.5 Example State-Space Example Plots
111(1)
4.2 Fundamentals of Digital Compensator Design
111(12)
4.2.1 H(z) Design via Discrete Equivalent: H(s) - H(z)
113(1)
4.2.2 Forms of Discrete Integration
114(4)
4.2.2.1 Relationship to True s --> z Map
115(2)
4.2.2.2 Computing H(z) via Tustin Equivalent
117(1)
4.2.3 General Algorithm for Tustin Transformation
118(2)
4.2.3.1 Bode Plot Comparisons
119(1)
4.2.4 Tustin Equivalence with Frequency Prewarping
120(3)
4.3 Discrete Equivalent Designs
123(7)
4.3.1 Summary of Discrete Equivalence Methods
124(1)
4.3.2 Example of a Discrete Equivalent Design
125(3)
4.3.2.1 End-User Specifications
125(1)
4.3.3 Discrete Equivalent Computations
126(2)
4.3.4 Evaluation of Digital Control Performance
128(1)
4.3.5 Continuous versus Discrete System Loop Gain
128(1)
4.3.6 Methods to Improve Discrete CL Performance
128(2)
Problems
130(5)
5 Compensator Design via Direct Methods 135(32)
5.1 Direct Design Compensation Methods
135(6)
5.1.1 RL Design of H(z)
135(2)
5.1.1.1 Some Helpful Hints for RL Design
136(1)
5.1.2 Example of Design Approach: Antenna Positioning Control
137(3)
5.1.3 RL Redesign (After Much Trial and Error)
140(1)
5.1.4 An Example of a Poor Design Choice
141(1)
5.2 w-Plane Design of H(z)
141(8)
5.2.1 Design Approach
143(1)
5.2.2 General z --> w Plane Mapping
144(1)
5.2.3 Example of Design Approach
145(2)
5.2.3.1 Example of w-to-z (Backward) Transformation
146(1)
5.2.4 Frequency Domain Evaluation
147(2)
5.2.4.1 RL versus w-Plane Design Comparison
148(1)
5.3 PID Design
149(6)
5.3.1 Digital PID Controller
150(1)
5.3.1.1 PID Algorithm Implementation
150(1)
5.3.2 Integral Windup Modifications
151(1)
5.3.3 Example
152(1)
5.3.4 Other PID Considerations
152(1)
5.3.5 PID Initial Tuning Rules
153(1)
5.3.5.1 Transient Response Method
153(1)
5.3.5.2 Ultimate Sensitivity Method
153(1)
5.3.6 Real-Time PID Control of an Inverted Pendulum Using FEEDBACK<<®: Page 26 of 33-936 S of FEEDBACK<<® Document
154(1)
5.4 A Technique for System Control with Time Delay
155(5)
5.4.1 Smith Predictor/Compensator
156(1)
5.4.1.1 Smith Compensator Application
157(1)
5.4.2 Example of Smith Predictor Motor-Positioning Example with τ 1 S,h=1 S(i.e.,M=1)
157(11)
5.4.2.1 Results with Delay Compensation
158(2)
5.5 Implementation of High-Order Digital Compensators
160(2)
5.6 Summary of Compensator Design Methods
162(1)
Problems
162(5)
6 State-Variable Feedback Design Methods 167(40)
6.1 Linear State-Variable Feedback
167(1)
6.2 Control in State-Space
168(4)
6.2.1 Controllability
169(1)
6.2.2 Open-Loop versus CL Control
170(2)
6.3 Discrete SVFB Design Methods
172(8)
6.3.1 Continuous -> Discrete Gain Transformation Methods
173(1)
6.3.2 Average Gain Method
174(2)
6.3.2.1 Computing Average Gain
175(1)
6.3.3 Example: Satellite Motor Control
176(4)
6.3.3.1 Satellite Motor Control CL simulation
177(1)
6.3.3.2 Summary of Equivalent Gain Method
177(3)
6.4 State Variable Feedback Control: Direct Pole Placement
180(1)
6.4.1 Discrete System Design
180(1)
6.5 Pole Placement Methods
181(7)
6.5.1 Transformation Approach for Pole Placement
183(2)
6.5.1.1 Algorithm for Obtaining Transformation Matrix T
184(1)
6.5.2 Ackermann Formula
185(1)
6.5.3 Algorithm to Obtain Pd(Φ)
186(1)
6.5.4 CL System Zeros
187(1)
6.6 Inverted Pendulum on a Cart
188(7)
6.6.1 Equivalent Discrete Design u(k) = -KX(k)
190(1)
6.6.2 Direct Digital Design: Inverted Pendulum
191(1)
6.6.3 CL Simulation Inverted Pendulum X(0) = [ 0.2, 0, 1, 0]'
192(1)
6.6.4 Deadbeat Controller Inverted Pendulum X(0) = [ 0.2, 0, 1, 0]"
193(1)
6.6.5 Summary of Pole Placement Design by SVFB
193(2)
6.7 SVFB with Time Delay in Control: τ = Mh + epsilon
195(3)
6.7.1 State Prediction
195(1)
6.7.2 Implementation of the Delay Compensator: General Case
196(1)
6.7.3 Example-Inverted Pendulum
196(2)
6.7.4 Comparison with Smith Predictor Structure (epsilon = 0)
198(1)
6.8 Command Inputs to SVFB Systems
198(4)
6.8.1 Integral Control in SVFB
199(3)
Problems
202(5)
7 Advanced Design Methods 207(36)
7.1 Lyapunov Stability Theory Preliminaries
207(4)
7.1.1 Application to Stability Analysis
208(1)
7.1.2 Main Theorem for Linear Systems
209(1)
7.1.3 Practical Use of Lyapunov Theorem
210(1)
7.2 Numerical Solution of the Lyapunov Equation
211(2)
7.2.1 Algorithm to Solve Lyapunov Equation (DLINEQ)
211(2)
7.3 Constructive Application of Lyapunov Theorem to SVFB
213(6)
7.3.1 Discussion of Stabilization Result
214(2)
7.3.1.1 Examples of System Stabilization, with SCALAR a, and R = 1
215(1)
7.3.2 Lyapunov ("Bang-Bang") Controllers
216(3)
7.4 Introduction to Least-Squares Optimization
219(6)
7.4.1 Problem Definition General Comments
220(1)
7.4.2 Optimization Approach and Algorithm
221(1)
7.4.3 Continued Method for Obtaining K1 from P0
222(1)
7.4.4 The Discrete Riccati Equation
222(1)
7.4.5 Comments and Extensions
223(2)
7.5 Application of the Optimal Control
225(3)
7.5.1 Properties of the Optimal CL System-1
226(1)
7.5.2 Properties of the Optimal CL System-2
227(1)
7.6 Examples and Applications
228(6)
7.6.1 Examples with FEEDBACK<<® Hardware and Software Package
230(2)
7.6.2 Summary of Optimal Control Design Method
232(2)
7.7 Rate Weighting
234(5)
7.7.1 Weighting of Control Rate
234(1)
7.7.2 Properties of a Rate-Weighted Controller
235(2)
7.7.3 Compensation for Fractional Time Delay
237(2)
Problems
239(4)
8 Estimation of System State 243(44)
8.1 State Estimation
243(10)
8.1.1 "Observation" of System State
243(2)
8.1.2 System Observability Requirement
245(3)
8.1.2.1 A Question of Notation
245(1)
8.1.2.2 Structure of the Estimator
246(1)
8.1.2.3 The Estimation Error
247(1)
8.1.3 Observer Pole Placement Problem
248(1)
8.1.4 Selection of Observer CL Poles
249(1)
8.1.5 Example of State Estimation
250(1)
8.1.6 Mechanics of Observer Dynamics
251(1)
8.1.7 Implementation of the Observer-Controller Pair
252(1)
8.2 Implementation: Some Practical Considerations
253(8)
8.2.1 Composite CL Observer and Controller
254(6)
8.2.1.1 Command Inputs to Observer-Controller System
255(2)
8.2.1.2 Simulation Results
257(2)
8.2.1.3 Possible Modifications to Improve Response
259(1)
8.2.2 Example Satellite Control with Command Input
260(1)
8.3 Transfer Function of Composite CL Observer and Controller
261(1)
8.4 Poles and Zeros of Composite T(z)
262(1)
8.5 Reduced-Order Observers
263(8)
8.5.1 Reduced-Order Observer Design for Xb
264(2)
8.5.2 Implementation of Reduced-Order Observer/Controller
266(1)
8.5.3 Loop Gain Analysis of Reduced Order (RO) Observer/Controller
266(6)
8.5.3.1 Continued Summary of Observer Design
271(1)
8.6 Modifications for Time Delay τ = Mh + epsilon
271(1)
8.7 Further/Advanced Topics in State Estimation
272(10)
8.7.1 Case Study: State Estimation in Passive Target Tracking
274(13)
8.7.1.1 Performance Validation
276(6)
Problems
282(5)
9 Implementation Issues in Digital Control 287(28)
9.1 Mechanization of the Control Algorithm on Microcontrollers Motivation
287(11)
9.1.1 Microprocessor Implementation Structure
287(1)
9.1.2 Binary Representation of Quantized Numbers
288(2)
9.1.2.1 Representation of Negative Numbers
289(1)
9.1.3 Digital Quantization of a Continuous Value
290(1)
9.1.4 Sources of Numerical Errors in Digital Control
291(3)
9.1.4.1 Visualization of the Numerical Errors
293(1)
9.1.5 Algorithm Realization Structures
294(4)
9.2 Analysis of Control Algorithm Implementation
298(11)
9.2.1 Response of Discrete Systems to White Noise
298(2)
9.2.2 Propagation of Multiplication Errors through the Controller
300(3)
9.2.3 Parameter Errors and Sensitivity Analysis
303(4)
9.2.3.1 Solution
303(4)
9.2.4 Nonlinear Effects
307(2)
9.3 Case Study
309(2)
9.3.1 Concluding remarks
311(1)
Problems
311(4)
References 315(6)
Appendix I: MATLAB® Primer 321(12)
Appendix II: FEEDBACK<<® Guide for Applications in the Text 333(8)
Appendix III: Suggested MATLAB® Code for Algorithms and Additional Examples from FEEDBACK<<® 341(16)
Index 357
Hemchandra Madhusudan Shertukde, SM92, IEEE, holds a B.Tech from the Indian Institute of Technology Kharagpur, as well as an MS and Ph.D in electrical engineering with a specialty in controls and systems engineering from the University of Connecticut, Storrs, USA. Currently, he is professor of electrical and computer engineering for the College of Engineering, Technology, and Architecture (CETA) at University of Hartford, Connecticut, USA. He is also senior lecturer at the Yale School of Engineering and Applied Sciences (SEAS), New Haven, Connecticut, USA. The principal inventor of two commercialized patents, he has published several journal articles and written three solo books. Dr. Shertukde is the recipient of the 2017 IEEE EAB/SA Standards Education Award, 2017 IEEE-PES CT Chapter Outstanding Engineer Award, and the 2016 IEEE Award as the Chair of the Working Group C.5.159. He continues to be in leadership positions for several other Working Groups enabling IEEE-TC to publish different standards and User's Guides for Electrical Power Transformers.