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E-raamat: Modern Anti-windup Synthesis: Control Augmentation for Actuator Saturation

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This book contains a collection of modern anti-windup algorithms. It is aimed at practicing control engineers as well as graduate students. The reader will learn the objectives and terminology of the anti-windup problem, will be exposed to the mathematics behind anti-windup synthesis, and will gain exposure to a variety of anti-windup algorithms, which are illustrated through examples-- This book provides a wide variety of state-space--based numerical algorithms for the synthesis of feedback algorithms for linear systems with input saturation. Specifically, it addresses and solves the anti-windup problem, presenting the objectives and terminology of the problem, the mathematical tools behind anti-windup algorithms, and more than twenty algorithms for anti-windup synthesis, illustrated with examples. Luca Zaccarian and Andrew Teels modern method--combining a state-space approach with algorithms generated by solving linear matrix inequalities--treats MIMO and SISO systems with equal ease. The book, aimed at control engineers as well as graduate students, ranges from very simple anti-windup construction to sophisticated anti-windup algorithms for nonlinear systems. Describes the fundamental objectives and principles behind anti-windup synthesis for control systems with actuator saturation takes a modern, state-space approach to synthesis that applies to both SISO and MIMO systems presents algorithms as linear matrix inequalities that can be readily solved with widely available software explains mathematical concepts that motivate synthesis algorithms uses nonlinear performance curves to quantify performance relative to disturbances of varying magnitudes Includes anti-windup algorithms for a class of Euler-Lagrange nonlinear systems traces the history of anti-windup research through an extensive annotated bibliography-- Provided by publisher. This book provides a wide variety of state-space--based numerical algorithms for the synthesis of feedback algorithms for linear systems with input saturation. Specifically, it addresses and solves the anti-windup problem, presenting the objectives and terminology of the problem, the mathematical tools behind anti-windup algorithms, and more than twenty algorithms for anti-windup synthesis, illustrated with examples. Luca Zaccarian and Andrew Teels modern method--combining a state-space approach with algorithms generated by solving linear matrix inequalities--treats MIMO and SISO systems with equal ease. The book, aimed at control engineers as well as graduate students, ranges from very simple anti-windup construction to sophisticated anti-windup algorithms for nonlinear systems.Describes the fundamental objectives and principles behind anti-windup synthesis for control systems with actuator saturation Takes a modern, state-space approach to synthesis that applies to both SISO and MIMO systems Presents algorithms as linear matrix inequalities that can be readily solved with widely available software Explains mathematical concepts that motivate synthesis algorithms Uses nonlinear performance curves to quantify performance relative to disturbances of varying magnitudes Includes anti-windup algorithms for a class of Euler-Lagrange nonlinear systems Traces the history of anti-windup research through an extensive annotated bibliography

Arvustused

"This book goes a long way toward providing comprehensive coverage of systematic procedures for anti-windup synthesis, emphasizing algorithmic issues and modern design techniques. A valuable resource for researchers and practitioners, it should interest a broad audience in control engineering, as well as in other disciplines, such as mechanical and chemical engineering."Prodromos Daoutidis, University of Minnesota

Preface ix
Algorithms Summary xi
PART 1 PREPARATION
1(74)
1 The Windup Phenomenon and Anti-windup Illustrated
3(20)
1.1 Introduction
3(1)
1.2 Illustrative examples
4(17)
1.3 Summary
21(1)
1.4 Notes and references
22(1)
2 Anti-windup: Definitions, Objectives, and Architectures
23(25)
2.1 Preliminaries
23(3)
2.2 Qualitative objectives
26(6)
2.3 Anti-windup augmentation
32(8)
2.4 Quantitative performance objectives
40(7)
2.5 Notes and references
47(1)
3 Analysis and Synthesis of Feedback Systems: Quadratic Functions and LMIs
48(27)
3.1 Introduction
48(2)
3.2 Unconstrained feedback systems
50(1)
3.3 Linear matrix inequalities
51(8)
3.4 Constrained feedback systems: global analysis
59(4)
3.5 Constrained feedback systems: regional analysis
63(4)
3.6 Analysis examples
67(3)
3.7 Regional synthesis for external stability
70(3)
3.8 Notes and references
73(2)
PART 2 DIRECT LINEAR ANTI-WINDUP AUGMENTATION
75(80)
4 Static Linear Anti-windup Augmentation
77(32)
4.1 Overview
77(1)
4.2 Key state-space representations
78(3)
4.3 Algorithms providing global guarantees
81(17)
4.4 Algorithms providing regional guarantees
98(9)
4.5 Notes and references
107(2)
5 Dynamic Linear Anti-windup Augmentation
109(46)
5.1 Overview
109(1)
5.2 Key state-space representations
110(3)
5.3 Factoring rank-deficient matrices
113(1)
5.4 Algorithms providing global guarantees
114(27)
5.5 Algorithms providing regional guarantees
141(11)
5.6 Notes and references
152(3)
PART 3 MODEL RECOVERY ANTI-WINDUP AUGMENTATION
155(130)
6 The MRAW Framework
157(17)
6.1 Introduction
157(1)
6.2 A block diagram/transfer function description
158(3)
6.3 A state-space description (linearity not needed)
161(3)
6.4 Robust, fragile, or both?
164(3)
6.5 Notes and references
167(7)
7 Linear MRAW Synthesis
174(26)
7.1 Introduction
174(2)
7.2 Global stability-based algorithms
176(19)
7.3 Regional stability and performance algorithms
195(4)
7.4 Notes and references
199(1)
8 Nonlinear MRAW Synthesis
200(26)
8.1 Introduction
200(1)
8.2 Switching and scheduling linear controllers
201(7)
8.3 Model predictive control for anti-windup design
208(9)
8.4 Global designs for non-exponentially unstable plants
217(5)
8.5 Designs for exponentially unstable plants that maximize the basin of attraction
222(3)
8.6 Notes and references
225(1)
9 The MRAW Structure Applied to Other Problems
226(19)
9.1 Rate- and magnitude-saturated plants
226(6)
9.2 Anti-windup for dead-time plants
232(3)
9.3 Bumpless transfer in multicontroller schemes
235(5)
9.4 Reliable control via hardware redundancy
240(3)
9.5 Notes and references
243(2)
10 Anti-windup for Euler-Lagrange Plants
245(24)
10.1 Fully actuated Euler-Lagrange plants
245(1)
10.2 Anti-windup construction and selection of the stabilizer v
246(4)
10.3 Simulation examples
250(18)
10.4 Notes and references
268(1)
11 Annotated Bibliography
269(16)
11.1 Overview
269(1)
11.2 Problem discovery
269(1)
11.3 The first constructive techniques
270(1)
11.4 Call for systematization
271(1)
11.5 Modern anti-windup schemes
272(9)
11.6 Additional references
281(4)
Index 285
Luca Zaccarian is associate professor of control engineering at the University of Rome, Tor Vergata. Andrew R. Teel is a professor in the Electrical and Computer Engineering Department at the University of California, Santa Barbara.
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