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Robust Control Engineering: Practical QFT Solutions [Kõva köide]

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(Case Western Reserve University, Cleveland, Ohio, USA)
  • Formaat: Hardback, 578 pages, kõrgus x laius: 254x178 mm, kaal: 1432 g, 25 Tables, black and white; 250 Line drawings, color; 134 Line drawings, black and white; 31 Halftones, color; 20 Halftones, black and white
  • Ilmumisaeg: 16-Jun-2017
  • Kirjastus: CRC Press
  • ISBN-10: 1138032077
  • ISBN-13: 9781138032071
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Robust Control Engineering: Practical QFT SolutionsSuurem pilt
  • Formaat: Hardback, 578 pages, kõrgus x laius: 254x178 mm, kaal: 1432 g, 25 Tables, black and white; 250 Line drawings, color; 134 Line drawings, black and white; 31 Halftones, color; 20 Halftones, black and white
  • Ilmumisaeg: 16-Jun-2017
  • Kirjastus: CRC Press
  • ISBN-10: 1138032077
  • ISBN-13: 9781138032071
Teised raamatud teemal:
Teised raamatud sellest sooduspakkumisest: Taylor & Francis teadusraamatud International Student Editions hindadega
Püsilink: https://www.kriso.ee/db/9781138032071.html
Märksõnad:

This book thoroughly covers the fundamentals of the QFT robust control, as well as practical control solutions, for unstable, time-delay, non-minimum phase or distributed parameter systems, plants with large model uncertainty, high-performance specifications, nonlinear components, multi-input multi-output characteristics or asymmetric topologies. The reader will discover practical applications through a collection of fifty successful, real world case studies and projects, in which the author has been involved during the last twenty-five years, including commercial wind turbines, wastewater treatment plants, power systems, satellites with flexible appendages, spacecraft, large radio telescopes, and industrial manufacturing systems. Furthermore, the book presents problems and projects with the popular QFT Control Toolbox (QFTCT) for MATLAB, which was developed by the author.

Arvustused

"There had been a big vacuum as far as textbooks on QFT is concerned. The books in market are either outdated and not easily available or do not discuss examples with MATLAB extensively as your book does. Your book completely fills in that gap with more updated information and relevant MATLAB based examples. The book is complete and self-contained with a wide variety of examples as ranging from Satellite control to Wind Turbine control all using QFT techniques. Further, from a student point of view, many projects have been discussed with QFT MATLAB toolbox which is a highlight of this book and hence a definite must have for anyone interested, doing research and working in this field. The author has blended his practical experience also into this book which makes it unique and the favourite of any QFT designer." Rajesh Joseph Abraham, Indian Institute of Space Science & Technology, India

"Professor Garcia-Sanz is one of the leading exponents of the robust control design method, which is referred to as quantitative feedback theory (QFT). This excellent text introduces the fundamentals of QFT and provides control solutions for a range of systems including unstable, transport delay, non-minimum phase and distributed parameter systems. The QFT design method provides real robustness to uncertainties of various types. The method originated from the work of Professor Isaac Horowitz but this book extends his original work in many ways. It is particularly valuable for the range of applications considered including wind turbines, wastewater treatment plants, power systems, satellites, radio telescopes and manufacturing systems. A feature of such design texts is that they often contain MATLAB toolboxes to enable the design methods to be assessed. In this case the book includes problems where the MATLAB QFT control toolbox can be applied. This was developed by the author. The book is written in a style that should be very accessible to engineers, particularly those that have a classical control engineering background. In fact, it provides access to modern multivariable control design methods but it is based upon frequency response ideas that should be very familiar to most engineers. The layout of the text is excellent and it includes numerous examples and problems. It should be valuable to experienced engineers working on real control design applications but it is also suitable for undergraduate and graduate students pursuing courses on control engineering. It is recommended for the bookshelves of engineers or the more economical eBook version can be convenient." Applied Control Technology Consortium E-News, 2017 Issue

"This book covers the fundamentals of robust control using quantitative feedback theory (QFT). Practical control solutions are provided for unstable, time-delay, nonminimum phase, or distributed parameter systems. Moreover, plants with large model uncertainty and/or high-performance specifications, nonlinear components, and multi-input, multi- output characteristics or asymmetric topologies are also considered. The reader will discover practical applications through a collection of 50 real-world case studies and projects, in which the author has been involved over the last 25 years. These applications include commercial wind turbines, wastewater treatment plants, power systems, spacecraft with flexible appendages, large radio telescopes, and industrial manufacturing systems. The book presents problems and projects using the QFT Control Toolbox for MATLAB, which was developed by the author." IEEE Control Systems Magazine, December 2017 Issue "There had been a big vacuum as far as textbooks on QFT is concerned. The books in market are either outdated and not easily available or do not discuss examples with MATLAB extensively as your book does. Your book completely fills in that gap with more updated information and relevant MATLAB based examples. The book is complete and self-contained with a wide variety of examples as ranging from Satellite control to Wind Turbine control all using QFT techniques. Further, from a student point of view, many projects have been discussed with QFT MATLAB toolbox which is a highlight of this book and hence a definite must have for anyone interested, doing research and working in this field. The author has blended his practical experience also into this book which makes it unique and the favourite of any QFT designer." Rajesh Joseph Abraham, Indian Institute of Space Science & Technology, India

"Professor Garcia-Sanz is one of the leading exponents of the robust control design method, which is referred to as quantitative feedback theory (QFT). This excellent text introduces the fundamentals of QFT and provides control solutions for a range of systems including unstable, transport delay, non-minimum phase and distributed parameter systems. The QFT design method provides real robustness to uncertainties of various types. The method originated from the work of Professor Isaac Horowitz but this book extends his original work in many ways. It is particularly valuable for the range of applications considered including wind turbines, wastewater treatment plants, power systems, satellites, radio telescopes and manufacturing systems. A feature of such design texts is that they often contain MATLAB toolboxes to enable the design methods to be assessed. In this case the book includes problems where the MATLAB QFT control toolbox can be applied. This was developed by the author. The book is written in a style that should be very accessible to engineers, particularly those that have a classical control engineering background. In fact, it provides access to modern multivariable control design methods but it is based upon frequency response ideas that should be very familiar to most engineers. The layout of the text is excellent and it includes numerous examples and problems. It should be valuable to experienced engineers working on real control design applications but it is also suitable for undergraduate and graduate students pursuing courses on control engineering. It is recommended for the bookshelves of engineers or the more economical eBook version can be convenient." Applied Control Technology Consortium E-News, 2017 Issue

"This book covers the fundamentals of robust control using quantitative feedback theory (QFT). Practical control solutions are provided for unstable, time-delay, nonminimum phase, or distributed parameter systems. Moreover, plants with large model uncertainty and/or high-performance specifications, nonlinear components, and multi-input, multi- output characteristics or asymmetric topologies are also considered. The reader will discover practical applications through a collection of 50 real-world case studies and projects, in which the author has been involved over the last 25 years. These applications include commercial wind turbines, wastewater treatment plants, power systems, spacecraft with flexible appendages, large radio telescopes, and industrial manufacturing systems. The book presents problems and projects using the QFT Control Toolbox for MATLAB, which was developed by the author." IEEE Control Systems Magazine, December 2017 Issue

Preface xv
Acknowledgments xix
Author xxi
1 Introduction
1(16)
1.1 The Control Engineer's Leadership
1(3)
1.2 QFT Robust Control Engineering
4(3)
1.3 Book's Outline
7(4)
1.4 Courses and Modules
11(6)
2 QFT Robust Control
17(62)
2.1 Introduction
17(2)
2.2 Plant Modeling: Step 1
19(9)
2.3 The Nominal Plant: Step 2
28(1)
2.4 QFT Templates: Step 3
28(2)
2.5 Stability Specifications: Step 4
30(1)
2.6 Performance Specifications: Step 5
31(3)
2.7 QFT Bounds: Steps 6 through 8
34(5)
2.8 Controller Design, G(s)---Loop Shaping: Step 9
39(2)
2.9 Prefilter Design, F(s): Step 10
41(1)
2.10 Analysis and Validation: Steps 11 through 13
42(12)
2.11 Model Matching
54(5)
2.12 Feedforward Control
59(4)
2.13 PID Control: Design and Tuning with QFT
63(6)
2.14 Practical Tips
69(9)
2.14.1 Selection of Specifications
69(1)
2.14.1.1 Stability Ws
69(1)
2.14.1.2 Sensitivity δ3(ω)
69(2)
2.14.1.3 Reference Tracking δ6-10(ω), δ6-up (ω)
71(3)
2.14.2 Loop Shaping---Designing G(s)
74(3)
2.14.3 Prefilter---Designing F(s)
77(1)
2.15 Summary
78(1)
2.16 Practice
78(1)
3 Unstable Systems and Control Solutions
79(20)
3.1 Introduction
79(3)
3.2 Understanding Gain and Phase Margins, and Ws Circles
82(2)
3.3 The NSC
84(2)
3.4 Nyquist Stability Criterion in the Nichols Chart
86(3)
3.5 Examples
89(2)
3.6 Guidelines to Design Controllers
91(4)
3.6.1 Parity Interlacing Property
91(1)
3.6.2 Fundamental Theorem of Feedback Control
92(1)
3.6.3 Examples
92(3)
3.7 Analysis of the First Case
95(2)
3.8 Summary
97(1)
3.9 Practice
98(1)
4 Time-Delay and Non-Minimum Phase Systems
99(20)
4.1 Time-Delay Systems
99(4)
4.2 Robust Design of the Smith Predictor
103(11)
4.2.1 First Algorithm
107(1)
4.2.2 Second Algorithm
107(7)
4.3 Non-Minimum Phase Systems
114(4)
4.3.1 Analysis
114(1)
4.3.2 Control Methodology
115(3)
4.4 Summary
118(1)
4.5 Practice
118(1)
5 Distributed Parameter Systems
119(16)
5.1 Introduction
119(1)
5.2 Modeling Approaches for PDE
120(1)
5.3 Generalized DPS Control System Structure
121(3)
5.4 Extension of QFT to DPS
124(10)
5.5 Summary
134(1)
5.6 Practice
134(1)
6 Gain Scheduling/Switching Control Solutions
135(16)
6.1 Introduction
135(1)
6.2 System Stability Under Switching
135(6)
6.3 Methodology
141(1)
6.4 Examples
142(5)
6.5 Summary
147(3)
6.6 Practice
150(1)
7 Nonlinear Dynamic Control
151(34)
7.1 Introduction
151(1)
7.2 The Circle Stability Criterion
151(2)
7.3 Nonlinear Dynamic Control: One Nonlinearity
153(3)
7.4 Anti-Windup Solution for PID Controllers
156(7)
7.5 Nonlinear Dynamic Control: Several Nonlinearities
163(19)
7.5.1 Describing Functions
164(5)
7.5.2 Isolines
169(13)
7.6 Summary
182(1)
7.7 Practice
183(2)
8 Multi-Input Multi-Output Systems: Analysis and Control
185(76)
8.1 Introduction
185(7)
8.2 Formulation for n x n Systems
192(4)
8.3 MIMO Systems---Description and Characteristics
196(8)
8.3.1 Loop Coupling and Controller Structure
196(1)
8.3.2 Interaction Analysis
197(2)
8.3.3 Multivariable Poles and Zeros
199(2)
8.3.4 Directionality
201(1)
8.3.5 Gain and Phase
201(1)
8.3.6 Effect of Poles and Zeros
202(1)
8.3.7 Disturbance and Noise Signals
202(1)
8.3.8 Uncertainty
202(1)
8.3.9 Stability
203(1)
8.4 MIMO QFT Control---Overview
204(3)
8.5 Non-Diagonal MIMO QFT---Method 1
207(13)
8.5.1 The Coupling Matrix
208(1)
8.5.2 Tracking
209(2)
8.5.3 Disturbance Rejection at Plant Input
211(1)
8.5.4 Disturbance Rejection at Plant Output
212(1)
8.5.5 The Coupling Elements
213(1)
8.5.6 The Optimal Non-Diagonal Compensator
214(1)
8.5.6.1 Tracking
215(1)
8.5.6.2 Disturbance Rejection at Plant Input
215(1)
8.5.6.3 Disturbance Rejection at Plant Output
215(1)
8.5.7 The Coupling Effects
215(1)
8.5.7.1 Tracking
216(1)
8.5.7.2 Disturbance Rejection at Plant Input
216(1)
8.5.7.3 Disturbance Rejection at Plant Output
216(1)
8.5.8 Quality Function of the Designed Compensator
217(1)
8.5.9 Design Methodology
218(2)
8.5.10 Some Practical Issues
220(1)
8.6 Non-Diagonal MIMO QFT---Method 2
220(18)
8.6.1 Non-Diagonal MIMO QFT Reformulation
221(1)
8.6.2 Case 1: Reference Tracking and Disturbance Rejection at Plant Output
221(1)
8.6.2.1 Methodology
222(4)
8.6.3 Case 2: Disturbance Rejection at Plant Input
226(1)
8.6.4 Stability Conditions and Final Implementation
227(1)
8.6.5 Translating Matrix Performance Specifications
228(1)
8.6.5.1 Case n x n
228(6)
8.6.5.2 Case 2 x 2
234(4)
8.7 Comparison of Methods 1 and 2
238(2)
8.8 Heat Exchanger, Example 8.1---MIMO QFT Method 1
240(8)
8.9 Heat Exchanger, Example 8.1---MIMO QFT Method 2
248(11)
8.10 Summary
259(1)
8.11 Practice
259(2)
9 Control Topologies
261(18)
9.1 Introduction
261(1)
9.2 Cascade Control Systems
261(2)
9.2.1 Challenged
261(1)
9.2.2 Solution 9.1: Cascade Control
262(1)
9.3 Feedforward Control Systems
263(4)
9.3.1 Challenged
263(1)
9.3.2 Solution 9.2a: For Disturbance Rejection
264(2)
9.3.3 Solution 9.2b: For Reference Tracking. Model Matching
266(1)
9.3.4 Solution 9.2c: For Disturbance Rejection and Reference Tracking
266(1)
9.4 Override Control Systems
267(2)
9.4.1 Challenged
267(1)
9.4.2 Solution 9.3: Override Control
267(2)
9.5 Ratio Control Systems
269(1)
9.5.1 Challenged
269(1)
9.5.2 Solution 9.4: Ratio Control
269(1)
9.6 Mid-Range Control Systems
270(2)
9.6.1 Challenged
270(1)
9.6.2 Solution 9.5: Mid-Range Control
271(1)
9.7 Load-Sharing Control Systems
272(1)
9.7.1 Challenged
272(1)
9.7.2 Solution 9.6: Load-Sharing Control
272(1)
9.8 Split-Range Control Systems
273(1)
9.8.1 Challenged
273(1)
9.8.2 Solution 9.7 Split-Range Control
274(1)
9.9 Inferential Control Systems
274(2)
9.9.1 Challenge 9.8
274(1)
9.9.2 Solution 9.8: Inferential Control
275(1)
9.10 Auctioneering Control Systems
276(1)
9.10.1 Challenged
276(1)
9.10.2 Solution 9.9: Auctioneering Control
277(1)
9.11 Summary
277(1)
9.12 Practice
278(1)
10 Controller Implementation
279(130)
10.1 Introduction
279(1)
10.2 Analog Implementation
279(5)
10.3 Digital Implementation
284(12)
10.3.1 Sample and Hold
285(3)
10.3.2 Computer Control Algorithms
288(4)
10.3.3 Positional and Velocity Algorithms
292(1)
10.3.3.1 Positional Algorithm
293(1)
10.3.3.2 Velocity Algorithm
293(1)
10.3.4 Switching and Bumpless Algorithms
294(1)
10.3.5 Pulse Width Modulation
294(2)
10.4 Fragility Analysis with QFT
296(3)
10.5 Summary
299(1)
10.6 Practice
300(109)
Case Study 1 Satellite Control
301(16)
Case Study 2 Wind Turbine Control
317(26)
Case Study 3 Wastewater Treatment Plant Control
343(22)
Case Study 4 Radio-Telescope Control
365(30)
Case Study 5 Attitude and Position Control of Spacecraft Telescopes with Flexible Appendages
395(14)
Appendix 1 Projects and Problems 409(42)
Appendix 2 QFT Control Toolbox---User's Guide 451(34)
Appendix 3 Algorithm---Nyquist Stability Criterion in Nichols Chart 485(8)
Appendix 4 Algorithms---Smith Predictor Robust Control 493(6)
Appendix 5 Algorithms---DPS Robust Control 499(2)
Appendix 6 Algorithms---Gain Scheduling/Switching Control 501(4)
Appendix 7 Algorithms---Nonlinear Dynamic Control 505(4)
Appendix 8 Algorithms---MIMO Robust Control 509(10)
Appendix 9 Conversion of Units 519(2)
References 521(20)
Index 541
Prof. Mario García-Sanz is one of the pioneers in the QFT robust control arena. Over the last 30 years, he has developed new QFT control theory for multi-input multi-output plants, distributed parameter systems, time-delay processes, nonlinear switching and feedforward control, including also methods to apply the Nyquist stability criterion in the Nichols chart, and to calculate QFT templates and bounds. In addition, he has designed many commercial control solutions for industry and space agencies. Customers include NASA-JPL, ESA-ESTEC, US-AFIT, NRAO-GBT, GMRT, Gamesa, Acciona, MTorres, IngeTeam, CENER, Eaton Corporation, Enercon, Siemens, Iberdrola, REE, Sener, EEQ, etc.









With over 20 industrial patents and 200 research papers, Dr. García-Sanz is one of the inventors of the TWT direct-drive variable-speed pitch-control multi-megawatt wind turbine, of the EAGLE airborne wind energy system, of the TWT variable-speed hydro-wind turbine, of the DeltaGrids optimal planning algorithms for electrical distribution networks, and of numerous advanced industrial controllers. In addition, he has been the Principal Investigator of over 50 funded research projects for industry, and worked as an international expert on wind turbine design and control in patent litigation at the British Court in London. As a Full Professor at the Public University of Navarra (Spain) and Senior Advisor for European wind energy companies, he played a central role in the design and field experimentation of multi-megawatt wind turbines for industry, including the advice of many PhD students and engineers in the field.









Dr. García-Sanz is currently a Professor and Founding Director of the Control and Energy Systems Center, and the inaugural Milton and Tamar Maltz Endowed Chair in Energy Innovation at Case Western Reserve University (http://cesc.case.edu). He also has been NATO/RTO Lecture Series Director for Advanced Controls, Visiting Professor at the Control Systems Centre, UMIST (UK); at Oxford University (UK); at the Jet Propulsion Laboratory NASA-JPL (California); and at the European Space Agency ESA-ESTEC (The Netherlands), and has given invited seminars in over 20 countries. He founded CoDyPower LLC, a consulting firm specialized on control systems, energy innovation and optimum planning of electrical distribution networks (http://codypower.com). Professor García-Sanz's CRC-Press three books "Quantitative Feedback Theory: Theory and Applications" (2006), "Wind Energy Systems: Control Engineering Design" (2012), and "Robust Control Engineering: Practical QFT Solutions" (2017) are among the best-selling books in QFT robust control and Wind turbine control. His QFT Control Toolbox for Matlab is considered as the top tool for designing QFT robust control systems. Dr. García-Sanz is Subject Editor of the International Journal of Robust and Nonlinear Control and was awarded the IEE Heaviside Prize (UK) in 1995, the BBVA research award (Spain) in 2001 and the CWRU Diekhoff Teaching Award (USA) in 2012 among other prizes.