Classical Feedback Control with Nonlinear Multi-Loop Systems: With MATLAB(R) and Simulink(R), Third Edition

ISBN-13: 9781138541146 / Angielski / Twarda / 2019 / 574 str.

Boris J. Lurie; Paul Enright

Opis

Classical Feedback Control with Nonlinear Multi-Loop Systems describes the design of high-performance feedback control systems, emphasizing the frequency-domain approach widely used in practical engineering. It presents high-order nonlinear multi-loop controllers with analog and digital implementations, serving as a textbook or reference.

Spis treści

Preface

To Instructors

1. Feedback and Sensitivity

1.1 Feedback Control System

1.2 Feedback: Positive and Negative

1.3 Large Feedback

1.4 Loop Gain and Phase Frequency Responses

1.5 Disturbance Rejection

1.6 Example of System Analysis

1.7 Effect of Feedback on the Actuator Nondynamic Nonlinearity

1.8 Sensitivity

1.9 Effect of Finite Plant Parameter Variations

1.10 Automatic Signal Level Control

1.11 Lead and PID Compensators

1.12 Conclusion and a Look Ahead

Problems

Answers to Selected Problems

2. Feedforward, Multi-loop, and MIMO Systems

2.1 Command Feedforward

2.2 Prefilter and the Feedback Path Equivalent

2.3 Error Feedforward

2.4 Black’s Feedforward

2.5 Multi-loop Feedback Systems

2.6 Local, Common, and Nested Loops

2.7 Crossed Loops and Main/Vernier Loops

2.8 Block Diagram Manipulations and Transfer Function Calculations

2.9 MIMO Feedback Systems

Problems

3. Frequency Response Methods

3.1 Conversion of Time Domain Requirements to Frequency Domain

3.2 Closed-Loop Transient Response

3.3 Root Locus

3.4 Nyquist Stability Criterion

3.5 Robustness and Stability Margins

3.6 Nyquist Criterion for Unstable Plants

3.7 Successive Loop Closure Stability Criterion (Bode-Nyquist)

3.8 Nyquist Diagrams for Loop Transfer Functions with Poles at the Origin

3.9 Bode Phase-Gain Relation

3.10 Phase Calculations

3.11 From the Nyquist Diagram to the Bode Diagram

3.12 Non-minimum Phase Lag

3.13 Ladder Networks and Parallel Connections of M.P. Links

3.14 Other Bode Definite Integrals

Problems

Answers to Selected Problems

4. Shaping the Loop Frequency Response

4.1 Optimality of the Compensator Design

4.2 Feedback Maximization

4.3 Feedback Bandwidth Limitations

4.4 Coupling in MIMO Systems

4.5 Shaping Parallel Channel Responses

Problems

Answers to Selected Problems

5. Compensator Design

5.1 Loop Shaping Accuracy

5.2 Asymptotic Bode Diagram

5.3 Approximation of Constant Slope Gain Response

5.4 Lead and Lag Links

5.5 Complex Poles

5.6 Cascaded Links

5.7 Parallel Connection of Links

5.8 Simulation of a PID Controller

5.9 Analog and Digital Controllers

5.10 Digital Compensator Design

Problems

Answers to Selected Problems

6. Analog Controller Implementation

6.1 Active RC Circuits

6.2 Design and Iterations in the Element Value Domain

6.3 Analog Compensator, Analog or Digitally Controlled

6.4 Switched-Capacitor Filters

6.5 Miscellaneous Hardware Issues

6.6 PID Tunable Controller

6.7 Tunable Compensator with One Variable Parameter

6.8 Loop Response Measurements

Problems

Answers to Selected Problems

7. Linear Links and System Simulation

7.1 Mathematical Analogies

7.2 Junctions of Unilateral Links

7.3 Effect of the Plant and Actuator Impedances on the Plant Transfer Function Uncertainty

7.4 Effect of Feedback on the Impedance (Mobility)

7.5 Effect of Load Impedance on Feedback

7.6 Flowchart for Chain Connection of Bidirectional Two-Ports

7.7 Examples of System Modeling

7.8 Flexible Structures

7.9 Sensor Noise

7.10 Mathematical Analogies to the Feedback System

7.11 Linear Time-Variable Systems

Problems

Answers to Selected Problems

8. Introduction to Alternative Methods of Controller Design

8.1 QFT

8.2 Root Locus and Pole Placement Methods

8.3 State-Space Methods and Full-State Feedback

8.4 LQR and LQG

8.5 H_∞, µ-Synthesis, and Linear Matrix Inequalities

9. Adaptive Systems

9.1 Benefits of Adaptation to the Plant Parameter Variations

9.2 Static and Dynamic Adaptation

9.3 Plant Transfer Function Identification

9.4 Flexible and N. P. Plants

9.5 Disturbance and Noise Rejection

9.6 Pilot Signals and Dithering Systems

9.7 Adaptive Filters

10. Provision of Global Stability

10.1 Nonlinearities of the Actuator, Feedback Path, and Plant

10.2 Types of Self-Oscillation

10.3 Stability Analysis of Nonlinear Systems

10.4 Absolute Stability

10.5 Popov Criterion

10.6 Applications of Popov Criterion

10.7 Absolutely Stable Systems with Nonlinear Dynamic Compensation

Problems

Answers to Selected Problems

11. Describing Functions

11.1 Harmonic Balance

11.2 Describing Function

11.3 Describing Functions for Symmetrical Piece-Linear Characteristics

11.4 Hysteresis

11.5 Nonlinear Links Yielding Phase Advance for Large-Amplitude Signals

11.6 Two Nonlinear Links in the Feedback Loop

11.7 NDC with a Single Nonlinear Nondynamic Link

11.8 NDC with Parallel Channels

11.9 NDC Made with Local Feedback

11.10 Negative Hysteresis and Clegg Integrator

11.11 Nonlinear Interaction between the Local and the Common Feedback Loops

11.12 NDC in Multi-loop Systems

11.13 Harmonics and Intermodulation

11.14 Verification of Global Stability

Problems

Answers to Selected Problems

12. Process Instability

12.1 Process Instability

12.2 Absolute Stability of the Output Process

12.3 Jump Resonance

12.4 Subharmonics

12.5 Nonlinear Dynamic Compensation

Problems

13. Multiwindow Controllers

13.1 Composite Nonlinear Controllers

13.2 Multiwindow Control

13.3 Switching from a Hot Controller to a Cold Controller

13.4 Wind-Up and Anti-Wind-Up Controllers

13.5 Selection Order

13.6 Acquisition and Tracking

13.7 Time-Optimal Control

13.8 Examples

Problems

14. Nonlinear Multi-Loop Systems with Uncertainty

14.1 Systems with High-Frequency Plant Uncertainty

14.2 Stability and Multi-frequency Oscillations in Band-Pass Systems

14.3 Bode Single-loop Systems

14.4 Multi-Input Multi-Output Systems

14.5 Nonlinear Multi-loop Feedback

14.6 Design of the Internal Loops

14.7 Input Signal Reconstruction

Appendix 1: Feedback Control, Elementary Treatment

Appendix 2: Frequency Responses

Appendix 3: Causal Systems, Passive Systems, Positive Real Functions, and Collocated Control

Appendix 4: Derivation of Bode Integrals

Appendix 5: Program for Phase Calculation

Appendix 6: Generic Single-Loop Feedback System

Appendix 7: Effect of Feedback on Mobility

Appendix 8: Regulation

Appendix 9: Balanced Bridge Feedback

Appendix 10: Phase-Gain Relation for Describing Functions

Appendix 11: Discussions

Appendix 12: Design Sequence

Appendix 13: Examples

Appendix 14: Bode Step Toolbox

Appendix 15: Nonlinear Multi-loop Feedback Control (Patent Application)

Bibliography

Notation

Index