State feedback control and estimation with MATLAB/Simulink tutorials / / Liuping Wang, Robin Ping Guan

• Record Nr.: UNINA9910830107403321
• Autore: Wang Liuping
• Pubbl/distr/stampa: England : , : John Wiley & Sons, Incorporated, , [2023]; ©2023
• ISBN: 1-119-69462-0; 1-119-69464-7
• Descrizione fisica: 1 online resource (451 pages)
• Collana: IEEE Press
• Disciplina: 910.5
• Soggetti: Feedback control systems
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Nota di bibliografia: Includes bibliographical references and index.
• Nota di contenuto: Cover -- Title Page -- Copyright -- Contents -- Author Biography -- Preface -- Acknowledgments -- List of Symbols and Acronyms -- About the Companion Website -- Part I Continuous‐time State Feedback Control -- Chapter 1 State Feedback Controller and Observer Design -- 1.1 Introduction -- 1.2 Motivation for Going Beyond PID Control -- 1.3 Basics in State Feedback Control -- 1.3.1 State Feedback Control -- 1.3.2 Controllability -- 1.3.3 Food for Thought -- 1.4 Pole‐assignment Controller -- 1.4.1 The Design Method -- 1.4.2 Similarity Transformation for Controller Design -- 1.4.3 MATLAB Tutorial on Pole‐assignment Controller -- 1.4.4 Food for Thought -- 1.5 Linear Quadratic Regulator (LQR) Design -- 1.5.1 Motivational Example -- 1.5.2 Linear Quadratic Regulator Design -- 1.5.3 Selection of Q and R Matrices -- 1.5.4 LQR with Prescribed Degree of Stability -- 1.5.5 Food for Thought -- 1.6 Observer Design -- 1.6.1 Motivational Example for Observer -- 1.6.2 Observer Design -- 1.6.3 Observability -- 1.6.4 Duality between Controller and Observer -- 1.6.5 Observer Implementation -- 1.6.6 Food for Thought -- 1.7 State Estimate Feedback Control System -- 1.7.1 State Estimate Feedback Control -- 1.7.2 Separation Principle -- 1.7.3 Food for Thought -- 1.8 Summary -- 1.9 Further Reading -- Problems -- Chapter 2 Practical Multivariable Controllers in Continuous‐time -- 2.1 Introduction -- 2.2 Practical Controller I: Integral Action via Controller Design -- 2.2.1 The Original ; Control Law -- 2.2.2 Integrator Windup Scenarios -- 2.2.3 Proposed Practical Multivariable Controller -- 2.2.4 Anti‐windup Implementation -- 2.2.5 MATLAB Tutorial on Design and Implementation -- 2.2.6 Application to Drum Boiler Control -- 2.2.7 Food for Thought -- 2.3 Practical Controller II: Integral Action via Observer Design -- 2.3.1 Integral Control via Disturbance Estimation.; 2.3.2 Anti‐windup Mechanism -- 2.3.3 MATLAB Tutorial on Design and Implementation -- 2.3.4 Application to Sugar Mill Control -- 2.3.5 Design for Systems with Known States -- 2.3.6 Food for Thought -- 2.4 Drive Train Control of a Wind Turbine -- 2.4.1 Modelling of Wind Turbine's Drive Train -- 2.4.2 Configuration of The Control System -- 2.4.3 Design Method I -- 2.4.4 Design Method II -- 2.4.5 MATLAB Tutorial on Design Method II -- 2.4.6 Food for Thought -- 2.5 Summary -- 2.6 Further Reading -- Problems -- Part II Discrete‐time State Feedback Control -- Chapter 3 Introduction to Discrete‐time Systems -- 3.1 Introduction -- 3.2 Discretization of Continuous‐time Models -- 3.2.1 Sampling of a Continuous‐time Model -- 3.2.2 Stability of Discrete‐time System -- 3.2.3 Examples of Discrete‐time Models from Sampling -- 3.2.4 Food for Thoughts -- 3.3 Input and Output Discrete‐time Models -- 3.3.1 Input and Output Models -- 3.3.2 Finite Impulse Response and Step Response Models -- 3.3.3 Non‐minimal State Space Realization -- 3.3.4 Food for Thought -- 3.4 z‐Transforms -- 3.4.1 z‐Transforms for Commonly Used Signals -- 3.4.2 z‐Transfer Functions -- 3.4.3 Food for Thought -- 3.5 Summary -- 3.6 Further Reading -- Problems -- Chapter 4 Discrete‐time State Feedback Control -- 4.1 Introduction -- 4.2 Discrete‐time State Feedback Control -- 4.2.1 Basic Ideas -- 4.2.2 Controllability in Discrete‐time -- 4.2.3 Food for Thought -- 4.3 Discrete‐time Observer Design -- 4.3.1 Basic Ideas about Discrete‐time Observer -- 4.3.2 Observability in Discrete‐time -- 4.3.3 Food for Thought -- 4.4 Discrete‐time Linear Quadratic Regulator (DLQR) -- 4.4.1 Objective Function for DLQR -- 4.4.2 Optimal Solution -- 4.4.3 Observer Design using DLQR -- 4.4.4 Food for Thought -- 4.5 Discrete‐time LQR with Prescribed Degree of Stability.; 4.5.1 Basic Ideas about a Prescribed Degree of Stability -- 4.5.2 Case Studies -- 4.5.3 Food for Thought -- 4.6 Summary -- 4.7 Further Reading -- Problems -- Chapter 5 Disturbance Rejection and Reference Tracking via Observer Design -- 5.1 Introduction -- 5.2 Disturbance Models -- 5.2.1 Commonly Encountered Disturbance Signals -- 5.2.2 State Space Model with Input Disturbance -- 5.2.3 Food for Thought -- 5.3 Compensation of Input and Output Disturbances in Estimation -- 5.3.1 Motivational Example -- 5.3.2 Input Disturbance Observer Design -- 5.3.3 MATLAB Tutorial for Augmented State Space Model -- 5.3.4 The Observer Error System -- 5.3.5 Output Disturbance Observer Design -- 5.3.6 Food for Thought -- 5.4 Disturbance‐Observer‐based State Feedback Control -- 5.4.1 The Control Law -- 5.4.2 MATLAB Tutorial for Control Implementation -- 5.4.3 Food for Thought -- 5.5 Analysis of Disturbance‐Observer‐based Control System -- 5.5.1 Controller Transfer Function -- 5.5.2 Disturbance Rejection -- 5.5.3 Reference Tracking -- 5.5.4 A Case Study -- 5.5.5 Food for Thought -- 5.6 Anti‐windup Implementation of the Control Law -- 5.6.1 Algorithm for Anti‐windup Implementation -- 5.6.2 Heating Furnace Control -- 5.6.3 Example for Bandlimited Disturbance -- 5.6.4 Food for Thought -- 5.7 Summary -- 5.8 Further Reading -- Problems -- Chapter 6 Disturbance Rejection and Reference Tracking via Control Design -- 6.1 Introduction -- 6.2 Embedding Disturbance Model into Controller Design -- 6.2.1 Formulation of Augmented State Space Model -- 6.2.2 MATLAB Tutorial -- 6.2.3 Controllability and Observability -- 6.2.4 ; Food for Thought -- 6.3 Controller and Observer Design -- 6.3.1 Controller Design and Control Signal Calculation -- 6.3.2 Adding Reference Signal -- 6.3.3 Observer Design and Implementation -- 6.3.4 MATLAB Tutorial for Control Implementation -- 6.3.5 Food for Thought.; 6.4 Practical Issues -- 6.4.1 Reducing Overshoot in Reference Tracking -- 6.4.2 Anti‐windup Implementation -- 6.4.3 Control System using NMSS Realization -- 6.4.4 Food for Thought -- 6.5 Repetitive Control -- 6.5.1 Basic Ideas about Repetitive Control -- 6.5.2 Determining the Disturbance Model D(z) -- 6.5.3 Robotic Arm Control -- 6.5.4 Food for Thought -- 6.6 Summary -- 6.7 Further Reading -- Problems -- Part III Kalman Filtering -- Chapter 7 The Kalman Filter -- 7.1 Introduction -- 7.2 The Kalman Filter Algorithm -- 7.2.1 State Space Models in the Kalman Filter -- 7.2.2 An Intuitive Computational Procedure -- 7.2.3 Optimization of Kalman Filter Gain -- 7.2.4 Kalman Filter Examples with MATLAB Tutorials -- 7.2.5 Compensation of Sensor Bias and Load Disturbance -- 7.2.6 Food for Thought -- 7.3 The Kalman Filter in Multi‐rate Sampling Environment -- 7.3.1 KF Algorithm for Missing Data Scenarios -- 7.3.2 Case Studies with MATLAB Tutorial -- 7.3.3 Food for Thought -- 7.4 The Extended Kalman Filter (EKF) -- 7.4.1 Linearization in Extended Kalman Filter -- 7.4.2 The Extended Kalman Filter Algorithm -- 7.4.3 Case Studies with MATLAB Tutorial -- 7.4.4 Food for Thought -- 7.5 The Kalman Filter with Fading Memory -- 7.5.1 The Algorithm for KF with Fading Memory -- 7.5.2 Food for Thought -- 7.6 Relationship between Kalman Filter and Observer -- 7.6.1 One‐step Kalman Filter Algorithm -- 7.6.2 Kalman Filter and Observer -- 7.6.3 Food for Thought -- 7.7 Summary -- 7.8 Further Reading -- Problems -- Chapter 8 Addressing Computational Issues in KF -- 8.1 Introduction -- 8.2 The Sequential Kalman Filter -- 8.2.1 Basic Ideas about Sequential Kalman Filter -- 8.2.2 Non‐diagonal R -- 8.2.3 MATLAB Tutorial for Sequential Kalman Filter -- 8.2.4 Food for Thought -- 8.3 The Kalman Filter using UDUT Factorization -- 8.3.1 Gram‐Schmidt Orthogonalization Procedure.; 8.3.2 Basic Ideas -- 8.3.3 Sequential Kalman Filter with UDUT Decomposition -- 8.3.4 MATLAB Tutorial -- 8.3.5 Food for Thought -- 8.4 Summary -- 8.5 Further Reading -- Problems -- Bibliography -- Index -- EULA.