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Adaptive approximation based control [[electronic resource] ] : unifying neural, fuzzy and traditional adaptive approximation approaches / / Jay A. Farrell, Marios M. Polycarpou
| Adaptive approximation based control [[electronic resource] ] : unifying neural, fuzzy and traditional adaptive approximation approaches / / Jay A. Farrell, Marios M. Polycarpou |
| Autore | Farrell Jay |
| Pubbl/distr/stampa | Hoboken, N.J., : Wiley-Interscience, c2006 |
| Descrizione fisica | 1 online resource (440 p.) |
| Disciplina | 629.8 |
| Altri autori (Persone) | PolycarpouMarios |
| Collana | Wiley series in adaptive and learning systems for signal processing, communication and control |
| Soggetto topico |
Adaptive control systems
Feedback control systems |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-280-44804-0
9786610448043 0-470-32501-1 0-471-78181-9 0-471-78180-0 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
ADAPTIVE APPROXIMATlON BASED CONTROL; CONTENTS; Preface; 1 Introduction; 1.1 Systems and Control Terminology; 1.2 Nonlinear Systems; 1.3 Feedback Control Approaches; 1.3.1 Linear Design; 1.3.2 Adaptive Linear Design; 1.3.3 Nonlinear Design; 1.3.4 Adaptive Approximation Based Design; 1.3.5 Example Summary; 1.4 Components of Approximation Based Control; 1.4.1 Control Architecture; 1.4.2 Function Approximator; 1.4.3 Stable Training Algorithm; 1.5 Discussion and Philosophical Comments; 1.6 Exercises and Design Problems; 2 Approximation Theory; 2.1 Motivating Example; 2.2 Interpolation
2.3 Function Approximation2.3.1 Offline (Batch) Function Approximation; 2.3.2 Adaptive Function Approximation; 2.4 Approximator Properties; 2.4.1 Parameter (Non) Linearity; 2.4.2 Classical Approximation Results; 2.4.3 Network Approximators; 2.4.4 Nodal Processors; 2.4.5 Universal Approximator; 2.4.6 Best Approximator Property; 2.4.7 Generalization; 2.4.8 Extent of Influence Function Support; 2.4.9 Approximator Transparency; 2.4.10 Haar Conditions; 2.4.11 Multivariable Approximation by Tensor Products; 2.5 Summary; 2.6 Exercises and Design Problems; 3 Approximation Structures; 3.1 Model Types 3.1.1 Physically Based Models3.1.2 Structure (Model) Free Approximation; 3.1.3 Function Approximation Structures; 3.2 Polynomials; 3.2.1 Description; 3.2.2 Properties; 3.3 Splines; 3.3.1 Description; 3.3.2 Properties; 3.4 Radial Basis Functions; 3.4.1 Description; 3.4.2 Properties; 3.5 Cerebellar Model Articulation Controller; 3.5.1 Description; 3.5.2 Properties; 3.6 Multilayer Perceptron; 3.6.1 Description; 3.6.2 Properties; 3.7 Fuzzy Approximation; 3.7.1 Description; 3.7.2 Takagi-Sugeno Fuzzy Systems; 3.7.3 Properties; 3.8 Wavelets; 3.8.1 Multiresolution Analysis (MRA); 3.8.2 MRA Properties 3.9 Further Reading3.10 Exercises and Design Problems; 4 Parameter Estimation Methods; 4.1 Formulation for Adaptive Approximation; 4.1.1 Illustrative Example; 4.1.2 Motivating Simulation Examples; 4.1.3 Problem Statement; 4.1.4 Discussion of Issues in Parametric Estimation; 4.2 Derivation of Parametric Models; 4.2.1 Problem Formulation for Full-State Measurement; 4.2.2 Filtering Techniques; 4.2.3 SPR Filtering; 4.2.4 Linearly Parameterized Approximators; 4.2.5 Parametric Models in State Space Form; 4.2.6 Parametric Models of Discrete-Time Systems 4.2.7 Parametric Models of Input-Output Systems4.3 Design of Online Learning Schemes; 4.3.1 Error Filtering Online Learning (EFOL) Scheme; 4.3.2 Regressor Filtering Online Learning (RFOL) Scheme; 4.4 Continuous-Time Parameter Estimation; 4.4.1 Lyapunov-Based Algorithms; 4.4.2 Optimization Methods; 4.4.3 Summary; 4.5 Online Learning: Analysis; 4.5.1 Analysis of LIP EFOL Scheme with Lyapunov Synthesis Method; 4.5.2 Analysis of LIP RFOL Scheme with the Gradient Algorithm; 4.5.3 Analysis of LIP RFOL Scheme with RLS Algorithm; 4.5.4 Persistency of Excitation and Parameter Convergence 4.6 Robust Learning Algorithms |
| Record Nr. | UNINA-9910143397203321 |
Farrell Jay
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| Hoboken, N.J., : Wiley-Interscience, c2006 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Advanced techniques and technology of computer-aided feedback control / / Jean Mbihi
| Advanced techniques and technology of computer-aided feedback control / / Jean Mbihi |
| Autore | Mbihi Jean |
| Pubbl/distr/stampa | Hoboken, New Jersey : , : Iste Ltd/John Wiley and Sons Inc., , 2018 |
| Descrizione fisica | 1 online resource (259 pages) |
| Disciplina | 629.83 |
| Soggetto topico |
Feedback control systems
Automatic control |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-119-52832-1
1-119-52835-6 1-119-45295-3 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910555173603321 |
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Mbihi Jean
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| Hoboken, New Jersey : , : Iste Ltd/John Wiley and Sons Inc., , 2018 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Advances in analysis and control of time-delayed dynamical systems / / edited by Jian-Qiao Sun, Qiang Ding
| Advances in analysis and control of time-delayed dynamical systems / / edited by Jian-Qiao Sun, Qiang Ding |
| Pubbl/distr/stampa | Singapore : , : World Scientific Publishing Company, , [2013] |
| Descrizione fisica | 1 online resource (355 p.) |
| Disciplina | 629.83 |
| Altri autori (Persone) |
DingQiang
SunJian-Qiao |
| Soggetto topico |
Feedback control systems
Time delay systems |
| Soggetto genere / forma | Electronic books. |
| ISBN | 981-4525-50-2 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Preface; Contents; Chapter 1 Complete Quadratic Lyapunov-Krasovskii Functional: Limitations, Computational Efficiency, and Convergence Keqin Gu; 1. Introduction; 2. Complete Quadratic Lyapunov-Krasovskii Functional; 3. Discretized Lyapunov Functional Method; 4. Coupled Differential-difference Equations; 5. Miscellaneous Issues; 5.1. Computational Efficiency; 5.2. Convergence Issue for Multiple Neutral Delays; 5.3. Lyapunov-Krasovskii Functionals Containing State Derivatives; 6. SOS Method; 7. Conclusions and Perspectives; References
Chapter 2 Recent Approaches for the Numerical Solution of State-dependent Delay Differential Equations with Discontinuities Alfredo Bellen1. Introduction; 2. Weak Solutions; 3. Regularization Techniques; 4. Comparing Regularizations; References; Chapter 3 Engineering Applications of Time-periodic Time-delayed Systems Gabor Stepan; 1. Introduction; 2. Delayed Mathieu Equation; 3. Semi-discretization Method for Periodic DDEs; 4. Engineering Applications; 4.1. Modeling and Stability of Milling Operations; 4.2. Cutting with Varying Spindle Speed 4.3. Act-and-wait Control of Force Controlled Robots5. Conclusions; References; Chapter 4 Synchronization in Delay-coupled Complex Networks Eckehard Scholl; 1. Introduction; 2. Stability of Synchronization for Large Delay; 3. Cluster Synchronization; 4. Adaptive Synchronization; 4.1. Speed-gradient Method; 4.2. Zero-lag Synchronization; 4.3. Splay State and Cluster Synchronization; 4.4. Controlling Several Parameters Simultaneously; 5. Transitions between Synchronization and Desychronization; 5.1. Excitability of Type II; 5.2. Excitability of Type I; 6. Conclusion and Outlook; References Chapter 5 Stochastic Dynamics and Optimal Control of Quasi Integrable Hamiltonian Systems with Time-delayed Feedback Control Weiqiu Zhu, Zhonghua Liu1. Introduction; 2. Stochastic Averaging Method for Quasi Integrable Hamiltonian Systems with Time-delayed Feedback Control; 2.1. Gaussian White Noise Excitations; 2.1.1. Non-resonant Case; 2.1.2. Resonant Case; 2.2. Wide-band Random Excitations; 2.2.1. Non-resonant Case; 2.2.2. Resonant Case; 2.3. Narrow-band Bounded Noise Excitation; 2.3.1. External Resonance Only; 2.3.2. Both Internal and External Resonances 2.4. Combined Excitations of Harmonic Function and One Kind of above Random Processes2.4.1. Internal Resonance Only; 2.4.2. External Resonance Only; 2.4.3. Both Internal and External Resonances; 3. Stochastic Dynamics of Quasi Integrable Hamiltonian Systems with Time-delayed Feedback Control; 3.1. Response; 3.2. Stochastic Stability; 3.3. Stochastic Bifurcation; 3.4. First Passage Failure; 3.4.1. Gaussian White Noise Excitation; 4. Stochastic Optimal Control of Quasi Integrable Hamiltonian Systems with Time-delayed Feedback Control; 4.1. Response Minimization Control; 4.2. Stabilization 4.3. Minimax Optimal Bounded Control |
| Record Nr. | UNINA-9910453633703321 |
| Singapore : , : World Scientific Publishing Company, , [2013] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Advances in analysis and control of time-delayed dynamical systems / / edited by Jian-Qiao Sun, Qiang Ding
| Advances in analysis and control of time-delayed dynamical systems / / edited by Jian-Qiao Sun, Qiang Ding |
| Pubbl/distr/stampa | Singapore : , : World Scientific Publishing Company, , [2013] |
| Descrizione fisica | 1 online resource (355 p.) |
| Disciplina | 629.83 |
| Altri autori (Persone) |
DingQiang
SunJian-Qiao |
| Soggetto topico |
Feedback control systems
Time delay systems |
| Soggetto genere / forma | Electronic books. |
| ISBN | 981-4525-50-2 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Preface; Contents; Chapter 1 Complete Quadratic Lyapunov-Krasovskii Functional: Limitations, Computational Efficiency, and Convergence Keqin Gu; 1. Introduction; 2. Complete Quadratic Lyapunov-Krasovskii Functional; 3. Discretized Lyapunov Functional Method; 4. Coupled Differential-difference Equations; 5. Miscellaneous Issues; 5.1. Computational Efficiency; 5.2. Convergence Issue for Multiple Neutral Delays; 5.3. Lyapunov-Krasovskii Functionals Containing State Derivatives; 6. SOS Method; 7. Conclusions and Perspectives; References
Chapter 2 Recent Approaches for the Numerical Solution of State-dependent Delay Differential Equations with Discontinuities Alfredo Bellen1. Introduction; 2. Weak Solutions; 3. Regularization Techniques; 4. Comparing Regularizations; References; Chapter 3 Engineering Applications of Time-periodic Time-delayed Systems Gabor Stepan; 1. Introduction; 2. Delayed Mathieu Equation; 3. Semi-discretization Method for Periodic DDEs; 4. Engineering Applications; 4.1. Modeling and Stability of Milling Operations; 4.2. Cutting with Varying Spindle Speed 4.3. Act-and-wait Control of Force Controlled Robots5. Conclusions; References; Chapter 4 Synchronization in Delay-coupled Complex Networks Eckehard Scholl; 1. Introduction; 2. Stability of Synchronization for Large Delay; 3. Cluster Synchronization; 4. Adaptive Synchronization; 4.1. Speed-gradient Method; 4.2. Zero-lag Synchronization; 4.3. Splay State and Cluster Synchronization; 4.4. Controlling Several Parameters Simultaneously; 5. Transitions between Synchronization and Desychronization; 5.1. Excitability of Type II; 5.2. Excitability of Type I; 6. Conclusion and Outlook; References Chapter 5 Stochastic Dynamics and Optimal Control of Quasi Integrable Hamiltonian Systems with Time-delayed Feedback Control Weiqiu Zhu, Zhonghua Liu1. Introduction; 2. Stochastic Averaging Method for Quasi Integrable Hamiltonian Systems with Time-delayed Feedback Control; 2.1. Gaussian White Noise Excitations; 2.1.1. Non-resonant Case; 2.1.2. Resonant Case; 2.2. Wide-band Random Excitations; 2.2.1. Non-resonant Case; 2.2.2. Resonant Case; 2.3. Narrow-band Bounded Noise Excitation; 2.3.1. External Resonance Only; 2.3.2. Both Internal and External Resonances 2.4. Combined Excitations of Harmonic Function and One Kind of above Random Processes2.4.1. Internal Resonance Only; 2.4.2. External Resonance Only; 2.4.3. Both Internal and External Resonances; 3. Stochastic Dynamics of Quasi Integrable Hamiltonian Systems with Time-delayed Feedback Control; 3.1. Response; 3.2. Stochastic Stability; 3.3. Stochastic Bifurcation; 3.4. First Passage Failure; 3.4.1. Gaussian White Noise Excitation; 4. Stochastic Optimal Control of Quasi Integrable Hamiltonian Systems with Time-delayed Feedback Control; 4.1. Response Minimization Control; 4.2. Stabilization 4.3. Minimax Optimal Bounded Control |
| Record Nr. | UNINA-9910658821803321 |
| Singapore : , : World Scientific Publishing Company, , [2013] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Analysis and design of feedback control systems / Robert G. Brown, George J. Thaler
| Analysis and design of feedback control systems / Robert G. Brown, George J. Thaler |
| Autore | Brown, Robert G. |
| Edizione | [2nd ed.] |
| Pubbl/distr/stampa | New York : McGraw-Hill Book Co. ; Tokyo : Kogakusha Company, 1960 |
| Descrizione fisica | xiii, 648 p. : ill. ; 24 cm. |
| Altri autori (Persone) | Thaler, George J. |
| Collana | McGraw-Hill electrical and electronic engineering series |
| Soggetto topico | Feedback control systems |
| Classificazione |
621.3.1
621.3.6 629.83 TJ213.T49 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNISALENTO-b10132752 |
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Brown, Robert G.
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| New York : McGraw-Hill Book Co. ; Tokyo : Kogakusha Company, 1960 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. del Salento | ||
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Control-theoretic models of feedforward in manual control. / / Frank M. Drop
| Control-theoretic models of feedforward in manual control. / / Frank M. Drop |
| Autore | Drop Frank M. |
| Pubbl/distr/stampa | Germany : , : Logos Verlag, , [2016] |
| Descrizione fisica | 1 online resource (xxiv, 269 pages) |
| Disciplina | 629.83 |
| Collana | MPI Series in Biological Cybernetics |
| Soggetto topico | Feedback control systems |
| Soggetto genere / forma | Electronic books. |
| ISBN | 3-8325-9381-0 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910659119803321 |
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Drop Frank M.
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| Germany : , : Logos Verlag, , [2016] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Controllo a retroazione di sistemi dinamici / Gene F. Franklin, J. David Powell, Abbas Emami-Naeini
| Controllo a retroazione di sistemi dinamici / Gene F. Franklin, J. David Powell, Abbas Emami-Naeini |
| Autore | Franklin, Gene F. |
| Edizione | [4th ed.] |
| Pubbl/distr/stampa | Napoli : Edises, c2004- |
| Descrizione fisica | v. : ill. ; 21 cm |
| Disciplina | 629.83 |
| Altri autori (Persone) |
Powell, J. David, 1938-author
Emami-Naeini, Abbas |
| Soggetto topico | Feedback control systems |
| ISBN |
8879592955 (vol.1)
8879593080 (vol.2) |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | ita |
| Nota di contenuto |
v.1 :ed. italiana a cura di Luigi Mariani. -c2004. - xvii, 504, [14] p.
v.2 :ed.italiana a cura di Eugenio Cinquemani...[et al.]. - c2005 .- v, P. 506-823, [9] p. |
| Record Nr. | UNISALENTO-b13828538 |
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Franklin, Gene F.
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| Napoli : Edises, c2004- | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. del Salento | ||
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Cyclic feedback systems / / Tomáš Gedeon
| Cyclic feedback systems / / Tomáš Gedeon |
| Autore | Gedeon Tomáš <1966-> |
| Pubbl/distr/stampa | Providence, Rhode Island : , : American Mathematical Society, , [1998] |
| Descrizione fisica | 1 online resource (89 p.) |
| Disciplina |
510 s
514/.74 |
| Collana | Memoirs of the American Mathematical Society |
| Soggetto topico |
Attractors (Mathematics)
Differentiable dynamical systems Feedback control systems |
| Soggetto genere / forma | Electronic books. |
| ISBN | 1-4704-0226-2 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | ""Contents""; ""1 Introduction""; ""1.1 Cyclic feedback systems""; ""1.2 Global dynamics of CFS""; ""1.3 Local dynamics of CFS""; ""2 Linear theory""; ""3 Main results""; ""4 Proofs of the Lemmas""; ""5 Proof of Theorem 1.13"" |
| Record Nr. | UNINA-9910480597003321 |
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Gedeon Tomáš <1966->
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| Providence, Rhode Island : , : American Mathematical Society, , [1998] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Cyclic feedback systems / / Tomáš Gedeon
| Cyclic feedback systems / / Tomáš Gedeon |
| Autore | Gedeon Tomáš <1966-> |
| Pubbl/distr/stampa | Providence, Rhode Island : , : American Mathematical Society, , [1998] |
| Descrizione fisica | 1 online resource (89 p.) |
| Disciplina |
510 s
514/.74 |
| Collana | Memoirs of the American Mathematical Society |
| Soggetto topico |
Attractors (Mathematics)
Differentiable dynamical systems Feedback control systems |
| ISBN | 1-4704-0226-2 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | ""Contents""; ""1 Introduction""; ""1.1 Cyclic feedback systems""; ""1.2 Global dynamics of CFS""; ""1.3 Local dynamics of CFS""; ""2 Linear theory""; ""3 Main results""; ""4 Proofs of the Lemmas""; ""5 Proof of Theorem 1.13"" |
| Record Nr. | UNINA-9910669190403321 |
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Gedeon Tomáš <1966->
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| Providence, Rhode Island : , : American Mathematical Society, , [1998] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Designing Control Loops for Linear and Switching Power Supplies : a Tutorial Guide
| Designing Control Loops for Linear and Switching Power Supplies : a Tutorial Guide |
| Autore | Basso Christophe P. |
| Pubbl/distr/stampa | Norwood : , : Artech House, , 2012 |
| Descrizione fisica | 1 online resource (613 p.) |
| Disciplina | 613 |
| Soggetto topico |
Switching power supplies - Design and construction
Process control Power electronics Feedback control systems Electric current converters |
| Soggetto genere / forma | Electronic books. |
| ISBN | 1-60807-558-3 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Designing Control Loops for Linear and Switching Power Supplies: A Tutorial Guide; Contents; Foreword; Preface; Acknowledgments; Chapter 1 Basics of Loop Control; 1.1 Open-Loop Systems; 1.1.1 Perturbations; 1.2 The Necessity of Control-Closed-Loop Systems; 1.3 Notions of Time Constants; 1.3.1 Working with Time Constants; 1.3.2 The Proportional Term; 1.3.3 The Derivative Term; 1.3.4 The Integral Term; 1.3.5 Combining the Factors; 1.4 Performance of a Feedback Control System; 1.4.1 Transient or Steady State?; 1.4.2 The Step; 1.4.3 The Sinusoidal Sweep; 1.4.4 The Bode Plot.
1.5 Transfer Functions1.5.1 The Laplace Transform; 1.5.2 Excitation and Response Signals; 1.5.3 A Quick Example; 1.5.4 Combining Transfer Functions with Bode Plots; 1.6 Conclusion; Selected Bibliography; Chapter 2 Transfer Functions; 2.1 Expressing Transfer Functions; 2.1.1 Writing Transfer Functions the Right Way; 2.1.2 The 0-db Crossover Pole; 2.2 Solving for the Roots; 2.2.1 Poles and Zeros Found by Inspection; 2.2.2 Poles, Zeros, and Time Constants; 2.3 Transient Response and Roots; 2.3.1 When the Roots Are Moving; 2.4 S-Plane and Transient Response. 2.4.1 Roots Trajectories in the Complex Plane2.5 Zeros in the Right Half Plane; 2.5.1 A Two-Step Conversion Process; 2.5.2 The Inductor Current Slew-Rate Is the Limit; 2.5.3 An Average Model to Visualize Rhp Zero Effects; 2.5.4 The Right Half Plane Zero in the Boost Converter; 2.6 Conclusion; References; Appendix 2A: Determining a Bridge Input Impedance; Reference; Appendix 2B: Plotting Evans Loci with Mathcad; Appendix 2C: Heaviside Expansion Formulas; Reference; Appendix 2D: Plotting a Right Half Plane Zero with Spice; Chapter 3 Stability Criteria of a Control System. 3.1 Building An Oscillator3.1.1 Theory at Work; 3.2 Stability Criteria; 3.2.1 Gain Margin and Conditional Stability; 3.2.2 Minimum Versus Nonminimum-Phase Functions; 3.2.3 Nyquist Plots; 3.2.4 Extracting the Basic Information from the Nyquist Plot; 3.2.5 Modulus Margin; 3.3 Transient Response, Quality Factor, and Phase Margin; 3.3.1 A Second-Order System, the Rlc Circuit; 3.3.2 Transient Response of a Second-Order System; 3.3.4 Opening the Loop to Measure the Phase Margin; 3.3.5 The Phase Margin of a Switching Converter; 3.3.6 Considering a Delay in the Conversion Process. 3.3.7 The Delay in the Laplace Domain3.3.8 Delay Margin versus Phase Margin; 3.4 Selecting the Crossover Frequency; 3.4.1 A Simplified Buck Converter; 3.4.2 The Output Impedance in Closed-Loop Conditions; 3.4.3 The Closed-Loop Output Impedance at Crossover; 3.4.4 Scaling the Reference to Obtain the Desired Output; 3.4.5 Increasing the Crossover Frequency Further; 3.5 Conclusion; References; Chapter 4 Compensation; 4.1 The Pid Compensator; 4.1.1 The Pid Expressions in the Laplace Domain; 4.1.2 Practical Implementation of a Pid Compensator; 4.1.3 Practical Implementation of a Pi Compensator. 4.1.4 The Pid at Work in a Buck Converter. |
| Record Nr. | UNINA-9910462561403321 |
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Basso Christophe P.
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| Norwood : , : Artech House, , 2012 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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