C. James Taylor, Peter C. Young, Arun Chotai

True Digital Control (eBook, ePUB)

Statistical Modelling and Non-Minimal State Space Design

• Format: ePub

Produktbeschreibung

True Digital Control: Statistical Modelling and Non-Minimal State Space Designdevelops a true digital control design philosophy that encompasses data-based model identification, through to control algorithm design, robustness evaluation and implementation. With a heritage from both classical and modern control system synthesis, this book is supported by detailed practical examples based on the authors' research into environmental, mechatronic and robotic systems. Treatment of both statistical modelling and control design under one cover is unusual and highlights the important connections between these disciplines. Starting from the ubiquitous proportional-integral controller, and with essential concepts such as pole assignment introduced using straightforward algebra and block diagrams, this book addresses the needs of those students, researchers and engineers, who would like to advance their knowledge of control theory and practice into the state space domain; and academics who are interested to learn more about non-minimal state variable feedback control systems. Such non-minimal state feedback is utilised as a unifying framework for generalised digital control system design. This approach provides a gentle learning curve, from which potentially difficult topics, such as optimal, stochastic and multivariable control, can be introduced and assimilated in an interesting and straightforward manner. Key features: * Covers both system identification and control system design in a unified manner * Includes practical design case studies and simulation examples * Considers recent research into time-variable and state-dependent parameter modelling and control, essential elements of adaptive and nonlinear control system design, and the delta-operator (the discrete-time equivalent of the differential operator) systems * Accompanied by a website hosting MATLAB examples True Digital Control: Statistical Modelling and Non-Minimal State Space Design is a comprehensive and practical guide for students and professionals who wish to further their knowledge in the areas of modern control and system identification.

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Produktdetails

• Verlag: John Wiley & Sons
• Seitenzahl: 360
• Erscheinungstermin: 29. Mai 2013
• Englisch
• ISBN-13: 9781118535516
• Artikelnr.: 39054007

Autorenporträt

James Taylor received his B.Sc. (Hons.) and Ph.D degrees from Lancaster University, UK, before joining the academic staff of the Engineering Department in 2000. His research focuses on control system design and system identification, with applied work spanning robotics, transport, energy, agriculture and the environment. This has led to over 100 publications in the open literature and widespread impact across a variety of academic and industry-based users. He has pioneered new advances in non-minimal state space design, and coordinates development of the well-known Captain Toolbox for Time Series Analysis and Forecasting. He is a Fellow of the Institution of Engineering and Technology, and supervises students across a spectrum of mechanical, electronic, nuclear and chemical engineering disciplines. Peter Young is Emeritus Professor at Lancaster University, UK, and Adjunct Professor at the Australian National University, Canberra. After an apprenticeship in the Aerospace Industry and B.Tech., MSc. degrees from Loughborough University, he obtained his Ph.D degree from Cambridge University in 1970 and became University Lecturer in Engineering and a Fellow of Clare Hall at Cambridge University. After seven years as Professorial Fellow at the Australian National University, he then moved to Lancaster University in 1981 as Professor and Head of the Environmental Science Department. He is well known for his work on optimal identification, data-based mechanistic modelling and adaptive forecasting, with applications in areas ranging from the environment, through ecology, biology and engineering to business and macro-economics. Until his recent retirement, Arun Chotai was Senior Lecturer in the Lancaster Environment Centre at Lancaster University, UK. He holds a Ph.D in Systems and Control and a B.Sc. (Hons.) in Mathematics, both from the University of Bath, UK. Following his appointment to an academic position at Lancaster in 1984, he taught and developed modules in environmental systems, courses that were then unique to the UK in providing an advanced, quantitative approach to the subject. For many years, he was also joint head (with present co-author Peter Young) of the Systems and Control Group, which he helped to build into a successful research unit that became known internationally for its research in the areas of system identification, time-series analysis and control system design.

Inhaltsangabe

Preface xiii List of Acronyms xv 1 Introduction 1 1.1 Control Engineering
and Control Theory 2 1.2 Classical and Modern Control 5 1.3 The Evolution
of the NMSS Model Form 8 1.4 True Digital Control 11 1.5 Book Outline 12
1.6 Concluding Remarks 13 References 14 2 Discrete-Time Transfer Functions
17 2.1 Discrete-Time TF Models 18 2.2 Stability and the Unit Circle 24 2.3
Block Diagram Analysis 26 2.4 Discrete-Time Control 28 2.5 Continuous to
Discrete-Time TF Model Conversion 36 2.6 Concluding Remarks 38 References
38 3 Minimal State Variable Feedback 41 3.1 Controllable Canonical Form 44
3.2 Observable Canonical Form 50 3.3 General State Space Form 53 3.4
Controllability and Observability 58 3.5 Concluding Remarks 61 References
62 4 Non-Minimal State Variable Feedback 63 4.1 The NMSS Form 64 4.2
Controllability of the NMSS Model 68 4.3 The Unity Gain NMSS Regulator 69
4.4 Constrained NMSS Control and Transformations 77 4.5 Worked Example with
Model Mismatch 81 4.6 Concluding Remarks 85 References 86 5 True Digital
Control for Univariate Systems 89 5.1 The NMSS Servomechanism
Representation 93 5.2 Proportional-Integral-Plus Control 98 5.3 Pole
Assignment for PIP Control 101 5.4 Optimal Design for PIP Control 110 5.5
Case Studies 116 5.6 Concluding Remarks 119 References 120 6 Control
Structures and Interpretations 123 6.1 Feedback and Forward Path PIP
Control Structures 123 6.2 Incremental Forms for Practical Implementation
131 6.3 The Smith Predictor and its Relationship with PIP Design 137 6.4
Stochastic Optimal PIP Design 142 6.5 Generalised NMSS Design 153 6.6 Model
Predictive Control 157 6.7 Concluding Remarks 163 References 164 7 True
Digital Control for Multivariable Systems 167 7.1 The Multivariable NMSS
(Servomechanism) Representation 168 7.2 Multivariable PIP Control 175 7.3
Optimal Design for Multivariable PIP Control 177 7.4 Multi-Objective
Optimisation for PIP Control 186 7.5 Proportional-Integral-Plus Decoupling
Control by Algebraic Pole Assignment 192 7.6 Concluding Remarks 195
References 196 8 Data-Based Identification and Estimation of Transfer
Function Models 199 8.1 Linear Least Squares, ARX and Finite Impulse
Response Models 200 8.2 General TF Models 211 8.3 Optimal RIV Estimation
218 8.4 Model Structure Identification and Statistical Diagnosis 231 8.5
Multivariable Models 243 8.6 Continuous-Time Models 248 8.7 Identification
and Estimation in the Closed-Loop 253 8.8 Concluding Remarks 260 References
261 9 Additional Topics 265 9.1 The delta-Operator Model and PIP Control
266 9.2 Time Variable Parameter Estimation 279 9.3 State-Dependent
Parameter Modelling and PIP Control 290 9.4 Concluding Remarks 298
References 298 A Matrices and Matrix Algebra 301 References 310 B The Time
Constant 311 Reference 311 C Proof of Theorem 4.1 313 References 314 D
Derivative Action Form of the Controller 315 E Block Diagram Derivation of
PIP Pole Placement Algorithm 317 F Proof of Theorem 6.1 321 Reference 322 G
The CAPTAIN Toolbox 323 References 325 H The Theorem of D.A. Pierce (1972)
327 References 328 Index 329