Robust Control System Design

✍ Scribed by Chia-Chi Tsui

• Publisher: CRC Press
• Year: 2022
• Tongue: English
• Leaves: 305
• Edition: 3
• Category: Library

✦ Synopsis

This book presents a synthesized design principle versus the existing separation principle of modern control theory of over six decades since the start. Guided by this new principle, a generalized state feedback control can be designed based on the parameters of observer and for a great majority of plant systems, and the robust property of this control can be fully realized. The robust property of the existing state feedback control which is designed separate from the parameters of its realizing observer, cannot be realized for a great majority of plant systems. By freely design and adjust the observer order, the corresponding generalized state feedback control can unify completely the existing state feedback control and static output feedback control, and can adjust effectively the tradeoff between performance and robustness. This generalized state feedback control can assign eigen-structure, and can improve performance and robustness far more effectively than the control designed using classical control theory. Equally significant, the results of this book are very simple that can be comprehended and grasped very easily. These results are introduced and illustrated from the basic level, and use only the basic mathematical tools. Ample examples and exercise problems that can be solved by hand computation, are provided. This third edition made substantial improvement on this aspect. Modern control theoreticians only formulated the feedback control design problem in various ways, the point however is to really solve this problem.

✦ Table of Contents

Cover
Half Title
Title Page
Copyright Page
Table of Content
Preface
Preface (Second Edition)
Author
1. System Mathematical Models
1.1 Two Kinds of Mathematical Models
1.2 Eigenstructure Decomposition of the State Space Model
1.3 System Order, Controllability, and Observability
1.4 System Poles and Zeros
Exercises
2. Single-System Performance and Sensitivity
2.1 System Performance
2.2 System Sensitivity and Robustness
2.2.1 The Sensitivity of Eigenvalues (Robust Performance)
2.2.2 The Sensitivity of System Stability (Robust Stability)
2.3 Conclusion
Exercises
3. Feedback System Sensitivity
3.1 Sensitivity and Loop Transfer Function of the Feedback Systems
3.1.1 Sensitivity to System Model Uncertainty
3.1.2 Sensitivity to Control Input Disturbance
3.2 Sensitivity of Feedback Systems of the Modern Control Theory
3.2.1 State Feedback Control Systems
3.2.2 Static Output Feedback Control Systems
3.2.3 Observer Feedback System – Loop Transfer Recovery
3.3 Summary
4. A New Feedback Control Design Principle/Approach
4.1 Basic Observer Design Concept – Generating State Feedback Signal Directly Without Generating Explicit System States
4.2 Performance of the Observer Feedback System – Separation Property
4.3 Eight Drawbacks and Irrationalities of the Modern Control Design and Separation Principle
4.3.1 Drawback 1 of Separation Principle: Invalid Basic Assumption
4.3.2 Drawback 2 of Separation Principle: Ignor Key Parameters
4.3.3 Drawback 3 of Separation Principle: Wrong Design Priority
4.3.4 Drawback 4 of Separation Principle: Unnecessary Design Requirement
4.3.5 Drawback 5 of Separation Principle: Abandon Existing Control Structure
4.3.6 Drawback 6 of Separation Principle: Failed Robust Realization
4.3.7 Drawback 7 of Separation Principle: Two Extreme Controls
4.3.8 Drawback 8 of Separation Principle: Two Extreme Control Structures
4.4 A New Design Principle That Guarantees the General and Full Realization of Robustness of the Generalized State Feedback Control
Exercises
5. Solution of Matrix Equation TA−FT = LC
5.1 Computation of System’s Observable Hessenberg Form
5.1.1 Single-Output Systems
5.1.2 Multiple-Output Systems
5.2 Computation of the Solution of Matrix Equation TA−FT = LC
5.2.1 Eigen-Structure Case A
5.2.2 Eigen-Structure Case B
Exercises
6. Observer Design for Robust Realization
6.1 Solution of Matrix Equation TB = 0
6.2 Analysis and Examples of This Design Solution
6.3 Complete Unification of Two Existing Basic Modern Control System Structures
6.4 Observer Order Adjustment to Tradeoff between Performance and Robustness
Exercises
7. Observer Design for Other Special Purposes
7.1 Minimal-Order Linear Functional Observer Design
7.1.1 Simplest Possible Design Formulation – Most Significant Theoretical Development
7.1.2 Really Systematic Design Algorithm and Guaranteed Observer Order Upper Bound
7.1.3 The Lowest Possible Observer Order Upper Bound – The Best Possible Theoretical Result – The Whole Design Problem Is Essentially Solved
7.2 Fault Detection, Isolation, and Control Design
7.2.1 Fault Models and Design Formulation of Fault Detection and Isolation
7.2.2 Design Algorithm and Examples of Fault Detection and Isolation
7.2.3 Adaptive Fault Control and Accommodation (Tsui, 1997)
7.2.4 The Treatment of Model Uncertainty and Measurement Noise (Tsui, 1994b)
Exercises
8. Control Design for Eigenvalue Assignment
8.1 Eigenvalue (Pole) Selection
8.2 Eigenvalue Assignment by State Feedback Control
8.3 Eigenvalue Assignment by Generalized State Feedback Control
8.4 Modifications of Generalized State Feedback Control for Eigenstructure Assignment (Tsui, 2004b,c, 2005)
8.5 Summary of Eigenstructure Assignment Designs
Exercises
9. Control Design for Eigenvector Assignment
9.1 Numerical Iterative Methods (Kautsky et al., 1985)
9.2 Analytical Decoupling Method
9.3 Summary of Eigenstructure Assignment of Chapters 8 and 9
Exercises
10. Control Design for LQ Optimal Control
10.1 Direct State Feedback Control Design
10.2 Design of Generalized State Feedback Control
10.3 Comparison and Conclusion of Feedback Control Designs
Exercises
Appendix A: Linear Algebra & Numerical Linear Algebra
Appendix B: Design Projects and Problems
References
Index