Youla Parameterization Approach
Buch, Englisch, 464 Seiten, Format (B × H): 221 mm x 286 mm, Gewicht: 1415 g
ISBN: 978-1-119-50036-0
Verlag: Wiley
Robust Control
Youla Parameterization Approach
Discover efficient methods for designing robust control systems
In Robust Control: Youla Parameterization Approach, accomplished engineers Dr. Farhad Assadian and Kevin R. Mallon deliver an insightful treatment of robust control system design that does not require a theoretical background in controls. The authors connect classical control theory to modern control concepts using the Youla method and offer practical examples from the automotive industry for designing control systems with the Youla method.
The book demonstrates that feedback control can be elegantly designed in the frequency domain using the Youla parameterization approach. It offers deep insights into the many practical applications from utilizing this technique in both Single Input Single Output (SISO) and Multiple Input Multiple Output (MIMO) design. Finally, the book provides an estimation technique using Youla parameterization and controller output observer for the first time.
Robust Control offers readers: - A thorough introduction to a review of the Laplace Transform, including singularity functions and transfer functions
- Comprehensive explorations of the response of linear, time-invariant, and dynamic systems, as well as feedback principles and feedback design for SISO
- Practical discussions of norms and feedback systems, feedback design by the optimization of closed-loop norms, and estimation design for SISO using the parameterization approach
- In-depth examinations of MIMO control and multivariable transfer function properties
Perfect for industrial researchers and engineers working with control systems, Robust Control: Youla Parameterization Approach is also an indispensable resource for graduate students in mechanical, aerospace, electrical, and chemical engineering.
Autoren/Hrsg.
Fachgebiete
Weitere Infos & Material
Preface xv
Acknowledgments xix
Introduction xxi
About the Companion Website xxix
Part I Control Design Using Youla Parameterization: Single Input Single Output (SISO) 1
1 Review of the Laplace Transform 3
1.1 The Laplace Transform Concept 3
1.2 Singularity Functions 3
1.2.1 Definition of the Impulse Function 4
1.2.2 The Impulse Function and the Riemann Integral 5
1.2.3 The General Definition of Singularity Functions 5
1.2.3.1 “Graphs” of Some Singularity Functions 5
1.3 The Laplace Transform 7
1.3.1 Definition of the Laplace Transform 7
1.3.2 Laplace Transform Properties 8
1.3.3 Shifting the Laplace Transform 8
1.3.4 Laplace Transform Derivatives 10
1.3.5 Transforms of Singularity Functions 12
1.4 Inverse Laplace Transform 13
1.4.1 Inverse Laplace Transformation by Heaviside Expansion 13
1.4.1.1 Distinct Poles 13
1.4.1.2 Distinct Poles with G(s) Being Proper 13
1.4.1.3 Repeated Poles 14
1.5 The Transfer Function and the State Space Representations (State Equations) 16
1.5.1 The Transfer Function 16
1.5.2 The State Equations 16
1.5.3 Transfer Function Properties 17
1.5.4 Poles and Zeros of a Transfer Function 18
1.5.5 Physical Realizability 19
1.6 Problems 21
2 The Response of Linear, Time-Invariant Dynamic Systems 25
2.1 The Time Response of Dynamic Systems 25
2.1.1 Final Value Theorem 25
2.1.2 Initial Value Theorem 26
2.1.3 Convolution and the Laplace Transform 27
2.1.4 Transmission Blocking Response 29
2.1.5 Stability 31
2.1.6 Initial Values and Reverse Action 35
2.1.7 Final Values and Static Gain 36
2.1.8 Time Response Metrics 38
2.1.8.1 First-Order System (Single-Pole Response) 38
2.1.8.2 Second-Order System (Quadratic Factor) 39
2.1.9 The Effect of Zeros on Transient Response 41
2.1.10 The Butterworth Pattern 42
2.2 Frequency Response of Dynamic Systems 43
2.2.1 Steady-State Frequency Response of LTI systems 43
2.2.2 Frequency Response Representation 45
2.2.3 Frequency Response: The Real Pole 45
2.2.4 Frequency Response: The Real Zero 47
2.2.5 Frequency Response: The Quadratic Factor 49
2.2.6 Frequency Response: Pure Time Delay 50
2.2.7 Frequency Response: Static Gain 53
2.2.8 Frequency Response: The Composite Transfer Function 53
2.2.9 Frequency Response: Asymptote Formulas 54
2.2.10 Physical Realizability 54
2.2.11 Non-minimum Phase, All-Pass, and Blaschke Factors 55
2.3 Frequency Response Plotting 55
2.3.1 Matlab Codes for Plotting System Frequency Response 56
2.3.1.1 Bode Plot 56
2.3.1.2 Polar Plot/Nyquist Diagram 56
2.4 Problems 57
3 Feedback Principals 61
3.1 The Value of Feedback Control 62
3.1.1 The Advantages of the Closed Loop 63
3.2 Closed-Loop Transfer Functions 64
3.2.1 The Return Ratio 65
3.2.2 Closed-Loop Transfer Functions and the Return Difference 65
3.2.3 Sensitivity, Complementary Sensitivity, and the Youla Parameter 66
3.3 Well-Posedness and Internal Stability 70
3.3.1 Well-Posedness 70
3.3.2 The Internal Stability of Feedback Control 71
3.3.2.1 The Closed-Loop Characteristic Equation and Closed-Loop Poles 72
3.3.2.2 Closed-Loop Zeros 72
3.3.2.3 Pole–Zero Cancellation and The Internal Stability of Feedback Control 73
3.4 The Youla Parameterization of all Internally Stabilizing Compensators 76
3.5 Interpolation Conditions 80
3.6 Steady-State Error 83
3.7 Feedback Design, and Frequency Methods: Input Attenuation and Robustness 83
3.7.1 The Frequency Paradigm 84
3.7.2 Input Attenuation and Command Following 84
3.7.3 Bode Measures of Performance Robustness 85
3.7.4 Graphical Interpretation of Return, Sensitivity,
