Hippe / Deutscher Design of Observer-based Compensators

From the Time to the Frequency Domain
1. Auflage 2009
ISBN: 978-1-84882-537-6
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 285 Seiten

Design of Observer-based Compensators facilitates and adds transparency to design in the frequency domain which is not as well-established among control engineers as time domain design. The presentation of the design procedures starts with a review of the time domain results; therefore, the book also provides quick access to state space methods for control system design. Frequency domain design of observer-based compensators of all orders is covered. The design of decoupling and disturbance rejecting controllers is presented, and solutions are given to the linear quadratic and the model matching problems. The pole assignment design is facilitated by a new parametric approach in the frequency domain. Anti-windup control is also investigated in the framework of the polynomial approach. The discrete-time results for disturbance rejection and linear quadratic control are also presented. The book contains worked examples that can easily be reproduced by the reader, and the results are illustrated by simulations.

Peter Hippe was born in Berlin in 1941. He received the Dipl.-Ing. degree in mechanical engineering from Universität Stuttgart, Stuttgart in 1969 and the Dr.-Ing. degree from Friedrich-Alexander Universität, Erlangen in 1976. Since then he has been teaching in the Electrical Engineering Department. His main research interests are in the time and frequency domain design of compensators and the problems caused by constrained actuators. He has coauthored the book Zustandsregelung (Springer, 1985) and he is the author of the book Windup in Control (Springer, 2006)Joachim Deutscher was born in Schweinfurt, Germany in 1970. He received the Dipl.-Ing. (FH) degree in Electrical Engineering from Fachhochschule Würzburg- Schweinfurt-Aschaffenburg in 1996, the Dipl.-Ing. Univ. degree in Electrical Engineering and the Dr.-Ing. degree from Universität Erlangen-Nürnberg in 1999 and 2003, respectively. He is head of the nonlinear control systems group at the Lehrstuhl für Regelungstechnik, Universität Erlangen-Nürnberg. His main research interests are in nonlinear control and in the application of polynomial matrix methods in control.

Autoren/Hrsg.

Hippe, Peter

Deutscher, Joachim

Inhaltsverzeichnis

1;Preface;5
2;Contents;10
3;1 Polynomial Matrix Fraction Descriptions;13
3.1;1.1 Right Coprime Matrix Fraction Description;13
3.2;1.2 Left Coprime Matrix Fraction Description;22
4;2 State Feedback Control;28
4.1;2.1 State Feedback in the Time Domain;29
4.2;2.2 Parameterization of the State Feedback in the Frequency Domain;31
5;3 State Observers;38
5.1;3.1 The Reduced-order Observer in the Time Domain;39
5.2;3.2 Parameterization of the Full-order Observer in the Frequency Domain;43
5.3;3.3 Parameterization of the Reduced-order Observer in the Frequency Domain;47
6;4 Observer-based Compensators;62
6.1;4.1 The Observer-based Compensator in the Time Domain;63
6.2;4.2 Representations of the Observer-based Compensator in the Frequency Domain;65
6.3;4.3 Computation of the Observer-based Compensator in the Frequency Domain;71
6.4;4.4 Summary of the Steps for the Design of Observer- based Compensators in the Frequency Domain;75
6.5;4.5 Prevention of Problems Caused by Input-signal Restrictions;81
7;5 Parametric Compensator Design;92
7.1;5.1 Parametric Design of State Feedback in the Time Domain;93
7.2;5.2 Parametric Design of State Feedback in the Frequency Domain;95
7.3;5.3 Parameterization of the State Feedback Gain Using the Pole Directions;101
7.4;5.4 Parametric Design of Reduced-order Observers in the Frequency Domain;103
7.5;5.5 Parametric Design of Reduced-order Observers in the Time Domain;114
8;6 Decoupling Control;118
8.1;6.1 Diagonal Decoupling;119
8.2;6.2 Decoupling with Coupled Rows;130
9;7 Disturbance Rejection Using the Internal Model Principle;142
9.1;7.1 Time-domain Approach to Disturbance Rejection;143
9.2;7.2 State Feedback Control of the Augmented System in the Frequency Domain;153
9.3;7.3 State Observer for the Non-augmented System in the Frequency Domain;158
9.4;7.4 Design of the Observer-based Compensator with an Internal Signal Model in the Frequency Domain;159
10;8 Optimal Control and Estimation;178
10.1;8.1 The Linear Quadratic Regulator in the Time Domain;179
10.2;8.2 The Linear Quadratic Regulator in the Frequency Domain;180
10.3;8.3 The Stationary Kalman Filter in the Time Domain;185
10.4;8.4 The Stationary Kalman Filter in the Frequency Domain;188
11;9 Model-matching Control with Two Degrees of Freedom;196
11.1;9.1 Model-based Feedforward Control in the Time Domain;198
11.2;9.2 Model-based Feedforward Control in the Frequency Domain;200
11.3;9.3 Tracking Control by State Feedback in the Time Domain;201
11.4;9.4 Tracking Control by State Feedback in the Frequency Domain;206
11.5;9.5 Observer-based Tracking Control in the Time Domain;209
11.6;9.6 Observer-based Tracking Control in the Frequency Domain;211
12;10 Observer-based Compensators with Disturbance Rejection for Discrete-time Systems;220
12.1;10.1 Discrete-time Control in the Time Domain;221
12.2;10.2 Discrete-time Control in the Frequency Domain;226
13;11 Optimal Control and Estimation for Discrete- time Systems;235
13.1;11.1 The Linear Quadratic Regulator in the Time Domain;236
13.2;11.2 The Linear Quadratic Regulator in the Frequency Domain;237
13.3;11.3 The Stationary Kalman Filter in the Time Domain;242
13.4;11.4 The Stationary Kalman Filter in the Frequency Domain;247
13.5;11.5 Observer-based Compensators with a posteriori State Estimate in the Frequency Domain;265
14;A Appendix;276
14.1;A.1 Computing a Row-reduced Polynomial Matrix¯D.(s);276
14.2;A.2 Proof of Theorem 4.1;281
15;References;286
16;Index;290