Jaaksoo Automatic Control 1990

1. Auflage 2014
ISBN: 978-1-4832-9746-0
Verlag: Elsevier Science & Techn.
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band Volume III, 547 Seiten, Web PDF

Reihe: IFAC Symposia Series

This volume provides a general overview on the state-of-the-art and future developments in automation and control. The application of systems and control in all areas is covered, from the social and cultural effects of control, to control in mineral and metal processing. This volume will be an invaluable source of information to all those interested in the areas of automation and control.

Autoren/Hrsg.

Jaaksoo, Ü.

Inhaltsverzeichnis

1;Front Cover;1
2;Automatic Control in Aerospace · Robust Control Nonlinear Control · Control Applications of Optimization Distributed Parameter Systems Theory of Discrete Event Systems;4
3;Copyright Page;5
4;Table of Contents;8
5;SUBJECT AREAS;7
6;PART I: AUTOMATIC CONTROL IN AEROSPACE;14
6.1;CHAPTER 1. SPACE AND DEEP SPACE ENVIRONMENT;14
6.1.1;1. WHAT IS SPACE ?;14
6.1.2;2. THE ATMOSPHERE;14
6.1.3;3. THE STRATOSPHERE;16
6.1.4;4. COMMON CHARACTERISTICS OF "SPACE";16
6.1.5;5. SOME SPECIFIC ENVIRONMENTS;17
6.1.6;6. THE ATOMIC OXYGEN PROBLEM [10];18
6.1.7;7. THE DEBRIS PROBLEMS;18
6.1.8;8. CONCLUSIONS;19
6.1.9;REFERENCES;19
6.2;CHAPTER 2. COMPUTER SIMULATION OF THE MIR ORBITAL STATION ATTITUDE CONTROL BY MEANS OF GYRODINES;24
6.2.1;INTRODUCTION;24
6.2.2;COORDINATE SYSTEMS;24
6.2.3;EXTERNAL TORQUES;25
6.2.4;MODELLING THE MAINTENANCE OF THE CONSTANT STATION ORIENTATION;25
6.2.5;MODELLING OF THE STATION ROTATION IN THE INERTIAL COORDINATE SYSTEM;25
6.2.6;REFERENCES;28
6.3;CHAPTER 3. PASSIVE ATTITUDE CONTROL OF SPACE STATION FREEDOM ALTERNATIVE ASSEMBLY CONFIGURATIONS;30
6.3.1;INTRODUCTION;30
6.3.2;MAGNETIC DAMPER OPERATION;30
6.3.3;MAGNETIC DAMPER TORQUE;31
6.3.4;DAMPER SIZE;32
6.3.5;EARTH'S MAGNETIC FIELD MODEL;32
6.3.6;INTERACTION BETWEEN THE VEHICLE AND DAMPER;33
6.3.7;SPASIS;33
6.3.8;PERFORMANCE ANALYSIS;33
6.3.9;RESULTS;33
6.3.10;CONCLUSION;34
6.3.11;REFERENCES;34
6.4;CHAPTER 4. IDENTIFICATION AND CONTROL EXPERIMENTS FOR A LARGE SPACE STRUCTURE;36
6.4.1;Introduction;36
6.4.2;Identification of modal parameters;36
6.4.3;Control system designs;38
6.4.4;Experiments;39
6.4.5;Conclusion;40
6.4.6;References;40
6.5;CHAPTER 5. MISSION CONTROL CONCEPTS FOR THE SATELLITES OF TOMORROW;42
6.5.1;Historical Background;42
6.5.2;On-board Software Functions;43
6.5.3;Mission Information Management;45
6.5.4;Mission Planning;46
6.5.5;Telemetry Analysis and Fault Management;47
6.5.6;Support for On-board Autonomy;47
6.5.7;CONCLUSIONS;47
6.5.8;REFERENCES;47
6.6;CHAPTER 6. ADVANCED X-RAY ASTROPHYSICS FACILITY;48
6.6.1;INTRODUCTION;48
6.6.2;OBJECTIVES;48
6.6.3;SPACECRAFT;48
6.6.4;HIGH RESOLUTION MIRROR ASSEMBLY (HRMA);50
6.6.5;SCIENCE INSTRUMENTATION;52
6.6.6;CONCLUSIONS;53
6.6.7;REFERENCES;53
6.7;CHAPTER 7. DATA TRANSMISSION BETWEEN PLANESAND CONTROL CENTERS;54
6.7.1;1. STATEMENT OF THE PROBLEM;54
6.7.2;2. THE PRESENT STATE(1989) AND THE NEXT FUTURE;55
6.7.3;3. DEFICIENCIES OF THE PRESENTSITUATION;55
6.7.4;4. THE CNS-ATM CONCEPT;56
6.7.5;5. CONCLUSION AND OPENING OF THEDISCUSSION;56
6.8;CHAPTER 10. EXAMINATION OF A LONGITUDINAL LAW USING THE EIGENVECTOR METHOD ALLOWING THRUST/PITCH DECOUPLING;74
6.8.1;INTRODUCTION;74
6.8.2;AIRCRAFT MODEL AND FLY BY WIRE PITCH CONTROL OBJECTIVES;74
6.8.3;RESULTS;78
6.8.4;CONCLUSION;80
6.9;CHAPTER 11. ROBUST ANALYSIS OF HANDLING QUALITIES IN AEROSPACE SYSTEMS;82
6.9.1;INTRODUCTION;82
6.9.2;FLIGHT MECHANICS AND DEFINITIONS;83
6.9.3;ROBUST STABILITY TEST;84
6.9.4;SIMULATION RESULTS;86
6.9.5;CONCLUSIONS;87
6.9.6;REFERENCES;87
6.10;CHAPTER 12. ROBUSTLY STABLE, DISCRETE-TIME, ADAPTIVE FLIGHT CONTROL USING THE EULER OPERATOR;88
6.10.1;INTRODUCTION;88
6.10.2;DISCRETE-TIME SYSTEM REPRESENTATION;88
6.10.3;ROBUST ADAPTIVE FLIGHT CONTROLLER;90
6.10.4;SIMULATION STUDIES;91
6.10.5;Acknowledgments;92
6.10.6;REFERENCES;92
6.11;CHAPTER 13. NONLINEAR MULTI-POINT MODELING AND PARAMETER ESTIMATION OF DO 28 RESEARCH AIRCRAFT1;94
6.11.1;INTRODUCTION;94
6.11.2;NONLINEAR MULTI-POINT AIRCRAFT MODEL;94
6.11.3;MULTI-STAGE IDENTIFICATION METHOD;96
6.11.4;ESTIMATION RESULTS;97
6.11.5;CONCLUSION;97
6.11.6;REFERENCES;98
6.12;CHAPTER 14. OPTIMAL PERIODIC TRAJECTORIES OF AIRCRAFT WITH SINGULAR CONTROL;100
6.12.1;Nomenclature;100
6.12.2;Introduction;100
6.12.3;Problem Formulation;101
6.12.4;Optimality Conditions;101
6.12.5;Optimal Trajectories with Singular Control;102
6.12.6;Flight Mechanics Considerations;103
6.12.7;Conclusions;103
6.12.8;References;103
6.13;CHAPTER 15. OPTIMIZATION OF CONTROL OF SPACE INVESTIGATIONS IN "GAMMA" PROJECT;106
6.13.1;INTRODUCTION;106
6.13.2;SCIENTIFIC EQUIPMENT AND PROGRAM INVESTIGATIONS;106
6.13.3;OPERATION MODE OF THE MODULEELECTRIC POWER AND GYRODYNE SYSTEM;107
6.13.4;OPTIMIZATION OF PROGRAM OF INVESTIGATIONS;108
6.13.5;EXAMPLE OF OBSERVATION PROGRAM;109
6.13.6;OPERATIONAL CONTROL;110
6.13.7;CONCLUSION;110
6.13.8;REFERENCES;110
6.14;CHAPTER 16. ATTITUDE CONTROL SYSTEM OF THE X-RAY OBSERVATORY ASTRO-D;112
6.14.1;INTRODUCTION;112
6.14.2;SYSTEM DESCRIPTION;113
6.14.3;INITIAL ATTITUDE ACQUISITION;113
6.14.4;ONBOARD ATTITUDE DETERMINATION;114
6.14.5;ATTITUDE CONTROL;114
6.14.6;CONTINGENCY STRATEGY FOR ATTITUDE ANOMALY;115
6.14.7;CONCLUSION;115
6.14.8;REFERENCES;116
6.15;CHAPTER 17. ROBUSTNESS ANALYSIS AND DESIGN FOR AIRCRAFT LATERAL CONTROL SYSTEM;120
6.15.1;INTRODUCTION;120
6.15.2;SYSTEM DESCRIPTION;120
6.15.3;RFN DESIGN METHOD;121
6.15.4;NUNERICAL SOLUTION;121
6.15.5;CONCLUSION;123
6.15.6;REFERENCES;123
6.16;CHAPTER 18. NAVIGATION AND GUIDANCE PROBLEMS OF JAPANESE SPACE VLBI SATELLITE-VSOP;124
6.16.1;I. Introduction;124
6.16.2;II. Satellite System Configuration;125
6.16.3;III. Tlracking Orbit Determination and Clock Transfer;126
6.16.4;IV. Technical Innovations of VSOP;128
6.16.5;V. Guidance Problems in VSOP;128
6.16.6;VI. Conclusion;129
6.16.7;References;129
7;PART II: ROBUST CONTROL;130
7.1;CHAPTER 19. A TUTORIAL ON LOOP SHAPING USING H-INFINITY ROBUST STABILIZATION;130
7.1.1;1 Introduction;130
7.1.2;2 Problem Formulation;131
7.1.3;3 Problem Motivation;132
7.1.4;4 Problem Solution;135
7.1.5;5 Loop Shaping Design Procedure(LSDP);135
7.1.6;References;138
7.2;CHAPTER 20. WEIGHTING FUNCTION SELECTION IN H8 DESIGN;140
7.2.1;INTRODUCTION;140
7.2.2;DISTURBANCE REJECTION;140
7.2.3;TRACKING;141
7.2.4;CONSTRAINED OPTIMIZATION;141
7.2.5;CHOICE OF WEIGHTS;142
7.2.6;A DESIGN EXAMPLE;144
7.2.7;CONCLUSIONS;144
7.2.8;REFERENCES;145
7.3;CHAPTER 21. A DEGREE BOUND OF THE H8-OPTIMALSOLUTIONS OF THE ROBUST REGULATOR PROBLEM;146
7.3.1;Abstract;146
7.3.2;1 Introduction;146
7.3.3;Nomenclatures;147
7.3.4;2 Preliminaries;147
7.3.5;3 Main Results;148
7.3.6;4 An Example;150
7.3.7;5 Conclusion;151
7.3.8;Reference;151
7.4;CHAPTER 22. ROBUST CONTROL OF UNCERTAIN SYSTEMS BY DECENTRALIZED CONTROL;152
7.4.1;INTRODUCTION;152
7.4.2;CONTROLLER DESIGN AND PERFORMANCE BOUNDS;153
7.4.3;CHARACTERIZATION OF FAMILIES OF CENTRALIZED H8 CONTROLLERS;156
7.4.4;CONCLUSION;157
7.4.5;REFERENCES;157
7.4.6;ACKNOWLEDGEMENTS;157
7.5;CHAPTER 23. PROGRESS IN THE POLYNOMIAL SOLUTION OF THE STANDARD H8 OPTIMAL CONTROL PROBLEM;158
7.5.1;1 INTRODUCTION;158
7.5.2;2 PARAMETRIZATION OF THE CLOSED-LOOP TRANSFER MATRIX;158
7.5.3;3 EQUALIZING COMPENSATORS;160
7.5.4;4 STRUCTURED EQUATIONS AND ASYMPTOTIC ANALYSIS;161
7.5.5;5 SOLUTION OF THE OPTIMIZATION PROBLEM;162
7.5.6;6 EXAMPLE;163
7.5.7;7 CONCLUSIONS;164
7.5.8;REFERENCES;164
7.6;CHAPTER 24. THE DISTANCE FROM STABILITY OR G-STABILITY BOUNDARIES;166
7.6.1;1 Introduction;166
7.6.2;2 A simple example;166
7.6.3;3 The largest hypersphere in parameter space;168
7.6.4;4 The extension to other eigenvalue regions;169
7.6.5;5 Example;169
7.6.6;6 Concluding remarks;170
7.7;CHAPTER 25. STABILIZABILITY OF UNCERTAIN DYNAMICAL SYSTEMS: THE CONTINUOUS AND THE DISCRETE CASE;172
7.7.1;INTRODUCTION;172
7.7.2;STABILIZABILITY — AN ALGORITHM;172
7.7.3;UNCERTAIN DISCRETE SYSTEMS;175
7.7.4;SOME NUMERICAL RESULTS;176
7.7.5;CONCLUSIONS;177
7.7.6;REFERENCES;177
7.8;CHAPTER 26. ROBUST CONTROLLER DESIGN FOR UNCERTAIN LINEAR TIME INVARIANT SISO PLANTS;178
7.8.1;INTRODUCTION;178
7.8.2;PRELIMINARIES;178
7.8.3;LINEAR PARAMETRIZATION OF ALL STABILIZING COMPENSATORS OF MAXIMUM ORDER v;179
7.8.4;ROBUST D-STABILITY TEST;180
7.8.5;ROBUST CONTROLLER DESIGN;181
7.8.6;EXAMPLE;182
7.8.7;CONCLUSIONS;183
7.8.8;REFERENCES;183
7.9;CHAPTER 27. FUTURE DIRECTIONS IN H8 ROBUST CONTROL THEORY;184
7.9.1;Abstract;184
7.9.2;1 Introduction;184
7.9.3;2 The Robust Control Problem;185
7.9.4;3 Some Future Research Directions;185
7.9.5;4 Conclusion;186
7.9.6;References;187
7.10;CHAPTER 28. CHARACTERIZATION OF ALL SOLUTIONS TO THE "STANDARD" H8 OPTIMALCONTROL PROBLEM;190
7.10.1;1 Introduction;190
7.10.2;2 ... optimal equalizing solutions;190
7.10.3;3 Parametrization and lowerbounds;191
7.10.4;4 All H8-optimal solutions;193
7.10.5;5 A worked example;193
7.10.6;6 Conclusion;195
7.10.7;References;195
7.11;CHAPTER 29. MIMIMAX CONTROLLERS FOR LTI PLANTS UNDER I1-BOUNDED DISTURBANCES;196
7.11.1;1. INTRODUCTION;196
7.11.2;2. TIME-DOMAIN FORMULATION FOR A DISTURBANCE ATTENUATION PROBLEM;197
7.11.3;3. A SATURATION-TYPE MINIMAX CONTROLLER;198
7.11.4;4. DISTURBANCE ATTENUATION WITH NONZEROINITIAL STATE;200
7.11.5;5. DISCUSSION AND CONCLUDING REMARKS;201
7.11.6;REFERENCES;201
7.11.7;ACKNOWLEDGEMENT;202
7.12;CHAPTER 30. LOW-ORDER ROBUST MODEL MATCHING CONTROLLER DESIGN FOR SISO PLANTS;204
7.12.1;1. INTRODUCTION;204
7.12.2;2. PROBLEM STATEMENT;204
7.12.3;3. CONTROLLER DESIGN;205
7.12.4;4. ROBUSTNESS;206
7.12.5;5. DESIGN PROCEDURES;208
7.12.6;6. AN EXAMPLE AND SIMULATION RESULTS;209
7.12.7;7. CONCLUSION;209
7.12.8;REFERENCES;209
7.13;CHAPTER 31. ROBUSTNESS OF DISCRETE SYSTEMS:A REVIEW;210
7.13.1;I INTRODUCTION;210
7.13.2;II. BACKGROUND MATERIAL;210
7.13.3;III. DISCRETE ANALOG AND COUNTERPART OF KHARITONOV'S THEOREM;211
7.13.4;IV. DISCRETE ASPECTS OF THE EDGE THEOREM;213
7.13.5;V. CONCLUSION AND OPEN PROBLEMS;213
7.13.6;VI. BIBLIOGRAPHY;214
7.13.7;ACKNOWLEDGEMENT;215
7.14;CHAPTER 32. STABILITY ROBUSTNESS OF PLANT-CONTROLLER FAMILIES;216
7.14.1;INTRODUCTION;216
7.14.2;PROBLEM FORMULATION;216
7.14.3;PRELIMINARY PROPOSITIONS;217
7.14.4;THE MAIN RESULTS;217
7.14.5;CONCLUSIONS;218
7.14.6;REFERENCES;218
7.14.7;APPENDIX A: Proof of Proposition 3.3;218
7.15;CHAPTER 33. ROBUSTNESS OF SAMPLED-DATA CONTROL SYSTEMS WITH UNCERTAIN PHYSICAL PLANT PARAMETERS;220
7.15.1;INTRODUCTION;220
7.15.2;IS THE SAMPLING INTERVAL AN ADDITIONAL PARAMETER?;221
7.15.3;STABILITY BOUNDARIES OF CONTINUOUS AND SAMPLED SYSTEMS IN A SCALED PARAMETER SPACE;223
7.15.4;CONCLUSIONS;225
7.15.5;ACKNOWLEDGEMENT;225
7.15.6;REFERENCES;225
7.16;CHAPTER 34. INTERVAL STABILITY OF TIME-DELAY SYSTEMS;226
7.16.1;INTRODUCTION;226
7.16.2;INTERVAL STABILITY WITH RESPECT TO GAIN;226
7.16.3;INTERVAL STABILITY WITH RESPECT TO DELAY;228
7.16.4;CONCLUDING REMARKS;230
7.16.5;REFERENCES;230
7.16.6;APPENDIX;230
7.17;CHAPTER 35. A PARAMETERIZATION OF ALL DECENTRALIZED STABILIZERS AND ITSAPPLICATIONS IN DECENTRALIZED CONTROL SYSTEMS;232
7.17.1;I. INTRODUCTION;232
7.17.2;II. D-COPRIME FACTORIZATION AND D-UNIMODULAR;232
7.17.3;III . PARAMETERIZATION OF ALL DECENTRALLY STABILIZING CONTROLLER;234
7.17.4;IV . SIMULTANEOUS STABILIZATION AND ROBUST STABILIZATION IN DECENTRALIZED SYSTEMS;235
7.17.5;V. CONCLUSION;236
7.17.6;REFERENCES;236
7.18;CHAPTER 36. ROBUST ABSOLUTE STABILITY OF LUR'E CONTROL SYSTEMS IN PARAMETER SPACE;238
7.18.1;1. INTRODUCTION;238
7.18.2;2. PROBLEM FORMULATION AND BASIC RESULTS;239
7.18.3;3. ROBUST STABILITY AGAINST SCALAR PERTURBATIONS;240
7.18.4;4. ROBUST ABSOLUTE STABILITY FOR PLANAR UNCERTAINTY SETS;241
7.18.5;5. NUMERICAL EXAMPLES;242
7.18.6;6. CONCLUSIONS;243
7.18.7;REFERENCES;243
7.19;CHAPTER 37. ANALYTICAL DESIGN OF PREDICTIVE CONTROL FOR A CLASS OF INDUSTRIAL PROCESSES;244
7.19.1;INTRODUCTION;244
7.19.2;GENERALIZED DYNAMIC MATRIX CONTROL;244
7.19.3;PERFORMANCE ANALYSIS OF GDMC INIMC STRUCTURE;245
7.19.4;GDMC ANALYSIS FOR A CLASS OF INDUSTRIAL PROCESSES;246
7.19.5;COMPUTER-AIDED DESIGN OF GDMC SYSTEM FOR TYPICAL PROCESSE;247
7.19.6;SIMULATION EXAMPLE;248
7.19.7;CONCLUSION;248
7.19.8;REFERENCES;248
7.20;CHAPTER 38. VARIOUS UNITARY BASED ROBUSTNESS STUDIES ON MULTIVARIABLE SYSTEMS WITH TUNING CONTROLLERS;250
7.20.1;INTRODUCTION;250
7.20.2;PRINCIPLE OF ANALYSIS;250
7.20.3;AN ILLUSTRATIVE EXAMPLE;251
7.20.4;ROBUSTNESS STUDIES;252
7.20.5;CONCLUSIONS;254
7.20.6;REFERENCES;254
7.21;CHAPTER 39. DESIGN OF DISCRETE TIME REPETITIVE CONTROLLERS WITH APPLICATIONS TO MECHANICAL SYSTEMS;256
7.21.1;INTRODUCTION;256
7.21.2;INTERNAL MODEL BASED DISCRETE-TIMEREPETITIVE CONTROLLERS;256
7.21.3;ROBUSTNESS OF PROTOTYPE REPETITIVE CONTROL SYSTEMS;257
7.21.4;EXTERNAL MODEL BASED DISCRETE-TIME REPETITIVE CONTROLLER;258
7.21.5;CONCLUSIONS;261
7.21.6;REFERENCES;261
7.22;CHAPTER 40. MODEL BASED PREDICTIVE CONTROL OF EXOTIC SYSTEMS;262
7.22.1;INTRODUCTION;262
7.22.2;THE PPC TECHNIQUE;263
7.22.3;CONTROL STRATEGY FOR UNSTABLE SYSTBC5;264
7.22.4;CONTROL OF FLEXIBLE SYSTEMS;266
7.22.5;CONCLUSION;268
7.22.6;References;268
7.23;CHAPTER 41. H8/LTR PROCEDURE WITH SPECIFIED DEGREE OF RECOVERY;270
7.23.1;INTRODUCTION;270
7.23.2;PROBLEM FORMULATION II ;271
7.23.3;SOLUTION OF H8 OPTIMAL CONTROL PROBLEM;272
7.23.4;SOLUTION OF PROBLEMS I AND II;273
7.23.5;COMPARISON WITH LQG/LTR PROCEDURE;273
7.23.6;NUMERICAL EXAMPLE;274
7.23.7;REFERENCES;274
7.24;CHAPTER 42. OPTIMIZATION BASED ROBUST DESIGN OF UNCERTAIN SISO SYSTEMS;276
7.24.1;1. Introduction;276
7.24.2;2. System Description;276
7.24.3;3. Controller and Closed Loop;277
7.24.4;4. Design of Feedback;277
7.24.5;5. Optimization Issues;279
7.24.6;6· Design of Feedforward;280
7.24.7;7. Examples;280
7.24.8;8. Conclusions;281
8;PART III: NONLINEAR CONTROL;282
8.1;CHAPTER 43. NONLINEAR CRONEKKER'S CHARACTERISTICS AND ITS APPLICATION;282
8.1.1;INTRODUCTION;282
8.1.2;THE CRONECKER CHARACTERISTIC;282
8.1.3;CONTROLLABILITY;283
8.1.4;STABILIZABILITY;284
8.1.5;REFERENCES;285
8.2;CHAPTER 44. GEOMETRIC THEORY OF DYNAMIC SYSTEMS WITH CONTROL;286
8.2.1;INTRODUCTION;286
8.2.2;BASIC NOTIONS OF CDS PHASE PORTRAIT METHOD;286
8.2.3;APPLICATION OF THE POLIATION TECHNIQUE TO CDS DECOMPOSITION;287
8.2.4;SINGULAR SETS OF THE CDS PHASE PORTRAIT ON THE PLANE;289
8.2.5;NOETHER THEOREM AMD INVARIANCE OF THE CDS PHASE PORTRAIT;291
8.2.6;REFERENCES;293
8.3;CHAPTER 45. IDENTIFIABILITY FOR NONLINEAR MULTIVARIABLE SYSTEMS IN OUTPUT INJECTION FORM;294
8.3.1;INTRODUCTION;294
8.3.2;OUTPUT INJECTION SYSTEMS;295
8.3.3;IDENTIFIABILITY FOR OUTPUT INJECTION SYSTEM;296
8.3.4;CONCLUSIONS;299
8.3.5;REFERENCES;299
8.4;CHAPTER 46. INPUT-OUTPUT DECOUPLING AND LINEARIZATION VIA RESTRICTED STATIC-STATE FEEDBACK;300
8.4.1;INTRODUCTION;300
8.4.2;FORMULATION OF THE PROBLEM AND NOTATIONS;300
8.4.3;MAIN RESULTS;302
8.4.4;EXAMPLES;304
8.4.5;CONCLUSION;304
8.4.6;ACKNOWLEDGEMENT;305
8.4.7;REFERENCES;305
8.5;CHAPTER 47. NEW IMPROVED CRITERIA OF ABSOLUTE STABILITY FOR NONLINEAR DYNAMICALSYSTEMS;306
8.5.1;INTRODUCTION;306
8.5.2;MAIN RESULTS;306
8.5.3;EXAMPLES;308
8.5.4;CONCLUSIONS;308
8.5.5;REFERENCES;309
8.5.6;APPENDIX;309
8.6;CHAPTER 48. ROBUST STABILITY AGAINST STRUCTURED AND UNSTRUCTURED PERTURBATIONS: NEW RESULTS;312
8.6.1;1.INTRODUCTION;312
8.6.2;2. PRELIMINARIES;313
8.6.3;3. ON STRICT POSITIVE REALNESS OF INTERVAL PLANTS;314
8.6.4;4. EXTENSION OF THE SMALL GAIN THEOREM TO INTERVAL PLANTS;315
8.6.5;5. CONCLUDING REMARKS;316
8.6.6;6. REFERENCES;316
8.7;CHAPTER 49. SAMPLE RATE SELECTION FOR DISCRETE TIME SWITCHING CONTROLS;318
8.7.1;BACKGROUND AND MOTIVATION;318
8.7.2;ANALYSIS;318
8.7.3;EXTENSION TO NONLINEAR SYSTEMS;320
8.7.4;APPLICATION TO DUAL-MODE CONTROLS;321
8.7.5;EXAMPLE 3;321
8.7.6;REFERENCES;321
8.8;CHAPTER 50. THE NEW RESULTS IN THE THEORY OF PERIODIC OSCILLATION IN NONLINEAR CONTROL SYSTEMS;324
8.8.1;1. THE EXISTENCE OF SELF-EXITING OSCILLATIONS;324
8.8.2;2. SYSTEMS WITH HYSTERESIS;325
8.8.3;3. HYSTERESIS WITH VARIABLE CHARACTERISTICS;325
8.8.4;4. SELF-OSCILLATIONS IN SYSTEMS WITH HYSTERESIS;326
8.8.5;5. THE ESTIMATE OF THE NUMBER OF CYCLES;326
8.8.6;6. ON FORCED OSCILLATIONS;327
8.8.7;7. COLLOCATIONS METHOD IN PROBLEMS OF PERIODICOSCILLATIONS;328
8.8.8;REFERENCES;329
8.9;CHAPTER 51. PARAMETRIZATION OF NONLINEAR MODEL STRUCTURES AS LINEAR REGRESSIONS;330
8.9.1;1. INTRODUCTION;330
8.9.2;2. MODEL SET;330
8.9.3;3. SOME DIFFERENTIAL ALGEBRAIC FACTS;331
8.9.4;4. PROBLEM FORMULATION;332
8.9.5;5. MAIN RESULTS;332
8.9.6;6. EXAMPLES;333
8.9.7;7. CONCLUSIONS;333
8.9.8;8. ACKNOWLEDGEMENTS;333
8.9.9;REFERENCES.;333
8.10;CHAPTER 52. STRONG INVARIANT SETS AND STABILITY OF POSITIONAL STRATEGIES IN (M,N)GAME ENCOUNTER PROBLEMS;336
8.10.1;INTRODUCTION;336
8.10.2;STRONG INVARIANT SETS;336
8.10.3;THE STABILITY OF POSITIONAL STRATEGIES;337
8.10.4;CONCLUSION;338
8.10.5;REFERENCES;338
8.11;CHAPTER 53. DESIGN OF NONLINEAR CONTROLLERS FOR NONLINEAR PLANTS;340
8.11.1;INTRODUCTION;340
8.11.2;DESIGN PROCEDURE;340
8.11.3;INVERSE DESCRIBING FUNCTION;340
8.11.4;DESCRIPTION OF DESIGN METHODS;341
8.11.5;EXAMPLES;342
8.11.6;CONCLUSION;343
8.11.7;References;343
8.12;CHAPTER 54. STABILITY AND DESIGN OF SINGLE LOOPSTATE CONTROL SYSTEMS WITH ACTUATOR SATURATIONS;348
8.12.1;THE PROBLEM;348
8.12.2;THE CONTROL SYSTEM;348
8.12.3;NONLINEAR STABILITY ANALYSIS;351
8.12.4;QUANTITATIVE EXAMPLES;353
8.12.5;CONCLUSIONS;356
8.12.6;REFERENCES;356
8.13;CHAPTER 55. INTEGRAL INDICES OF DYNAMIC SYSTEM STATE AND THEIR APPLICATION;358
8.13.1;INTRODUCTION;358
8.13.2;INTEGRAL INDICES IN STABILIZATION PROBLEM;359
8.13.3;MANUAL CONTROL;361
8.13.4;AUTONOMOUS CONTROL OF INTEGRAL INDICES;362
8.13.5;DISCUSSION;362
8.13.6;REFERENCES;363
8.14;CHAPTER 56. STABILIZATION OF A CLASS OF NONLINEAR SYSTEMS BY OUTPUT FEEDBACK;364
8.14.1;I. INTRODUCTION;364
8.14.2;II. PROBLEM FORMULATION AND MATHEMATICAL PRELIMINARIES;364
8.14.3;III. SOLUTION OF THE OUTPUT STABILIZING CONTROL LAWS;365
8.14.4;IV. AN EXAMPLE;367
8.14.5;REFERENCES;368
8.15;CHAPTER 57. A GENERAL METHODOLOGY FOR BILINEAR SYSTEM STABILITY WITH OUTPUT FEEDBACK;370
8.15.1;INTRODUCTION;370
8.15.2;NOTATION AND PRELIMINARIES;370
8.15.3;CONTINUOUS BILINEAR SYSTEM;371
8.15.4;DISCRETE BILINEAR SYSTEM;372
8.15.5;REFERENCES;373
8.16;CHAPTER 58. NONLINEAR OBSERVERS FOR FLEXIBLE ROBOTS;374
8.16.1;INTRODUCTION;374
8.16.2;EXACT OBSERVER DESIGN;375
8.16.3;APPROXIMATE OBSERVER DESIGN;376
8.16.4;CONCLUSIONS;378
8.16.5;ACKNOWLEDGEMENT;379
8.16.6;REFERENCES;379
8.17;CHAPTER 59. MODELING AND SLIDING MODE TEMPERATURE CONTROL OF A SEMI-BATCH POLYMERIZATION REACTOR IMPLEMENTED AT THE MIXER;380
8.17.1;INTRODUCTION;380
8.17.2;NOMENCLATURE;380
8.17.3;MODELING OF A SEMI-BATCH POLYMERIZATION REACTOR;381
8.17.4;SLIDING MODE TEMPERATÜRE CONTROL;383
8.17.5;RESULTS OF EXPERIMENT;385
8.17.6;CONCLUSIONS;385
8.17.7;REFERENCES;385
8.18;CHAPTER 60. CHAOS FROM PWM ELECTROHYDRAULIC SERVO;386
8.18.1;INTRODUCTION;386
8.18.2;SUFFICIENT CONDITIONS FOR THE EXISTENCE OF CHAOS;387
8.18.3;SBR ON PWM ELECTROHIDRAULIC SERVO;388
8.18.4;CONCLUSIONS;389
8.18.5;REFERENCES;390
8.18.6;APPENDIX;390
8.19;CHAPTER 61. STABILIZATION OF A CHAOTIC PREDATORPREY SYSTEM CONSIDERING FRACTAL BOUNDARIES;392
8.19.1;1. INTRODUCTION;392
8.19.2;2. CONTROL SCHEME FOR STABILIZATION;393
8.19.3;3. FRACTAL BOUNDARY OF AN INVARIANT DOMAIN;394
8.19.4;4. NUMERICAL EXPERIMENTS;396
8.19.5;5. CONCLUSIONS;397
8.19.6;REFERENCES;397
9;PART IV: CONTROL APPLICATIONS OF OPTIMIZATION;398
9.1;CHAPTER 62. A GENERAL APPROACH TO THE CONSTRUCTION OF ALGORITHMS OF OPTIMIZATION OF NONLINEAR CONTROL SYSTEMS WITH NONSMOOTH CHARACTERISTICS;398
9.1.1;I.NONLINEAR PROGRAMMING;398
9.1.2;2,NONSMOOTH NETWORK PROBLEMS;400
9.1.3;3.NONSMOOTH PIECE-WISE LINEAR PROBLEMS;400
9.1.4;4.REGULARLY AND SINGULARLY PERTURBED SYSTEM;400
9.1.5;5. THE AVERAGING METHOD;402
9.1.6;Conclusion;402
9.1.7;REFERENCES;403
9.2;CHAPTER 63. DECOMPOSITION OF DYNAMIC PROGRAMMING BY NONLINEAR PROGRAMMING AND PARALLEL PROCESSING;404
9.2.1;INTRODUCTION;404
9.2.2;GENERALIZED TIME INTERVAL ITERATION TECHNIQUE;405
9.2.3;CONVERGENCE OF THE ALGORITHM;406
9.2.4;MULTICRITERIA OPTIMIZATION;408
9.2.5;REFERENCES;409
9.3;CHAPTER 64. THE SUPERLINEAR CONVERGENCE OF SUCCESSIVE QUADRATIC PROGRAMMING ALGORITHMS;410
9.3.1;INTRODUCTION;410
9.3.2;Q - SUPERLINEAR RATE CONDITIONS;412
9.3.3;CONCLUDING REMARKS;415
9.3.4;ACKNOWLEDGEMENT;415
9.3.5;REFERENCES;415
9.4;CHAPTER 65. SOFTWARE TOOLS FOR NONLINEAR PROGRAMMING;416
9.4.1;INTRODUCTION;416
9.4.2;CLASSES OF SOLVABLE PROBLEMS AND OPTIMIZATION METHODS USED;416
9.4.3;STRUCTURE OF THE PACKAGE;418
9.4.4;USER INTERFACE;419
9.4.5;CONCLUSION;419
9.4.6;REFERENCES;420
9.5;CHAPTER 66. COMPUTATIONAL SINGULAR PERTURBATION METHOD FOR DYNAMIC SYSTEMS;422
9.5.1;INTRODUCTION;422
9.5.2;TRANSFORMATION OF DYNAMIC SYSTEMS;422
9.5.3;COMPUTATIONAL SINGULAR PERTURBATIONALGORITHM;424
9.5.4;EXAMPLES;425
9.5.5;CONCLUDING REMARKS;425
9.5.6;References;426
9.6;CHAPTER 67. GEOMETRICAL THEORY OF SINGULARLY PERTURBED CONTROL SYSTEMS;428
9.6.1;INTRODUCTION;428
9.6.2;OPTIMAL LINEAR STATE REGULATOR;428
9.6.3;TEMPERATURE FIELD CONTROL;430
9.6.4;NONLINEAR OPTIMAL CONTROL;430
9.6.5;SINGULAR SINGULARLY PERTURBED SYSTEMS;431
9.6.6;CHEAP CONTROL;431
9.6.7;FILTERING OF GYROSCOPIC SYSTEMS;431
9.6.8;HIGH-GAIN SYSTEM;432
9.6.9;CONCLUSION;432
9.6.10;REFERENCES;433
9.7;CHAPTER 68. SOME COMPUTATIONAL ASPECTS OF THE PERTURBATION THEORY IN OPTIMIZATION PROBLEMS;434
9.7.1;INTRODUCTION;434
9.7.2;DEGESNERCY, SINGULARITY AND QUASIAGGREGATABLE PROGRAMS ·;434
9.7.3;UNCONTRAINED QUASIAGGREGATABLES PROBLEM AND "VALLEY EFFECT";435
9.7.4;CONCLUSION;438
9.7.5;REFERENCES;438
9.8;CHAPTER 69. NEAR-OPTIMAL INCENTIVE STACKELBERG STRATEGIES FOR SINGULARLY PERTURBED SYSTEMS;440
9.8.1;INTRODUCTION;440
9.8.2;PROBLEM FORMULATION;440
9.8.3;COMPOSITE TEAM SOLUTIONS;441
9.8.4;CONSTRUCTION OF THE NEAR-OPTIMAL INCENTIVE STRATEGY;442
9.8.5;CONCLUSION;444
9.8.6;REFERENCES;444
9.9;CHAPTER 70. TEAM DIFFERENTIAL GAMES;446
9.9.1;INTRODUCTION;446
9.9.2;ONE-VERSUS-TWO TWO-STAGE TEAM DIFFERENTIAL GAMES;446
9.9.3;MULTI-PERSON TWO-TEAM DIFFERENTIAL GAMES;449
9.9.4;EXAMPLES;449
9.9.5;CONCLUSION;450
9.9.6;REFERENCES;450
9.10;CHAPTER 71. A COMPARISON OF CONSTRAINED OPTIMAL CONTROL ALGORITHMS;452
9.10.1;INTRODUCTION;452
9.10.2;IMPLEMENTED ALGORITHMS;453
9.10.3;GENERAL REMARKS;454
9.10.4;STATE INEQUALITY CONSTRAINT;454
9.10.5;BANG-BANG CONTROL PROBLEM;456
9.10.6;FIXED FINAL STATES PROBLEM;457
9.10.7;CONCLUSIONS;459
9.10.8;ACKNOWLEDGEMENT;459
9.10.9;REFERENCES;459
9.11;CHAPTER 72. PERIODIC ARMA MODELS: OPTIMAL PREDICTION AND MINIMUM-PHASE CONDITION;462
9.11.1;INTRODUCTION;462
9.11.2;PRELIMINARIES;463
9.11.3;CONCLUDING REMARKS;467
9.11.4;ACKNOWLEDGEMENT.;467
9.11.5;REFERENCES;467
9.12;CHAPTER 73. AN ALGORITHM AND A PROGRAM FOR SOLVING LINEAR NON-STATIONARY OPTIMAL CONTROL PROBLEMS;468
9.12.1;INTRODUCTION;468
9.12.2;PROBLEM STATEMENT;468
9.12.3;ALGORITHM;469
9.12.4;NUMERICAL EXPERIMENT;469
9.12.5;CONCLUSION;470
9.12.6;REFERENCES;471
10;PART V: DISTRIBUTED PARAMETER SYSTEMS;472
10.1;CHAPTER 74. POLE ASSIGNMENT OF DISTRIBUTED PARAMETER SYSTEMS;472
10.1.1;§1. INTRODUCTION;472
10.1.2;§2 ASSIGNMENT OF FINITELY MANY EIGENVALUES;472
10.1.3;§3 ASSIGNMENT OF INFINITELY MANY EIGENVALUES;474
10.1.4;§4 EXAMPLE;476
10.1.5;REFERENCES;477
10.2;CHAPTER 75. ITERATIVE PROCESSES IN OPTIMIZATION OF SEMILINEAR HYPERBOLIC SYSTEMS;478
10.2.1;INTRODUCTION;478
10.2.2;MAXIMUM PRINCIPLE;480
10.2.3;ITERATIVE METHODS;481
10.2.4;CONCLUSIONS;482
10.2.5;REFERENCES;482
10.3;CHAPTER 76. IDENTIFICATION OF SYSTEM PARAMETERSIN DISTRIBUTED PARAMETER SYSTEMS;484
10.3.1;INTRODUCTION;484
10.3.2;PROBLEM OF SYSTEM PARAMETER IDENTIFICATION;484
10.3.3;LINEAR INTEGRAL FILTER AND ITS EXTENSION;485
10.3.4;IDENTIFICATION IN THE NOISE-FREE CASE;486
10.3.5;IDENTIFICATION IN THE NOISY CASE;487
10.3.6;CONCLUDING REMARKS;489
10.4;CHAPTER 77. TRANSIENT FLOW CONTROL IN OPEN CHANNELS BY DISCRETE TIME LQR METHODS;490
10.4.1;1. INTRODUCTION;490
10.4.2;2. OPEN CHANNEL TRANSIENT MODELS;490
10.4.3;3. WAVE EQUATION DYNAMICS;491
10.4.4;4. REGULATION;492
10.4.5;5. EXAMPLE APPLICATION;493
10.4.6;6. CONCLUSIONS;494
10.4.7;REFERENCES;495
11;PART VI: THEORY OF DISCRETE EVENT SYSTEMS;496
11.1;CHAPTER 78. ALGEBRAIC CHARACTERISTICS AND STRUCTURE DECOMPOSITION FOR "LINEAR" DISCRETE EVENT DYNAMICSY STEMS;496
11.1.1;INTRODUCTION;496
11.1.2;SYSTEMS AND MODELS;496
11.1.3;ESTIMATION AND DETERMINATION OF EIGENVALUE AND EIGENVECTOR BY USING OUTPUT DATA;499
11.1.4;CONCLUSION;501
11.1.5;ACKNOWLEDGMENT;501
11.1.6;REFERENCES;501
11.2;CHAPTER 79. OPTIMAL CONTROL OF ASYNCHRONOUS DISCRETE EVENT SYSTEMS;502
11.2.1;1. INTRODUCTION;502
11.2.2;2. MULTICRITERIA OPTIMIZATION PROBLEM STATEMENT;503
11.2.3;3. QUALITATIVE PREFERENCE STRUCTURE IN THE SETS OF STATES AND TRAJECTORIES;504
11.2.4;4. AGGREGATED OPTIMAL CONTROL PROBLEM FORMULATION AND SOLUTION;504
11.2.5;CONCLUSIONS;508
11.2.6;REFERENCES;508
11.3;CHAPTER 80. SOME RESULTS ON NEAR-COMPLETE DECOMPOSABILITY OF DISCRETE EVENT SYSTEMS;510
11.3.1;INTRODUCTION;510
11.3.2;MODELLING AND ANALYSIS;511
11.3.3;SOLUTION TO THE SYSTEM;512
11.3.4;REFERENCE;512
11.4;CHAPTER 81. ON-LINE CONTROL OF DISCRETE EVENT SYSTEMS: SOME EXTENSIONS OF PERTURBATION ANALYSIS;514
11.4.1;INTRODUCTION;514
11.4.2;ON-LINE STOCHASTIC GRADIENT ESTIMATORS;514
11.4.3;CONSTRUCTION OF DEDS SAMPLE PATHS;515
11.4.4;PERTURBATION ANALYSIS WITH RESCHEDULING;516
11.4.5;CONCLUSIONS AND FUTURE WORK;518
11.4.6;REFERENCES;518
11.5;CHAPTER 82. FINITE AUTOMATA ON PARTIALLY ORDERED SETS;520
11.5.1;INTRODUCTION;520
11.5.2;0-SETS;520
11.5.3;0-FUNCTIONS;520
11.5.4;0-AUTOMATA;521
11.5.5;CONCLUSION;522
11.5.6;REFERENCES;522
11.6;CHAPTER 83. ANALYSIS AND SYNTHESIS OF DISCRETE-EVENT DISTRIBUTED SYSTEMS USING PETRI-NETS;524
11.6.1;INTRODUCTION;524
11.6.2;PETRI-NETS;525
11.6.3;DERIVATION OF THE CONTROL TASKS;526
11.6.4;MODIFICATION OF THE NET;527
11.6.5;CONCLUSIONS;528
11.6.6;REFERENCES;529
11.6.7;SYMBOLS;529
11.7;CHAPTER 84. OPTIMAL SCHEDULING FOR LINEAR AND NONLINEAR DYNAMIC PROCESSES;530
11.7.1;INTRODUCTION;530
11.7.2;LINEAR SCHEDULING PROBLEMS;530
11.7.3;NONLINEAR SCHEDULING PROBLEMS;532
11.7.4;EXAMPLE;532
11.7.5;REFERENCES;534
11.8;CHAPTER 85. DISCRETE EVENT SYSTEMS: DEADLOCK, LIVELOCK, AND LIVEDEADLOCK;536
11.8.1;INTRODUCTION;536
11.8.2;LOCKED PROCESSES;538
11.8.3;DETECTING LIVEDEADLOCK;539
11.8.4;LIVEDEADLOCK FREE CONNECTIONS;540
11.8.5;CONCLUSIONS;541
11.8.6;REFERENCES;541
11.9;CHAPTER 86. STABILIZATION, TRACKING, AND HIERARCHICAL MODELING OF DISCRETE-EVENT DYNAMIC SYSTEMS;542
11.9.1;INTRODUCTION;542
11.9.2;PRELIMINARIES;542
11.9.3;OUTPUT COMPENSATORS AND OUTPUT STABILIZATION;543
11.9.4;FURTHER TOPICS;545
11.9.5;CONCLUSIONS;546
11.9.6;REFERENCES;546
12;AUTHOR INDEX;548
13;KEYWORD INDEX;550