Feedback control of computing systems / Joseph L. Hellerstein ... [and others].

Format:

Book

Contributor:

Hellerstein, Joseph, 1952-

Classes of 1883 and 1884 Fund.

Language:

English

Subjects (All):

Feedback control systems.

Control theory.

Electronic data processing.

Physical Description:

xx, 429 pages : illustrations ; 24 cm

Place of Publication:

Hoboken, N.J. : IEEE Press : Wiley-Interscience, 2004.

Summary:

This is the first practical treatment of the design and application of feedback control of computing systems. MATLAB files for the solution of problems and case studies accompany the text throughout. The book discusses information technology examples, such as maximizing the efficiency of Lotus Notes. This book results from the authors' research into the use of control theory to model and control computing systems. This has important implications to the way engineers and researchers approach different resource management problems. This guide is well suited for professionals and researchers in information technology and computer science.

Contents:

1.1 The Nature of Feedback Control 3

1.2 Control Objectives 6

1.3 Properties of Feedback Control Systems 7

1.4 Open-Loop versus Closed-Loop Control 10

1.5 Summary of Applications of Control Theory to Computing Systems 11

1.6 Computer Examples of Feedback Control Systems 13

1.6.1 IBM Lotus Domino Server 13

1.6.2 Queueing Systems 15

1.6.3 Apache HTTP Server 16

1.6.4 Random Early Detection of Router Overloads 19

1.6.5 Load Balancing 20

1.6.6 Streaming Media 21

1.6.7 Caching with Differentiated Service 22

1.7 Challenges in Applying Control Theory to Computing Systems 24

Part II System Modeling 29

2 Model Construction 31

2.1 Basics of Queueing Theory 31

2.2 Modeling Dynamic Behavior 35

2.2.1 Model Variables 35

2.2.2 Signals 35

2.2.3 Linear, Time-Invariant Difference Equations 38

2.2.4 Nonlinearities 40

2.3 First-Principles Models 42

2.4 Black-Box Models 44

2.4.1 Model Scope 45

2.4.2 Experimental Design 47

2.4.3 Parameter Estimation 49

2.4.4 Model Evaluation 53

2.6 Extended Examples 56

2.6.1 IBM Lotus Domino Server 56

2.6.2 Apache HTTP Server 57

2.6.3 M/M/1/K Comparisons 58

2.7 Parameter Estimation Using MATLAB 59

3 Z-Transforms and Transfer Functions 65

3.1 Z-Transform Basics 65

3.1.1 Z-Transform Definition 66

3.1.2 Z-Transforms of Common Signals 68

3.1.3 Properties of Z-Transforms 71

3.1.4 Inverse Z-Transforms 74

3.1.5 Using Z-Transforms to Solve Difference Equations 75

3.2 Characteristics Inferred from Z-Transforms 81

3.2.1 Review of Complex Variables 81

3.2.2 Poles and Zeros of a Z-Transform 83

3.2.3 Steady-State Analysis 86

3.2.4 Time Domain versus Z-Domain 88

3.3 Transfer Functions 89

3.3.1 Stability 92

3.3.2 Steady-State Gain 95

3.3.3 System Order 96

3.3.4 Dominant Poles and Model Simplification 96

3.3.5 Simulating Transfer Functions 100

3.5.1 M/M/1/K from System Identification 103

3.5.2 IBM Lotus Domino Server: Sensor Delay 103

3.5.3 Apache HTTP Server: Combining Control Inputs 104

3.6 Z-Transforms and MATLAB 105

4 System Modeling with Block Diagrams 111

4.1 Block Diagrams Basics 111

4.2 Transforming Block Diagrams 115

4.2.1 Special Aggregations of Blocks 115

4.3 Transfer Functions for Control Analysis 116

4.4 Block Diagram Restructuring 119

4.6.1 IBM Lotus Domino Server 121

4.6.2 Apache HTTP Server with Control Loops 123

4.6.3 Streaming 124

4.7 Composing Transfer Functions in MATLAB 126

5 First-Order Systems 129

5.1 First-Order Model 129

5.2 System Response 131

5.2.1 Steady-State and Transient Responses 131

5.2.2 Input Signal Model 133

5.2.3 Time-Domain Solution 133

5.3 Initial Condition Response 135

5.4 Impulse Response 136

5.5 Step Response 141

5.5.1 Numerical Example 141

5.5.2 Time-Domain Solution 141

5.5.3 Steady-State Response 143

5.5.4 Transient Response 144

5.6 Transient Response to Other Signals 147

5.6.1 Ramp Response 147

5.6.2 Frequency Response 150

5.7 Effect of Stochastics 152

5.9.1 Estimating Operating Region of the Apache HTTP Server 156

5.9.2 IBM Lotus Domino Server with a Disturbance 157

5.9.3 Feedback Control of the IBM Lotus Domino Server 159

5.10 Analyzing Transient Response with MATLAB 161

6 Higher-Order Systems 165

6.1 Motivation and Definitions 165

6.2 Real Poles 168

6.2.1 Initial Condition Response 168

6.2.2 Impulse Response 171

6.2.3 Step Response 174

6.2.4 Other Signals 176

6.2.5 Effect of Zeros 177

6.3 Complex Poles 179

6.3.1 Second-Order System 179

6.3.2 Impulse Response 181

6.3.3 Step Response 183

6.5.1 Apache HTTP Server with a Filter 186

6.5.2 Apache HTTP Server with a Filter and Controller 189

6.5.3 IBM Lotus Domino Server with a Filter and Controller 191

6.5.4 M/M/1/K with a Filter and Controller 192

6.6 Analyzing Transient Response with MATLAB 196

7 State-Space Models 201

7.1 State Variables 201

7.2 State-Space Models 204

7.3 Solving Difference Equations in State Space 207

7.4 Converting Between Transfer Function Models and State-Space Models 211

7.5 Analysis of State-Space Models 216

7.5.1 Stability Analysis of State-Space Models 216

7.5.2 Steady-State Analysis of State-Space Models 218

7.5.3 Transient Analysis of State-Space Models 220

7.6 Special Considerations in State-Space Models 221

7.6.1 Equivalence of State Variables 221

7.6.2 Controllability 222

7.6.3 Observability 225

7.8.1 MIMO System Identification of the Apache HTTP Server 229

7.8.2 State-Space Model of the IBM Lotus Domino Server with Sensor Delay 234

7.9 Constructing State-Space Models in MATLAB 237

Part III Control Analysis and Design 243

8 Proportional Control 245

8.1 Control Laws and Controller Operation 245

8.2 Desirable Properties of Controllers 252

8.3 Framework for Analyzing Proportional Control 254

8.3.1 Closed-Loop Transfer Functions 255

8.3.2 Stability 257

8.3.3 Accuracy 258

8.3.4 Settling Time 260

8.3.5 Maximum Overshoot 260

8.4 P-Control: Robustness, Delays, and Filters 261

8.4.1 First-Order Target System 261

8.4.2 Measurement Delay 266

8.4.3 Moving-Average Filter 268

8.5 Design of Proportional Controllers 271

8.7.1 IBM Lotus Domino Server with a Moving-Average Filter 276

8.7.2 Apache with Precompensation 278

8.7.3 Apache with Disturbance Rejection 282

8.7.4 Effect of Operating Region on M/M/1/K Control 282

8.8 Designing P-Controllers in MATLAB 286

9 PID Controllers 293

9.1 Integral Control 293

9.1.1 Steady-State Error with Integral Control 294

9.1.2 Transient Response with Integral Control 296

9.2 Proportional-Integral Control 301

9.2.1 Steady-State Error with PI Control 303

9.2.2 PI Control Design by Pole Placement 303

9.2.3 PI Control Design Using Root Locus 307

9.2.4 PI Control Design Using Empirical Methods 309

9.3 Proportional-Derivative Control 315

9.4 PID Control 320

9.6.1 PI Control of the Apache HTTP Server Using Empirical Methods 325

9.6.2 Designing a PI Controller for the Apache HTTP Server Using Pole Placement Design 327

9.6.3 IBM Lotus Domino Server with a Sensor Delay 328

9.6.4 Caching with Feedback Control 330

9.7 Designing PI Controllers in MATLAB 332

10 State-Space Feedback Control 337

10.1 State-Space Analysis 337

10.2 State Feedback Control Systems 339

10.2.1 Static State Feedback 340

10.2.2 Precompensated Static State Feedback 342

10.2.3 Dynamic State Feedback 346

10.2.4 Comparison of Control Architectures 351

10.3 Design Techniques 353

10.3.1 Pole Placement Design 353

10.3.2 LQR Optimal Control Design 358

10.5.1 MIMO Control of the Apache HTTP Server 364

10.5.2 Effect of the LQR Design Parameters in a Dynamic State Feedback System 370

10.6 Designing State-Space Controllers Using MATLAB 372

11 Advanced Topics 375

11.1 Motivating Example 376

11.2 Gain Scheduling 378

11.3 Self-Tuning Regulators 381

11.4 Minimum-Variance Control 384

11.5 Fluid Flow Analysis 386

11.6 Fuzzy Control 389

Appendix C Key Results 403

C.1 Modeling 403

C.1.1 Dominant Pole Approximation 403

C.1.2 Closed-Loop Transfer Functions 403

C.2 Analysis 404

C.2.1 Stability 404

C.2.2 Settling Time 405

C.2.3 Maximum Overshoot 405

C.2.4 Steady-State Gain 405

C.3 Controller Design 405

C.3.1 Control Laws 405

C.3.2 Pole Placement Design 406

C.3.3 LQR Design 407

Appendix D Essentials of Linear Algebra 409

D.1 Matrix Inverse, Singularity 409

D.2 Matrix Minor, Determinant, and Adjoint 409

D.3 Vector Spaces 410

D.4 Matrix Rank 411

D.5 Eigenvalues 411.

Notes:

"A Wiley-Interscience publication."

Includes bibliographical references (pages 421-425) and index.

Local Notes:

Acquired for the Penn Libraries with assistance from the Classes of 1883 and 1884 Fund.

ISBN:

047126637X

OCLC:

54460914

Online:

Contributor biographical information

Publisher description