Robust control design : an optimal control approach / Feng Lin.

Format:

Book

Author/Creator:

Lin, Feng.

Contributor:

Louis A. Duhring Fund.

Series:

RSP series in control theory and applications.

RSP series in control theory and applications

Language:

English

Subjects (All):

Automatic control.

Physical Description:

xiv, 364 pages : illustrations ; 24 cm.

Place of Publication:

Chichester, West Sussex, England ; Hoboken, NJ : John Wiley/RSP, [2007]

Summary:

Comprehensive and accessible guide to the three main approaches to robust control design and its applications. Optimal control is a mathematical field that is concerned with control policies that can be deduced using optimization algorithms. The optimal control approach to robust control design differs from conventional direct approaches to robust control that are more commonly discussed by firstly translating the robust control problem into its optimal control counterpart, and then solving the optimal control problem.

Robust Control Design: An Optimal Control Approach offers a complete presentation of this approach to robust control design, presenting modern control theory in an concise manner. The other two major approaches to robust control design, the H_infinite approach and the Kharitonov approach, are also covered and described in the simplest terms possible, in order to provide a complete overview of the area. It includes up-to-date research, and offers both theoretical and practical applications that include flexible structures, robotics, and automotive and aircraft control.

Robust Control Design: An Optimal Control Approach will be of interest to those needing an introductory textbook on robust control theory, design and applications as well as graduate and postgraduate students involved in systems and control research. Practitioners will also find the applications presented useful when solving practical problems in the engineering field.

Contents:

1.1 Systems and Control 1

1.2 Modern Control Theory 5

1.3 Stability 6

1.4 Optimal Control 8

1.5 Optimal Control Approach 9

1.6 Kharitonov Approach 10

1.7 H[infinity] and H[subscript 2] Control 11

1.8 Applications 12

1.9 Use of this Book 13

2 Fundamentals of Control Theory 15

2.1 State Space Model 16

2.2 Responses of Linear Systems 17

2.3 Similarity Transformation 25

2.4 Controllability and Observability 33

2.5 Pole Placement by State Feedback 44

2.6 Pole Placement Using Observer 52

2.8 Problems 63

3 Stability Theory 69

3.1 Stability and Lyapunov Theorem 69

3.2 Linear Systems 73

3.3 Routh-Hurwitz Criterion 75

3.4 Nyquist Criterion 85

3.5 Stabilizability and Detectability 93

3.7 Problems 98

4 Optimal Control and Optimal Observers 101

4.1 Optimal Control Problem 101

4.2 Principle of Optimality 105

4.3 Hamilton-Jacobi-Bellman Equation 110

4.4 Linear Quadratic Regulator Problem 112

4.5 Kalman Filter 120

4.7 Problems 127

5 Robust Control of Linear Systems 133

5.2 Matched Uncertainty 137

5.3 Unmatched Uncertainty 145

5.4 Uncertainty in the Input Matrix 154

5.6 Problems 170

6 Robust Control of Nonlinear Systems 173

6.2 Matched Uncertainty 176

6.3 Unmatched Uncertainty 180

6.4 Uncertainty in the Input Matrix 188

6.6 Problems 210

7 Kharitonov Approach 213

7.2 Preliminary Theorems 214

7.3 Kharitonov Theorem 227

7.4 Control Design Using Kharitonov Theorem 231

7.6 Problems 236

8 H[infinity] and H[subscript 2] Control 239

8.2 Function Space 240

8.3 Computation of H[subscript 2] and H[infinity] Norms 244

8.4 Robust Control Problem as H[subscript 2] and H[infinity] Control Problem 252

8.5 H[subscript 2]/H[infinity] Control Synthesis 256

8.7 Problems 273

9 Robust Active Damping 277

9.2 Problem Formulation 279

9.3 Robust Active Damping Design 282

9.4 Active Vehicle Suspension System 287

10 Robust Control of Manipulators 297

10.1 Robot Dynamics 297

10.2 Problem Formulation 302

10.3 Robust Control Design 304

10.4 Simulations 306

11 Aircraft Hovering Control 317

11.1 Modelling and Problem Formulation 317

11.2 Control Design for Jet-borne Hovering 322

11.3 Simulation 330

Appendix A Mathematical Modelling of Physical Systems 339.

Notes:

Includes bibliographical references (pages [351]-361) index.

Local Notes:

Acquired for the Penn Libraries with assistance from the Louis A. Duhring Fund.

ISBN:

9780470031919

0470031913

OCLC:

85829226

Online:

Publisher description