Feedback Control Theory Book

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Feedback Control Theory

By John C. Doyle,Bruce A. Francis,Allen R. Tannenbaum
  • ISBN Code: : 0486318338
  • Publisher : Courier Corporation
  • Pages : 264
  • Category : Technology & Engineering
  • Reads : 797
  • Book Compatibility : Pdf, ePub, Mobi, Kindle
  • Pdf : feedback-control-theory.pdf

Book Excerpt :

An excellent introduction to feedback control system design, this book offers a theoretical approach that captures the essential issues and can be applied to a wide range of practical problems. Its explorations of recent developments in the field emphasize the relationship of new procedures to classical control theory, with a focus on single input and output systems that keeps concepts accessible to students with limited backgrounds. The text is geared toward a single-semester senior course or a graduate-level class for students of electrical engineering. The opening chapters constitute a basic treatment of feedback design. Topics include a detailed formulation of the control design program, the fundamental issue of performance/stability robustness tradeoff, and the graphical design technique of loopshaping. Subsequent chapters extend the discussion of the loopshaping technique and connect it with notions of optimality. Concluding chapters examine controller design via optimization, offering a mathematical approach that is useful for multivariable systems.

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Read Also This Books

Feedback Control for Personalized Medicine

By Esteban A. Hernandez-Vargas
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Academic Press
  • Book Code : 0323906656
  • Total of Pages : 246
  • Category : Science
  • Members : 472
  • Pdf File: feedback-control-for-personalized-medicine.pdf

Book Short Summary:

Feedback Control for Personalized Medicine provides ideas on ongoing efforts and obstacles by members of the control engineering community in different biological and medical applications. In addition, the book presents key challenges, insights, tools and theoretical developments that arise from personalized medicine, along with medical concepts that are explained by engineers to help non-experts follow research topics. Several clinical trials have tried to find therapeutic approaches to achieve eradication or at least lifelong, therapy-free, host control of the infection. This has been performed integrating clinical observations, empirical knowledge and information from medical tests to treat patients. As this “trial and error approach is becoming more challenging and unfeasible by the steep increase in the number of different pieces of information and the complexity of large datasets, a systematic and tractable approach that integrates a variety of biological and medical research data into mathematical models and computational algorithms is crucial to harness knowledge and to develop new therapies towards personalized medicine. Presents the most recent research in personalized medicine using control theoretical tools Offers numerical simulations that are analyzed in detail and compared with control experiments Brings the most recent research of control theory in medicine

Reinforcement Learning for Optimal Feedback Control

By Rushikesh Kamalapurkar,Patrick Walters,Joel Rosenfeld,Warren Dixon
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Springer
  • Book Code : 331978384X
  • Total of Pages : 293
  • Category : Technology & Engineering
  • Members : 261
  • Pdf File: reinforcement-learning-for-optimal-feedback-control.pdf

Book Short Summary:

Reinforcement Learning for Optimal Feedback Control develops model-based and data-driven reinforcement learning methods for solving optimal control problems in nonlinear deterministic dynamical systems. In order to achieve learning under uncertainty, data-driven methods for identifying system models in real-time are also developed. The book illustrates the advantages gained from the use of a model and the use of previous experience in the form of recorded data through simulations and experiments. The book’s focus on deterministic systems allows for an in-depth Lyapunov-based analysis of the performance of the methods described during the learning phase and during execution. To yield an approximate optimal controller, the authors focus on theories and methods that fall under the umbrella of actor–critic methods for machine learning. They concentrate on establishing stability during the learning phase and the execution phase, and adaptive model-based and data-driven reinforcement learning, to assist readers in the learning process, which typically relies on instantaneous input-output measurements. This monograph provides academic researchers with backgrounds in diverse disciplines from aerospace engineering to computer science, who are interested in optimal reinforcement learning functional analysis and functional approximation theory, with a good introduction to the use of model-based methods. The thorough treatment of an advanced treatment to control will also interest practitioners working in the chemical-process and power-supply industry.

Feedback and Control for Everyone

By Pedro Albertos,Iven Mareels
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Springer Science & Business Media
  • Book Code : 3642034462
  • Total of Pages : 318
  • Category : Technology & Engineering
  • Members : 514
  • Pdf File: feedback-and-control-for-everyone.pdf

Book Short Summary:

This intriguing and motivating book presents the basic ideas and understanding of control, signals and systems for readers interested in engineering and science. Through a series of examples, the book explores both the theory and the practice of control.

Feedback Control in Systems Biology

By Carlo Cosentino,Declan Bates
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : CRC Press
  • Book Code : 1439816913
  • Total of Pages : 296
  • Category : Mathematics
  • Members : 634
  • Pdf File: feedback-control-in-systems-biology.pdf

Book Short Summary:

Like engineering systems, biological systems must also operate effectively in the presence of internal and external uncertainty—such as genetic mutations or temperature changes, for example. It is not surprising, then, that evolution has resulted in the widespread use of feedback, and research in systems biology over the past decade has shown that feedback control systems are widely found in biology. As an increasing number of researchers in the life sciences become interested in control-theoretic ideas such as feedback, stability, noise and disturbance attenuation, and robustness, there is a need for a text that explains feedback control as it applies to biological systems. Written by established researchers in both control engineering and systems biology, Feedback Control in Systems Biology explains how feedback control concepts can be applied to systems biology. Filling the need for a text on control theory for systems biologists, it provides an overview of relevant ideas and methods from control engineering and illustrates their application to the analysis of biological systems with case studies in cellular and molecular biology. Control Theory for Systems Biologists The book focuses on the fundamental concepts used to analyze the effects of feedback in biological control systems, rather than the control system design methods that form the core of most control textbooks. In addition, the authors do not assume that readers are familiar with control theory. They focus on "control applications" such as metabolic and gene-regulatory networks rather than aircraft, robots, or engines, and on mathematical models derived from classical reaction kinetics rather than classical mechanics. Another significant feature of the book is that it discusses nonlinear systems, an understanding of which is crucial for systems biologists because of the highly nonlinear nature of biological systems. The authors cover tools and techniques for the analysis of linear and nonlinear systems; negative and positive feedback; robustness analysis methods; techniques for the reverse-engineering of biological interaction networks; and the analysis of stochastic biological control systems. They also identify new research directions for control theory inspired by the dynamic characteristics of biological systems. A valuable reference for researchers, this text offers a sound starting point for scientists entering this fascinating and rapidly developing field.

Feedback Systems

By Karl Johan Åström,Richard M. Murray
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Princeton University Press
  • Book Code : 069121347X
  • Total of Pages :
  • Category : Technology & Engineering
  • Members : 279
  • Pdf File: feedback-systems.pdf

Book Short Summary:

The essential introduction to the principles and applications of feedback systems—now fully revised and expanded This textbook covers the mathematics needed to model, analyze, and design feedback systems. Now more user-friendly than ever, this revised and expanded edition of Feedback Systems is a one-volume resource for students and researchers in mathematics and engineering. It has applications across a range of disciplines that utilize feedback in physical, biological, information, and economic systems. Karl Åström and Richard Murray use techniques from physics, computer science, and operations research to introduce control-oriented modeling. They begin with state space tools for analysis and design, including stability of solutions, Lyapunov functions, reachability, state feedback observability, and estimators. The matrix exponential plays a central role in the analysis of linear control systems, allowing a concise development of many of the key concepts for this class of models. Åström and Murray then develop and explain tools in the frequency domain, including transfer functions, Nyquist analysis, PID control, frequency domain design, and robustness. Features a new chapter on design principles and tools, illustrating the types of problems that can be solved using feedback Includes a new chapter on fundamental limits and new material on the Routh-Hurwitz criterion and root locus plots Provides exercises at the end of every chapter Comes with an electronic solutions manual An ideal textbook for undergraduate and graduate students Indispensable for researchers seeking a self-contained resource on control theory

Feedback Control Theory for Dynamic Traffic Assignment

By Pushkin Kachroo,Kaan M.A. Özbay
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Springer
  • Book Code : 3319692313
  • Total of Pages : 272
  • Category : Technology & Engineering
  • Members : 508
  • Pdf File: feedback-control-theory-for-dynamic-traffic-assignment.pdf

Book Short Summary:

This book develops a methodology for designing feedback control laws for dynamic traffic assignment (DTA) exploiting the introduction of new sensing and information-dissemination technologies to facilitate the introduction of real-time traffic management in intelligent transportation systems. Three methods of modeling the traffic system are discussed: partial differential equations representing a distributed-parameter setting; continuous-time ordinary differential equations (ODEs) representing a continuous-time lumped-parameter setting; and discreet-time ODEs representing a discrete-time lumped-parameter setting. Feedback control formulations for reaching road-user-equilibrium are presented for each setting and advantages and disadvantage of using each are addressed. The closed-loop methods described are proposed expressly to avoid the counter-productive shifting of bottlenecks from one route to another because of driver over-reaction to routing information. The second edition of Feedback Control Theory for Dynamic Traffic Assignment has been thoroughly updated with completely new chapters: a review of the DTA problem and emphasizing real-time-feedback-based problems; an up-to-date presentation of pertinent traffic-flow theory; and a treatment of the mathematical solution to the traffic dynamics. Techinques accounting for the importance of entropy are further new inclusions at various points in the text. Researchers working in traffic control will find the theoretical material presented a sound basis for further research; the continual reference to applications will help professionals working in highway administration and engineering with the increasingly important task of maintaining and smoothing traffic flow; the extensive use of end-of-chapter exercises will help the graduate student and those new to the field to extend their knowledge.

Feedback Control Theory for Dynamic Traffic Assignment

By Pushkin Kachroo,Kaan Ozbay
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Springer Science & Business Media
  • Book Code : 1447108159
  • Total of Pages : 207
  • Category : Technology & Engineering
  • Members : 196
  • Pdf File: feedback-control-theory-for-dynamic-traffic-assignment.pdf

Book Short Summary:

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology impacts all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies, .... , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. Micro-technology and modern communications technology are revolutionising many aspects of our daily lives and so it is not surprising that it is impacting societal transportation systems whether our highways, airways, seaways or railways. The Advances in Industrial Control series reported on these developments for long haul railway systems in a monograph by Howlett and Pudney (ISBN 3-S40-19990-X, 1995). Now it is the turn of transportation in a contribution from Pushkin Kachroo and Kaan Ozbay. The authors viewpoint is that this new set of transportation problems are control problems and that control engineers should be highly active in this field. Their volume covers all the aspects of modelling, problem formulation, and applies various control methodologies to solve the control problems formulated.

Feedback Control Theory for Engineers

By P. Atkinson
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  • Publisher : Springer Science & Business Media
  • Book Code : 1468474537
  • Total of Pages :
  • Category : Technology & Engineering
  • Members : 242
  • Pdf File: feedback-control-theory-for-engineers.pdf

Book Short Summary:

Textbooks in the field of control engineering have, in the main, been written for electrical engineers and the standard of the mathematics used has been relatively high. The purpose of this work is to provide a course of study in elementary control theory which is self-contained and suitable for students of all branches of engineering and of applied physics. The book assumes that the student has a knowledge of mathematics of A-level or 0-2 level standard only. All other necessary pure and applied mathematics is covered for reference purposes in chapters 2-6. As a students' textbook it contains many fully worked numerical examples and sets of examples are provided at the end of all chapters except the first. The answers to these examples are given at the end of the book. The book covers the majority of the control theory likely to be encountered on H. N. C. , H. N. D. and degree courses in electrical, mechanical, chemical and production engineering and in applied physics. It will also provide a primer in specialist courses in instru mentation and control engineering at undergraduate and post graduate level. Furthermore, it covers much of the control theory encountered in the graduateship examinations of the professional institutions, for example I. E. E. Part III (Advanced Electrical Engineer ing and Instrumentation and Control), I. E. R. E. Part 5 (Control Engineering) and the new c. E. I. Part 2 (Mechanics of Machines and Systems and Control Engineering).

Event-based state-feedback control of physically interconnected systems

By Christian Stöcker
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Logos Verlag Berlin GmbH
  • Book Code : 3832536825
  • Total of Pages : 225
  • Category : Technology & Engineering
  • Members : 109
  • Pdf File: event-based-state-feedback-control-of-physically-interconnected-systems.pdf

Book Short Summary:

Event-based control is a means to restrict the feedback in control loops to event time instants that are determined by a well-defined triggering mechanism. The aim of this control strategy is to adapt the communication over the feedback link to the system behavior. In this thesis, a state-feedback approach to event-based control is extended to systems that are composed of physically interconnected subsystems. The main concern of this thesis is disturbance rejection in interconnected systems, which is supposed to be best accomplished by a continuous state feedback. This consideration leads to the idea that the event-based state-feedback system should approximate the disturbance rejection behavior of a continuous state-feedback system with adjustable precision. Various methods for the event-based control of physically interconnected systems are investigated. In particular, decentralized, distributed and centralized state feedback is studied, which differ with respect to the effort for the communication between the components of the event-based controller over the communication network. The main results concern the design and analysis of event-based state-feedback control methods for physically interconnected systems. For all approaches the disturbance behavior of a continuous state-feedback system is shown to be approximated with adjustable accuracy by the event-based state-feedback system. The novel event-based control methods are tested and evaluated in experiments on a continuous flow process implemented on a large-scale pilot plant.

High-Gain Observers in Nonlinear Feedback Control

By Hassan H. Khalil
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : SIAM
  • Book Code : 1611974860
  • Total of Pages : 324
  • Category : Mathematics
  • Members : 972
  • Pdf File: high-gain-observers-in-nonlinear-feedback-control.pdf

Book Short Summary:

For over a quarter of a century, high-gain observers have been used extensively in the design of output feedback control of nonlinear systems. This book presents a clear, unified treatment of the theory of high-gain observers and their use in feedback control. Also provided is a discussion of the separation principle for nonlinear systems; this differs from other separation results in the literature in that recovery of stability as well as performance of state feedback controllers is given. The author provides a detailed discussion of applications of high-gain observers to adaptive control and regulation problems and recent results on the extended high-gain observers. In addition, the author addresses two challenges that face the implementation of high-gain observers: high dimension and measurement noise. Low-power observers are presented for high-dimensional systems. The effect of measurement noise is characterized and techniques to reduce that effect are presented. The book ends with discussion of digital implementation of the observers. Readers will find comprehensive coverage of the main results on high-gain observers; rigorous, self-contained proofs of all results; and numerous examples that illustrate and provide motivation for the results. The book is intended for engineers and applied mathematicians who design or research feedback control systems.

Classical Feedback Control with Nonlinear Multi-Loop Systems

By Boris J. Lurie,Paul Enright
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : CRC Press
  • Book Code : 1351011847
  • Total of Pages : 574
  • Category : Science
  • Members : 563
  • Pdf File: classical-feedback-control-with-nonlinear-multi-loop-systems.pdf

Book Short Summary:

Classical Feedback Control with Nonlinear Multi-Loop Systems describes the design of high-performance feedback control systems, emphasizing the frequency-domain approach widely used in practical engineering. It presents design methods for high-order nonlinear single- and multi-loop controllers with efficient analog and digital implementations. Bode integrals are employed to estimate the available system performance and to determine the ideal frequency responses that maximize the disturbance rejection and feedback bandwidth. Nonlinear dynamic compensators provide global stability and improve transient responses. This book serves as a unique text for an advanced course in control system engineering, and as a valuable reference for practicing engineers competing in today’s industrial environment.

Power Converters with Digital Filter Feedback Control

By Keng C. Wu
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Academic Press
  • Book Code : 0128043695
  • Total of Pages : 328
  • Category : Technology & Engineering
  • Members : 481
  • Pdf File: power-converters-with-digital-filter-feedback-control.pdf

Book Short Summary:

Power Converter with Digital Filter Feedback Control presents a logical sequence that leads to the identification, extraction, formulation, conversion, and implementation for the control function needed in electrical power equipment systems. This book builds a bridge for moving a power converter with conventional analog feedback to one with modern digital filter control and enlists the state space averaging technique to identify the core control function in analytical, close form in s-domain (Laplace). It is a useful reference for all professionals and electrical engineers engaged in electrical power equipment/systems design, integration, and management. Offers logical sequences to identification, extraction, formulation, conversion, and implementation for the control function needed Contains step-by-step instructions on how to take existing analog designed power processors and move them to the digital realm Presents ways to extract gain functions for many power converters’ power processing stages and their supporting circuitry

Feedback Control of MEMS to Atoms

By Jason J. Gorman,Benjamin Shapiro
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Springer Science & Business Media
  • Book Code : 1441958320
  • Total of Pages : 384
  • Category : Technology & Engineering
  • Members : 797
  • Pdf File: feedback-control-of-mems-to-atoms.pdf

Book Short Summary:

Control from MEMS to Atoms illustrates the use of control and control systems as an essential part of functioning integrated systems. The book is organized according to the dimensional scale of the problem, starting with micro-scale systems and ending with atomic-scale systems. Similar to macro-scale machines and processes, control systems can play a major role in improving the performance of micro- and nano-scale systems and in enabling new capabilities that would otherwise not be possible. However, the majority of problems at these scales present many new challenges that go beyond the current state-of-the-art in control engineering. This is a result of the multidisciplinary nature of micro/nanotechnology, which requires the merging of control engineering with physics, biology and chemistry.

Motion planning and feedback control techniques with applications to long tractor-trailer vehicles

By Oskar Ljungqvist
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Linköping University Electronic Press
  • Book Code : 9179298583
  • Total of Pages : 89
  • Category : Electronic books
  • Members : 728
  • Pdf File: motion-planning-and-feedback-control-techniques-with-applications-to-long-tractor-trailer-vehicles.pdf

Book Short Summary:

During the last decades, improved sensor and hardware technologies as well as new methods and algorithms have made self-driving vehicles a realistic possibility in the near future. At the same time, there has been a growing demand within the transportation sector to increase efficiency and to reduce the environmental impact related to transportation of people and goods. Therefore, many leading automotive and technology companies have turned their attention towards developing advanced driver assistance systems and self-driving vehicles. Autonomous vehicles are expected to have their first big impact in closed environments, such as mines, harbors, loading and offloading sites. In such areas, the legal requirements are less restrictive and the surrounding environment is more controlled and predictable compared to urban areas. Expected positive outcomes include increased productivity and safety, reduced emissions and the possibility to relieve the human from performing complex or dangerous tasks. Within these sites, tractor-trailer vehicles are frequently used for transportation. These vehicles are composed of several interconnected vehicle segments, and are therefore large, complex and unstable while reversing. This thesis addresses the problem of designing efficient motion planning and feedback control techniques for such systems. The contributions of this thesis are within the area of motion planning and feedback control for long tractor-trailer combinations operating at low-speeds in closed and unstructured environments. It includes development of motion planning and feedback control frameworks, structured design tools for guaranteeing closed-loop stability and experimental validation of the proposed solutions through simulations, lab and field experiments. Even though the primary application in this work is tractor-trailer vehicles, many of the proposed approaches can with some adjustments also be used for other systems, such as drones and ships. The developed sampling-based motion planning algorithms are based upon the probabilistic closed-loop rapidly exploring random tree (CL-RRT) algorithm and the deterministic lattice-based motion planning algorithm. It is also proposed to use numerical optimal control offline for precomputing libraries of optimized maneuvers as well as during online planning in the form of a warm-started optimization step. To follow the motion plan, several predictive path-following control approaches are proposed with different computational complexity and performance. Common for these approaches are that they use a path-following error model of the vehicle for future predictions and are tailored to operate in series with a motion planner that computes feasible paths. The design strategies for the path-following approaches include linear quadratic (LQ) control and several advanced model predictive control (MPC) techniques to account for physical and sensing limitations. To strengthen the practical value of the developed techniques, several of the proposed approaches have been implemented and successfully demonstrated in field experiments on a full-scale test platform. To estimate the vehicle states needed for control, a novel nonlinear observer is evaluated on the full-scale test vehicle. It is designed to only utilize information from sensors that are mounted on the tractor, making the system independent of any sensor mounted on the trailer. Under de senaste årtiondena har utvecklingen av sensor- och hårdvaruteknik gått i en snabb takt, samtidigt som nya metoder och algoritmer har introducerats. Samtidigt ställs det stora krav på transportsektorn att öka effektiviteten och minska miljöpåverkan vid transporter av både människor och varor. Som en följd av detta har många ledande fordonstillverkare och teknikföretag börjat satsat på att utveckla avancerade förarstödsystem och självkörande fordon. Även forskningen inom autonoma fordon har under de senaste årtiondena kraftig ökat då en rad tekniska problem återstår att lösas. Förarlösa fordon förväntas få sitt första stora genombrott i slutna miljöer, såsom gruvor, hamnar, lastnings- och lossningsplatser. I sådana områden är lagstiftningen mindre hård jämfört med stadsområden och omgivningen är mer kontrollerad och förutsägbar. Några av de förväntade positiva effekterna är ökad produktivitet och säkerhet, minskade utsläpp och möjligheten att avlasta människor från att utföra svåra eller farliga uppgifter. Inom dessa platser används ofta lastbilar med olika släpvagnskombinationer för att transportera material. En sådan fordonskombination är uppbyggd av flera ihopkopplade moduler och är således utmanande att backa då systemet är instabilt. Detta gör det svårt att utforma ramverk för att styra sådana system vid exempelvis autonom backning. Självkörande fordon är mycket komplexa system som består av en rad olika komponenter vilka är designade för att lösa separata delproblem. Två viktiga komponenter i ett självkörande fordon är dels rörelseplaneraren som har i uppgift att planera hur fordonet ska röra sig för att på ett säkert sätt nå ett överordnat mål, och dels den banföljande regulatorn vars uppgift är att se till att den planerade manövern faktiskt utförs i praktiken trots störningar och modellfel. I denna avhandling presenteras flera olika algoritmer för att planera och utföra komplexa manövrar för lastbilar med olika typer av släpvagnskombinationer. De presenterade algoritmerna är avsedda att användas som avancerade förarstödsystem eller som komponenter i ett helt autonomt system. Även om den primära applikationen i denna avhandling är lastbilar med släp, kan många av de förslagna algoritmerna även användas för en rad andra system, så som drönare och båtar. Experimentell validering är viktigt för att motivera att en föreslagen algoritm är användbar i praktiken. I denna avhandling har flera av de föreslagna planerings- och reglerstrategierna implementerats på en småskalig testplattform och utvärderats i en kontrollerad labbmiljö. Utöver detta har även flera av de föreslagna ramverken implementerats och utvärderats i fältexperiment på en fullskalig test-plattform som har utvecklats i samarbete med Scania CV. Här utvärderas även en ny metod för att skatta släpvagnens beteende genom att endast utnyttja information från sensorer monterade på lastbilen, vilket gör det föreslagna ramverket oberoende av sensorer monterade på släpvagnen.

Design of Linear Multivariable Feedback Control Systems

By Joseph J. Bongiorno Jr.,Kiheon Park
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Springer Nature
  • Book Code : 3030443566
  • Total of Pages : 453
  • Category : Technology & Engineering
  • Members : 516
  • Pdf File: design-of-linear-multivariable-feedback-control-systems.pdf

Book Short Summary:

This book contains a derivation of the subset of stabilizing controllers for analog and digital linear time-invariant multivariable feedback control systems that insure stable system errors and stable controller outputs for persistent deterministic reference inputs that are trackable and for persistent deterministic disturbance inputs that are rejectable. For this subset of stabilizing controllers, the Wiener-Hopf methodology is then employed to obtain the optimal controller for which a quadratic performance measure is minimized. This is done for the completely general standard configuration and methods that enable the trading off of optimality for an improved stability margin and/or reduced sensitivity to plant model uncertainty are described. New and novel results on the optimal design of decoupled (non-interacting) systems are also presented. The results are applied in two examples: the one- and three-degree-of-freedom configurations. These demonstrate that the standard configuration is one encompassing all possible feedback configurations. Each chapter is completed by a group of worked examples, which reveal additional insights and extensions of the theory presented in the chapter. Three of the examples illustrate the application of the theory to two physical cases: the depth and pitch control of a submarine and the control of a Rosenbrock process. In the latter case, designs with and without decoupling are compared. This book provides researchers and graduate students working in feedback control with a valuable reference for Wiener–Hopf theory of multivariable design. Basic knowledge of linear systems and matrix theory is required.

Task-Space Sensory Feedback Control of Robot Manipulators

By Chien Chern Cheah,Xiang Li
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Springer
  • Book Code : 9812870628
  • Total of Pages : 223
  • Category : Technology & Engineering
  • Members : 586
  • Pdf File: task-space-sensory-feedback-control-of-robot-manipulators.pdf

Book Short Summary:

This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.

Between Human and Machine

By David A. Mindell
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : JHU Press
  • Book Code : 0801877741
  • Total of Pages : 456
  • Category : Science
  • Members : 602
  • Pdf File: between-human-and-machine.pdf

Book Short Summary:

As a new way to conceptualize the history of computing, this book will be of great interest to historians of science, technology, and culture, as well as computer scientists and theorists. Between Human and Machine: Feedback, Control, and Computing before Cybernetics

Analog Automation and Digital Feedback Control Techniques

By Jean Mbihi
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : John Wiley & Sons
  • Book Code : 1119516595
  • Total of Pages : 254
  • Category : Computers
  • Members : 782
  • Pdf File: analog-automation-and-digital-feedback-control-techniques.pdf

Book Short Summary:

This book covers various modern theoretical, technical, practical and technological aspects of computerized numerical control and control systems of deterministic and stochastic dynamical processes.

Process Operational Safety and Cybersecurity

By Zhe Wu,Panagiotis D. Christofides
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  • Publisher : Springer Nature
  • Book Code : 3030711838
  • Total of Pages : 277
  • Category : Technology & Engineering
  • Members : 747
  • Pdf File: process-operational-safety-and-cybersecurity.pdf

Book Short Summary:

This book is focused on the development of rigorous, yet practical, methods for the design of advanced process control systems to improve process operational safety and cybersecurity for a wide range of nonlinear process systems. Process Operational Safety and Cybersecurity develops designs for novel model predictive control systems accounting for operational safety considerations, presents theoretical analysis on recursive feasibility and simultaneous closed-loop stability and safety, and discusses practical considerations including data-driven modeling of nonlinear processes, characterization of closed-loop stability regions and computational efficiency. The text then shifts focus to the design of integrated detection and model predictive control systems which improve process cybersecurity by efficiently detecting and mitigating the impact of intelligent cyber-attacks. The book explores several key areas relating to operational safety and cybersecurity including: machine-learning-based modeling of nonlinear dynamical systems for model predictive control; a framework for detection and resilient control of sensor cyber-attacks for nonlinear systems; insight into theoretical and practical issues associated with the design of control systems for process operational safety and cybersecurity; and a number of numerical simulations of chemical process examples and Aspen simulations of large-scale chemical process networks of industrial relevance. A basic knowledge of nonlinear system analysis, Lyapunov stability techniques, dynamic optimization, and machine-learning techniques will help readers to understand the methodologies proposed. The book is a valuable resource for academic researchers and graduate students pursuing research in this area as well as for process control engineers. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Fast Motions in Biomechanics and Robotics

By Moritz Diehl,Katja Mombaur
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  • Publisher : Springer
  • Book Code : 3540361197
  • Total of Pages : 446
  • Category : Technology & Engineering
  • Members : 104
  • Pdf File: fast-motions-in-biomechanics-and-robotics.pdf

Book Short Summary:

In the past decades, much progress has been made in the field of walking robots. The current state of technology makes it possible to create humanoid robots that nearly walk like a human being, climb stairs, or avoid small - stacles. However, the dream of a robot running as fast and as elegantly as a human is still far from becoming reality. Control of such fast motions is still a big technological issue in robotics, and the maximum running speed of contemporary robots is still much smaller than that of human track runners. The conventional control approach that most of these robots are based on does not seem to be suitable to increase the running speeds up to a biological level. In order to address this challenge, we invited an interdisciplinary community of researchers from robotics, biomechanics, control engineering and applied mathematics to come together in Heidelberg at the Symposium “Fast Motions in Biomechanics and Robotics – Optimization & Feedback Control” which was held at the International Science Forum (IWH) on September 7–9, 2005. The number of participants in this symposium was kept small in order to promote discussions and enable a fruitful exchange of ideas.

Reinforcement Learning and Approximate Dynamic Programming for Feedback Control

By Frank L. Lewis,Derong Liu
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  • Publisher : John Wiley & Sons
  • Book Code : 1118453972
  • Total of Pages : 648
  • Category : Technology & Engineering
  • Members : 166
  • Pdf File: reinforcement-learning-and-approximate-dynamic-programming-for-feedback-control.pdf

Book Short Summary:

Reinforcement learning (RL) and adaptive dynamic programming (ADP) has been one of the most critical research fields in science and engineering for modern complex systems. This book describes the latest RL and ADP techniques for decision and control in human engineered systems, covering both single player decision and control and multi-player games. Edited by the pioneers of RL and ADP research, the book brings together ideas and methods from many fields and provides an important and timely guidance on controlling a wide variety of systems, such as robots, industrial processes, and economic decision-making.

Synthesis of Feedback Systems

By Isaac M. Horowitz
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  • Publisher : Elsevier
  • Book Code : 1483267709
  • Total of Pages : 740
  • Category : Technology & Engineering
  • Members : 154
  • Pdf File: synthesis-of-feedback-systems.pdf

Book Short Summary:

Synthesis of Feedback Systems presents the feedback theory which exists in various feedback problems. This book provides techniques for the analysis and solution of these problems. The text begins with an introduction to feedback theory and exposition of problems of plant identification, representation, and analysis. Subsequent chapters are devoted to the application of the feedback point of view to any system; the principal useful properties of feedback; the feedback control system synthesis techniques; and the class of two degree-of-freedom feedback configurations and synthesis procedures appropriate for such configurations. The final chapter considers how to translate specifications from their typical original formulation, to the language appropriate for detailed design. The book is intended for engineers and graduate students of engineering design.

Nonlinear H2/H-Infinity Constrained Feedback Control

By Murad Abu-Khalaf,Jie Huang,Frank L. Lewis
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  • Publisher : Springer Science & Business Media
  • Book Code : 1846283507
  • Total of Pages : 204
  • Category : Technology & Engineering
  • Members : 603
  • Pdf File: nonlinear-h2-h-infinity-constrained-feedback-control.pdf

Book Short Summary:

This book provides techniques to produce robust, stable and useable solutions to problems of H-infinity and H2 control in high-performance, non-linear systems for the first time. The book is of importance to control designers working in a variety of industrial systems. Case studies are given and the design of nonlinear control systems of the same caliber as those obtained in recent years using linear optimal and bounded-norm designs is explained.

Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems

By Shubhobrata Rudra,Ranjit Kumar Barai,Madhubanti Maitra
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  • Publisher : Springer
  • Book Code : 9811019568
  • Total of Pages : 171
  • Category : Technology & Engineering
  • Members : 529
  • Pdf File: block-backstepping-design-of-nonlinear-state-feedback-control-law-for-underactuated-mechanical-systems.pdf

Book Short Summary:

This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The mathematical derivations are described using well-known notations and simple algebra, without the need for any special previous background in higher mathematics. The chapters are lucidly described in a systematic manner, starting with control system preliminaries and moving on to a generalized description of the block backstepping method, before turning to several case studies. Simulation and experimental results are also provided to aid in reader comprehension.

Stability and Control of Aircraft Systems

By Roy Langton
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  • Publisher : John Wiley & Sons
  • Book Code : 9780470058497
  • Total of Pages : 254
  • Category : Science
  • Members : 961
  • Pdf File: stability-and-control-of-aircraft-systems.pdf

Book Short Summary:

In the current climate of increasing complexity and functional integration in all areas of engineering and technology, stability and control are becoming essential ingredients of engineering knowledge. Many of today’s products contain multiple engineering technologies, and what were once simple mechanical, hydraulic or pneumatic products now contain integrated electronics and sensors. Control theory reduces these widely varied technical components into their important dynamic characteristics, expressed as transfer functions, from which the subtleties of dynamic behaviours can be analyzed and understood. Stability and Control of Aircraft Systems is an easy-to-read and understand text that describes control theory using minimal mathematics. It focuses on simple rules, tools and methods for the analysis and testing of feedback control systems using real systems engineering design and development examples. Clarifies the design and development of feedback control systems Communicates the theory in an accessible manner that does not require the reader to have a strong mathematical background Illustrated throughout with figures and tables Stability and Control of Aircraft Systems provides both the seasoned engineer and the graduate with the know-how necessary to minimize problems with fielded systems in the area of operational performance.

Flight Dynamics and System Identification for Modern Feedback Control

By Jared A Grauer,James E Hubbard Jr.
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  • Publisher : Elsevier
  • Book Code : 085709467X
  • Total of Pages : 160
  • Category : Technology & Engineering
  • Members : 282
  • Pdf File: flight-dynamics-and-system-identification-for-modern-feedback-control.pdf

Book Short Summary:

Unmanned air vehicles are becoming increasingly popular alternatives for private applications which include, but are not limited to, fire fighting, search and rescue, atmospheric data collection, and crop surveys, to name a few. Among these vehicles are avian-inspired, flapping-wing designs, which are safe to operate near humans and are required to carry payloads while achieving manoeuverability and agility in low speed flight. Conventional methods and tools fall short of achieving the desired performance metrics and requirements of such craft. Flight dynamics and system identification for modern feedback control provides an in-depth study of the difficulties associated with achieving controlled performance in flapping-wing, avian-inspired flight, and a new model paradigm is derived using analytical and experimental methods, with which a controls designer may then apply familiar tools. This title consists of eight chapters and covers flapping-wing aircraft and flight dynamics, before looking at nonlinear, multibody modelling as well as flight testing and instrumentation. Later chapters examine system identification from flight test data, feedback control and linearization. Presents experimental flight data for validation and verification of modelled dynamics, thus illustrating the deficiencies and difficulties associated with modelling flapping-wing flight Derives a new flight dynamics model needed to model avian-inspired vehicles, based on nonlinear multibody dynamics Extracts aerodynamic models of flapping flight from experimental flight data and system identification techniques

Pedestrian Dynamics

By Pushkin Kachroo,Sadeq J. Al-nasur,Sabiha Amin Wadoo,Apoorva Shende
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Springer Science & Business Media
  • Book Code : 3540755616
  • Total of Pages : 246
  • Category : Technology & Engineering
  • Members : 705
  • Pdf File: pedestrian-dynamics.pdf

Book Short Summary:

Effective evacuations can save lives. This book provides mathematical models of pedestrian movements that can be used specifically for designing feedback control laws for effective evacuation. The book also provides various feedback control laws to accomplish the effective evacuation. It book uses the hydrodynamic hyperbolic PDE macroscopic pedestrian models since they are amenable to feedback control design. The control designs are obtained through different nonlinear techniques.

Active Control of Offshore Steel Jacket Platforms

By Bao-Lin Zhang,Qing-Long Han,Xian-Ming Zhang,Gong-You Tang
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  • Publisher : Springer
  • Book Code : 9811329869
  • Total of Pages : 192
  • Category : Technology & Engineering
  • Members : 446
  • Pdf File: active-control-of-offshore-steel-jacket-platforms.pdf

Book Short Summary:

Offshore platforms are widely used to explore, drill, produce, store and transport ocean resources, and are usually subjected to environmental loading, which can lead to deck facility failure and platform fatigue failure, inefficient operation and even crew discomfort. In order to ensure the reliability and safety of offshore platforms, it is important to explore effective ways of suppressing the vibration of offshore platforms. This book provides a brief overview of passive, semi-active and active control schemes to deal with vibration of offshore platforms. It then comprehensively and systematically discusses the recent advances in active systems with optimal, sliding model, delayed feedback and network-based control. Intended for readers interested in vibration control and ocean engineering, it is particularly useful for researchers, engineers, and graduate students in the fields of system and control community, vibration control, ocean engineering, as well as electrical and electronic engineering.

The Control Handbook (three volume set)

By William S. Levine
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  • Publisher : CRC Press
  • Book Code : 1420073672
  • Total of Pages : 3526
  • Category : Technology & Engineering
  • Members : 278
  • Pdf File: the-control-handbook.pdf

Book Short Summary:

At publication, The Control Handbook immediately became the definitive resource that engineers working with modern control systems required. Among its many accolades, that first edition was cited by the AAP as the Best Engineering Handbook of 1996. Now, 15 years later, William Levine has once again compiled the most comprehensive and authoritative resource on control engineering. He has fully reorganized the text to reflect the technical advances achieved since the last edition and has expanded its contents to include the multidisciplinary perspective that is making control engineering a critical component in so many fields. Now expanded from one to three volumes, The Control Handbook, Second Edition brilliantly organizes cutting-edge contributions from more than 200 leading experts representing every corner of the globe. They cover everything from basic closed-loop systems to multi-agent adaptive systems and from the control of electric motors to the control of complex networks. Progressively organized, the three volume set includes: Control System Fundamentals Control System Applications Control System Advanced Methods Any practicing engineer, student, or researcher working in fields as diverse as electronics, aeronautics, or biomedicine will find this handbook to be a time-saving resource filled with invaluable formulas, models, methods, and innovative thinking. In fact, any physicist, biologist, mathematician, or researcher in any number of fields developing or improving products and systems will find the answers and ideas they need. As with the first edition, the new edition not only stands as a record of accomplishment in control engineering but provides researchers with the means to make further advances.

Recent Advances in Control and Filtering of Dynamic Systems with Constrained Signals

By Ju H. Park,Hao Shen,Xiao-Heng Chang,Tae H. Lee
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  • Publisher : Springer
  • Book Code : 3319962027
  • Total of Pages : 226
  • Category : Technology & Engineering
  • Members : 501
  • Pdf File: recent-advances-in-control-and-filtering-of-dynamic-systems-with-constrained-signals.pdf

Book Short Summary:

This book introduces the principle theories and applications of control and filtering problems to address emerging hot topics in feedback systems. With the development of IT technology at the core of the 4th industrial revolution, dynamic systems are becoming more sophisticated, networked, and advanced to achieve even better performance. However, this evolutionary advance in dynamic systems also leads to unavoidable constraints. In particular, such elements in control systems involve uncertainties, communication/transmission delays, external noise, sensor faults and failures, data packet dropouts, sampling and quantization errors, and switching phenomena, which have serious effects on the system’s stability and performance. This book discusses how to deal with such constraints to guarantee the system’s design objectives, focusing on real-world dynamical systems such as Markovian jump systems, networked control systems, neural networks, and complex networks, which have recently excited considerable attention. It also provides a number of practical examples to show the applicability of the presented methods and techniques. This book is of interest to graduate students, researchers and professors, as well as R&D engineers involved in control theory and applications looking to analyze dynamical systems with constraints and to synthesize various types of corresponding controllers and filters for optimal performance of feedback systems.

Dynamic Systems with Time Delays: Stability and Control

By Ju H. Park,Tae H. Lee,Yajuan Liu,Jun Chen
  • File : Pdf, ePub, Mobi, Kindle
  • Publisher : Springer Nature
  • Book Code : 9811392544
  • Total of Pages : 335
  • Category : Science
  • Members : 882
  • Pdf File: dynamic-systems-with-time-delays.pdf

Book Short Summary:

This book presents up-to-date research developments and novel methodologies to solve various stability and control problems of dynamic systems with time delays. First, it provides the new introduction of integral and summation inequalities for stability analysis of nominal time-delay systems in continuous and discrete time domain, and presents corresponding stability conditions for the nominal system and an applicable nonlinear system. Next, it investigates several control problems for dynamic systems with delays including H(infinity) control problem Event-triggered control problems; Dynamic output feedback control problems; Reliable sampled-data control problems. Finally, some application topics covering filtering, state estimation, and synchronization are considered. The book will be a valuable resource and guide for graduate students, scientists, and engineers in the system sciences and control communities.