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Features
Covers the fundamentals of the QFT robust control and its application to a variety of problems, including nonlinear cases and multi-input multi-output systems.
Includes a collection of over 50 detailed real-world case studies and examples developed for industry and space agencies.
Utilizes the QFT Control Toolbox (QFTCT) for MATLAB, developed by the author, for problems and projects presented in each chapter.
The material has been extensively classroom-tested in undergraduate and graduate courses at universities worldwide.
As one of the most practical design methods available, QFT deals with model uncertainty and multi-objective specifications and gives solutions from classical PID to advanced controllers.
Summary
This book thoroughly covers the fundamentals of the QFT robust control, as well as practical control solutions, for unstable, time-delay, non-minimum phase or distributed parameter systems, plants with large model uncertainty, high-performance specifications, nonlinear components, multi-input multi-output characteristics or asymmetric topologies. The reader will discover practical applications through a collection of fifty successful, real world case studies and projects, in which the author has been involved during the last twenty-five years, including commercial wind turbines, wastewater treatment plants, power systems, satellites with flexible appendages, spacecraft, large radio telescopes, and industrial manufacturing systems. Furthermore, the book presents problems and projects with the popular QFT Control Toolbox (QFTCT) for MATLAB, which was developed by the author.
Table of Contents
Preface
Chapter 1. INTRODUCTION
1-1. The control engineer's leadership
1-2. QFT robust control engineering
1-3. Book's outline
1-4. Courses and modules
Chapter 2. QFT ROBUST CONTROL
2-1. Introduction
2-2. Plant modeling -Step 1
2-3. The nominal plant -Step 2
2-4. QFT-templates -Step 3
2-5. Stability specifications -Step 4
2-6. Performance specifications -Step 5
2-7. QFT-bounds -Steps 6 to 8
2-8. Controller design, G(s). Loop-shaping -Step 9
2-9. Prefilter design, F(s) -Step 10
2-10. Analysis and validation -Steps 11 to 13
2-11. Model matching
2-12. Feedforward control
2-13. P.I.D. control: design and tuning with QFT
2-14. Practical tips
2-15. Summary
2-16. Practice
Chapter 3. UNSTABLE SYSTEMS AND CONTROL SOLUTIONS
3-1. Introduction
3-2. Understanding gain/phase margins and Ws circles
3-3. The Nyquist stability criterion
3-4. Nyquist stability criterion in the Nichols chart
3-5. Examples
3-6. Guidelines to design controllers
3-7. Analysis of the first case
3-8. Summary
3-9. Practice
Chapter 4. TIME-DELAY AND NON-MINIMUM PHASE SYSTEMS
4-1. Time-delay systems
4-2. Robust design of the Smith Predictor
4-3. Continuing with Example 4.1
4-4. Non-minimum phase systems
4-5. Summary
4-6. Practice
Chapter 5. DISTRIBUTED PARAMETER SYSTEMS
5-1. Introduction
5-2. Modeling approaches for PDE
5-3. Generalized DPS control system structure
5-4. Extension of Quantitative Feedback Theory to DPS
5-5. Example 5.1: Heat conduction with distributed temperature
5-5. Summary
5-6. Practice
Chapter 6. GAIN SCHEDULING / SWITCHING CONTROL SOLUTIONS
6-1. Introduction
6-2. System stability under switching
6-3. Methodology
6-4. Examples
6-5. Summary
6-6. Practice
Chapter 7. NONLINEAR DYNAMIC CONTROL
7-1. Introduction
7-2. The circle stability criterion
7-3. Nonlinear dynamic control. One nonlinearity
7-4. Anti wind-up solution for PID controllers
7-5. Nonlinear dynamic control. Several nonlinearities
7-6. Summary
7-7. Practice
Chapter 8. MULTI-INPUT MULTI-OUTPUT SYSTEMS: ANALYSIS & CONTROL
8-1. Introduction
8-2. Formulation for n×n systems
8-3. MIMO systems - description and characteristics
8-4. MIMO QFT control -overview
8-5. Non-diagonal MIMO QFT. Method 1
8-6. Non-diagonal MIMO QFT. Method 2
8-7. Comparison of Methods 1 and 2
8-8. Heat exchanger, Example 8.1. MIMO QFT Method 1
8-9. Heat exchanger, Example 8.1. MIMO QFT Method 2
8-10. Summary
8-11. Practice
Chapter 9. CONTROL TOPOLOGIES
9-1. Introduction
9-2. Cascade control systems
9-3. Feedforward control systems
9-4. Override control systems
9-5. Ratio control systems
9-6. Mid-range control systems
9-7. Load-sharing control systems
9-8. Split-range control systems
9-9. Inferential control systems
9-10. Auctioneering control systems
9-11. Summary
9-12. Practice
Chapter 10. CONTROLLER IMPLEMENTATION
10-1. Introduction
10-2. Analog implementation
10-3. Digital implementation
10-4. Fragility analysis with QFT
10-5. Summary
10-6. Practice
Case study CS1. Satellite control
CS1-1. Description
CS1-2. Plant model
CS1-3. Preliminary analysis
CS1-4. Control specifications
CS1-5. Controller design
CS1-6. Analysis and validation
CS1-7. Summary
Case study CS2. Wind turbine control
CS2-1. Description
CS2-2. Plant model
CS2-3. Preliminary analysis
CS2-4. Control specifications
CS2-5. Controller design
CS2-6. Analysis and validation
CS2-7. Extension to higher wind velocities
CS2-8. Summary
Case study CS3. Wastewater treatment plant control
CS3-1. Description
CS3-2. Plant model
CS3-3. Preliminary analysis
CS3-4. Control specifications
CS3-5. Controller design
CS3-6. Analysis and validation
CS3-7. Summary
Case study CS4. Radio-telescope control
CS4-1. Description
CS4-2. Plant model
CS4-3. Preliminary analysis
CS4-4. Azimuth axis. Velocity control
CS4-5. Azimuth axis. Position control
CS4-6. Simulation: Position and velocity loops
CS4-7. Improving with Nonlinear Dynamic Control
CS4-8. Summary
Case study CS5. Attitude and position control of spacecraft telescopes with flexible appendages
CS5-1. Introduction
CS5-2. System description and modeling
CS5-3. Control specifications
CS5-4. Control system design
CS5-5. Simulation and validation
CS5-6. Summary
Appendix 1. PROJECTS AND PROBLEMS
A1-1. PROJECTS
Project P1. Vehicle active suspension control
Project P2. DVD Head control
Project P3. Inverted pendulum control
Project P4. Interconnected micro-grids control
Project P5. Distillation column control
Project P6. Central heating system control
Project P7. Multi-tank hydraulic control system
Project P8. Attitude control of a satellite with fuel tanks partially filled
A1-2. QUICK PROBLEMS
Problem Q1. Definition of uncertainty
Problem Q2. Control of first-order system with uncertainty
Problem Q3. Control of third-order State space system with uncertainty
Problem Q4. Field-controlled DC motor
Problem Q5. Formation flying spacecraft control. Deep space
Problem Q6. Helicopter control
Problem Q7. Two car