Librería Portfolio

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