Linear robust control by Michael Green, David J.N. Limebeer, Engineering

By Michael Green, David J.N. Limebeer, Engineering

Recent many years have witnessed huge, immense strides within the box of sturdy keep an eye on of dynamical structures — unfortunately, money owed of lots of those advancements are scattered in vague study guides and obtainable in basic terms to a small staff of specialists. during this very popular textual content for college students and keep watch over engineers, the authors learn all of those advances, offering an in-depth exam of contemporary optimum and strong control.
After a short introductory bankruptcy, the textual content proceeds to examinations of multivariable frequency reaction layout, signs and structures, and linear fractional differences and their position up to speed platforms. next chapters strengthen the regulate process synthesis idea, starting with a concise therapy of the linear quadratic Gaussian challenge and advancing to full-information H-infinity controller synthesis, the H-infinity filter out, and the H-infinity generalized regulator challenge. Concluding chapters study version relief through truncation, optimum version aid, and the four-block challenge. The textual content concludes with a couple of layout case experiences and beneficial appendices. This therapy calls for familiarity with linear algebra, matrix thought, linear differential equations, classical keep watch over idea, and linear platforms theory.

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Single-loop design techniques may be used for MIMO systems when the cross-coupling is relatively weak. 2. The eigenvalues of the open-loop plant G may be used to assess the stability of the nominal closed-loop system. Despite this, the eigenvalues of G do not give reliable information about the robust stability or performance of the closed loop. 3. LQG optimality does not automatically ensure good robustness properties. The robust stability of a LQG optimal closed loop must be checked a posteriori.

M. It is now possible to find positive numbers αi and βi so that θi is the phase of jω0 −βi jω0 +βi jω0 −αi jω0 +αi and φi is the phase of . Setting    A = σ1−1   a1 s−α1 s+α1 .. am s−αm s+αm      b1 s−β1 s+β1 ... bm s−βm s+βm gives A stable with A(jω0 ) = A = σ1−1 y1 u∗1 . Furthermore, σ A(jω) = σ1−1 for all real ω. 4 ROBUST STABILITY ANALYSIS for all ω, with equality at ω = ω0 . The instability of the loop under the influence of this perturbation follows from the fact that the closed loop will have imaginary-axis poles at ±jωo .

7), note that Qu 2 = u∗ U ΣY ∗ Y ΣU ∗ u = x∗ Σ2 x 30 MULTIVARIABLE FREQUENCY RESPONSE DESIGN where x = U ∗ u. Since x = u , it follows that max Qu = max Σx . u =1 x =1 Now p 2 Σx = i=1 σi2 |xi |2 , 2 subject to x = 1, is maximized by setting x1 = 1 and xi = 0 for all i = 1 and is minimized by setting xp = 1 and xi = 0 for all i = p. 7) hold. 9) u∈S u =1 in which Q is m × p (see [198]). 9) by setting i = 1 and i = p. 10) = max u =1 u=0 Qu . u It is easy to show that Q is indeed a norm using the properties of the Euclidean norm on Cm and Cp : 1.

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