实例介绍
【实例简介】
国外经典控制系统教材 作者Goodwin
CONTENTS CONTENTS OVERVIEW ACKNOWLEdGEMENts XXI PREFACE XXIII APPENdICes THE ELEMENTS PREVIEW 1 THE EXCITEMENT OF CONTROL ENGINEERING ⊥.⊥ Preview 1.2 Motivation for Control Engineering 1.3 Historical Periods of Control Theory 1. 4 Types of Control System Design 1.5 System Integration 1.6 Summary 1.7 Further Reading 2 INTRODUCTION TO THE PRINCIPLES OF FEEDBACK 21 2.1 Preview 21 2.2 The Principal goal of Control 21 2.3 A Motivating Industrial Examplc 22 2.4 Definition of the problem 27 2.5 Prototype Solution to the Control Problem via Inversion Contents Overview 2. 6 High gain feedback and inversion 2.7 From Open to Closed Loop Architectures 4 2.8 Trade-offs Involved in Choosing the Feedback Gain 2.9 Measurements 36 10 Su 7 2.11 Further reading 39 3 MODELING 41 3. 1 Preview 41 3.2 The raison d'etre for models 3.3 Model complexity 3.4 Building models 3.5 Model structures 45 3.6 State Space Models 45 3.7 Solution of Continuous Time State Space Models 3.8 High Order Differential and Difference Equation Models 50 3.9 Modeling errors 3.10 Linearization 3.1 1 Case studies 3.12 Summary 3.13 Further Reading 3.14 Problems for the reader 61 4 CONTINUOUS TIME SIGNALS AND SYSTEMS 65 4.1 Previe 6 4.2 Linear Continuous Time Models 4.3 Laplace Transforms 4.4 Laplace Transform. Properties and Examples 4.5 Transfcr Functions 70 4.6 Stability of Transfer Functions 4.7 Impulse and step responses of Continuous Time Linear Systems 74 4.8 Poles, Zeros and Time Responses 4.9 Frequency Response 4.10 Fourier Transform 4.11 Frequently Encountered models 4.12 Modcling Errors for Lincar Systcms 4.13 Bounds for Modeling Errors 103 4.14 Summary 104 Contents Overview 4.15 Further Reading 108 4.16 Problems for the reader 109 I SISO CONTROL ESSENTIALS 115 PREVIEW 117 5 ANALYSIS OF SISO CONTROL LOOPS 119 5.1 Preview 119 5.2 Fccdback structurcs 5.3 Nominal Sensitivity Functions 123 5. 4 Closed Loop Stability Based on the Characteristic Polynomial 125 5.5 Stability and Polynomial Analysis 126 5.6 Root Locus(RL) 132 5.7 Nominal Stability using Frequency Response 136 5.8 Relative Stability: Stability Margins and Sensitivity Peaks 141 5.9 Robustness 143 Summary 148 5.11 Further reading 150 5.12 Problems for the reader 152 6 CLASSICAL PID CONTROL 157 6.1 Preview 157 6.2 PID Structure 157 6.3 Empirical Tuning 160 6.4 Ziegler-Nichols(Z-N)Oscillation Method l60 6.5 Reaction Curve Based methods 164 6.6 Lead-lag compensators 167 6.7 Distillation Column 169 6.8 Summary 6.9 Further reading 172 6.10 Problems for the reader 174 T SYNTHESIS OF SISO CONTROLLERS 177 7.1 Preview 7.2 Polynomial Approach 177 7.3 PI and PID Synthesis Revisited using Pole Assignment 185 7.4 Smith Predictor 187 X11 Contents Overview 7.5 Summary 188 7.6 Further reading 190 7.7 Problems for the reader 191 III SISO CONTROL DESIGN 195 PREVIEW 197 8 FUNDAMENTAL LIMITATIONS IN SISO CONTROL 199 8.1 Preview 199 8.2S 8. 3 Actuate 8. 4 Disturbances 203 8.5 Model error limitations 204 8. 6 Structural limitations 205 8. 7 Remedies 220 8. 8 An Industrial Application(Reversing Mill) 225 8.9 Design Homogeneity Revisited 少 8.10 Summary 8.11 Further Reading 8. 12 Problems for the reader 9 FREQUENCY DOMAIN DESIGN LIMITATIONS 239 9. 1 Preview 239 9.2 Bode's Integral Constraints on Sensitivity 240 9.3 Integral Constraints on Complementary Sensitivity 244 9. 4 Poisson Integral Constraint On Sensitivity 246 9.5 Poisson Integral Constraint on Complementary Sensitivit 252 9.6 Example of Design Trade-offs 254 9. 7 Summary 9. 8 Further Reading 258 9.9 Problems for the reader 261 10 ARCHITECTURAL ISSUES IN SISO CONTROL 263 10.1 Preview 10. 2 Modcls for Deterministic Distur bancos and Rofcrcncc Signals 263 10.3 Internal Model Principle for Disturbances 265 10.4 Internal Model Principle for Reference Tracking 269 Contents Overview 10.5 Feedforward 269 10.6 Reference Feedforward 10.7 Disturbance fccdfc d 10.8 Industrial Applications of Feedforward Control 277 10.9 Cascade contro 279 10.10Summary 283 10. 11Furthcr Reading 10.12Problems for the reader 11 DEALING WITH CONSTRAINTS 291 11.1 Preview 11.2 Wind-Cp 292 11.3 Anti-Windup Scheme l⊥.4 State saturation 299 11.5 Introduction to Model Predictive Control 304 ummary 304 11. 7 Further Reading 305 11. 8 Problems for the reader 307 IV DIGITAL COMPUTER CONTROL 313 PREVIEW 315 12 MODELS FOR SAMPLED DATA SYSTEMS 317 12. 1 Preview 12.2 Sampling 317 12.3 Signal Reconstruction 12.4 Linear discrete Time models 320 12.5 The Shift Operator 320 12.6 ZTransform 321 12.7 Discrete Transfer Functions 322 12.8 Discrete Delta domain models 326 12.9 Discrete delta transform 329 12. 10Discrete Transfer Functions(Delta Form) 333 12. 11Transfer Functions and Impulse Responses 334 12. 12Discrete System Stability 334 12. 13Obtaining Discrete Models for Sampled Continuous Systems 335 Contents Overview 12. 14USing Continuous State Space Models 338 12. 15Frequency Response of Sampled Data Systems 340 12. 16Summar 343 12.17Further Reading 346 12.18Probles for the reader 347 13 DIGITAL CONTROL 351 13.1 Preview 13.2 Discrete Time Sensitivity Functions 13.3 Zeros of Sampled Data Systems 353 13.4 Is a Special Theory of Digital Control Design Really Necessary? 355 13.5 Approximate Continuous Designs 13.6 At-Sample Digital Design 360 13.7 Internal Modcl Principlc for Digital Control 371 13.8 Fundamental performance limitations 13.9 Summary 379 13.10Further Reading 13.11 Problems for the reader 381 14 HYBRID CONTROL 385 14.1 Preview 14.2 Hybrid analysis 385 14.3 Models for Hybrid Control Systems 385 14.4 Analysis of Intersample behavior 389 14.5 Repetitive Control Revisited 391 14.6 Poisson Summation formula 14.7 Summary 14.8 Further reading 39 14.9 Problems for the reader 396 V ADVANCED SISO CONTROL 401 PREVIEW 403 15 SISO CONTROLLER PARAMETERIZATIONS 405 15.1 Preview 405 15.2 Open Loop Inversion Revisited 405 15.3 Affine Parameterization. The Stable Case 406 Contents Overview 15.4 PID Synthesis using the Affine Parameterization 15.5 Affine Parameterization for Systems having Time Delays 425 15.6 Undesirable Closed Loop Poles 428 15.7 Affine Parameterization: The Unstable Open Loop Case 437 15.8 Discrete Time Systems 444 15.9 Summary 445 15.10Further reading 449 15.11Problems for the reader 451 1 6 CONTROL DESIGN BASED ON OPTIMIZATION 455 16. 1 Preview 16.2 Optimal Q(Affine) Synthesis 16.3 Robust Control Design with Confidence Bounds 462 16.4 Summary 476 16.5 Further Reading 16.6 Problems for the reader 479 17 LINEAR STATE SPACE MODELS 483 17.⊥ Preview 483 17.2 Linear Continuous Time State Space Models 483 17.3 Similarity Transformations 484 17.4 Transfer Functions Revisited 17.5 From Transfer Function to State Space Representation 488 17.6 Controllability and Stabilizability 489 17. 7 Observability and Detectability 499 17.8 Canonical Decomposition 505 17.9 Polc Zero Cancellation and Systcm Propcrtics 507 17.suMmary 17.11Further Reading 513 17.12Problems for the reader 514 1 8 SYNTHESIS VIA STATE SPACE METHODS 519 18.1 Preview 519 18. 2 Pole Assignment by State Feedback 18.3 Observers 523 18.4 Combining State Feedback with an Observer 29 18.5 Transfer Function Interpretations 531 XVI Contents overview 18.6 Reinterpretation of the Affine Parameterization of all Stabilizing Con 537 18.7 State Space Interpretation of Internal Model principle 538 18.8 Trade-Offs in State Feedback and Observers 18.9 Dealing with Input C in the Context of State Es Feedback 18. 10Summary 545 l8.⊥ L Further readi 547 18. 12Problems for the reader 548 1 9 INTRODUCTION TO NONLINEAR CONTROL 551 19.1 Preview 19.2 Linear Control of a nonlinear plant 551 19.3 Switched Linear Controllers 19. 4 Control of Systems with Smooth Nonlinearities 559 19.5 Static Input nonlinearities 19.6 Sinooth DynaInic Nonlinearities for Stable anld Stably Invertible Models 560 19.7 Disturbance Issues in Nonlinear Control 567 19.8 More General Plants with Smooth Nonlinearities 19.9 Non-Smooth nonlinearities 575 19. 10Stability of Nonlinear Systems 577 19.11Summary 581 19.12Further Reading 583 19.13Probles for the reader 585 VI MIMO CONTROL ESSENTIALS 587 PREVIEW 589 20 ANALYSIS OF MIMO CONTROL LOOPS 591 20.1 Preview 591 20.2 Motivational Examples 91 20.3 Models for Multivariable Systems 593 20.4 The Basic MIMO Control Loop OU Stability 20.6 Stcady Statc Responsc for Stop Inputs 609 20.7 Frequency Domain Analysis 20.8 Robustness issues 620 【实例截图】
【核心代码】
国外经典控制系统教材 作者Goodwin
CONTENTS CONTENTS OVERVIEW ACKNOWLEdGEMENts XXI PREFACE XXIII APPENdICes THE ELEMENTS PREVIEW 1 THE EXCITEMENT OF CONTROL ENGINEERING ⊥.⊥ Preview 1.2 Motivation for Control Engineering 1.3 Historical Periods of Control Theory 1. 4 Types of Control System Design 1.5 System Integration 1.6 Summary 1.7 Further Reading 2 INTRODUCTION TO THE PRINCIPLES OF FEEDBACK 21 2.1 Preview 21 2.2 The Principal goal of Control 21 2.3 A Motivating Industrial Examplc 22 2.4 Definition of the problem 27 2.5 Prototype Solution to the Control Problem via Inversion Contents Overview 2. 6 High gain feedback and inversion 2.7 From Open to Closed Loop Architectures 4 2.8 Trade-offs Involved in Choosing the Feedback Gain 2.9 Measurements 36 10 Su 7 2.11 Further reading 39 3 MODELING 41 3. 1 Preview 41 3.2 The raison d'etre for models 3.3 Model complexity 3.4 Building models 3.5 Model structures 45 3.6 State Space Models 45 3.7 Solution of Continuous Time State Space Models 3.8 High Order Differential and Difference Equation Models 50 3.9 Modeling errors 3.10 Linearization 3.1 1 Case studies 3.12 Summary 3.13 Further Reading 3.14 Problems for the reader 61 4 CONTINUOUS TIME SIGNALS AND SYSTEMS 65 4.1 Previe 6 4.2 Linear Continuous Time Models 4.3 Laplace Transforms 4.4 Laplace Transform. Properties and Examples 4.5 Transfcr Functions 70 4.6 Stability of Transfer Functions 4.7 Impulse and step responses of Continuous Time Linear Systems 74 4.8 Poles, Zeros and Time Responses 4.9 Frequency Response 4.10 Fourier Transform 4.11 Frequently Encountered models 4.12 Modcling Errors for Lincar Systcms 4.13 Bounds for Modeling Errors 103 4.14 Summary 104 Contents Overview 4.15 Further Reading 108 4.16 Problems for the reader 109 I SISO CONTROL ESSENTIALS 115 PREVIEW 117 5 ANALYSIS OF SISO CONTROL LOOPS 119 5.1 Preview 119 5.2 Fccdback structurcs 5.3 Nominal Sensitivity Functions 123 5. 4 Closed Loop Stability Based on the Characteristic Polynomial 125 5.5 Stability and Polynomial Analysis 126 5.6 Root Locus(RL) 132 5.7 Nominal Stability using Frequency Response 136 5.8 Relative Stability: Stability Margins and Sensitivity Peaks 141 5.9 Robustness 143 Summary 148 5.11 Further reading 150 5.12 Problems for the reader 152 6 CLASSICAL PID CONTROL 157 6.1 Preview 157 6.2 PID Structure 157 6.3 Empirical Tuning 160 6.4 Ziegler-Nichols(Z-N)Oscillation Method l60 6.5 Reaction Curve Based methods 164 6.6 Lead-lag compensators 167 6.7 Distillation Column 169 6.8 Summary 6.9 Further reading 172 6.10 Problems for the reader 174 T SYNTHESIS OF SISO CONTROLLERS 177 7.1 Preview 7.2 Polynomial Approach 177 7.3 PI and PID Synthesis Revisited using Pole Assignment 185 7.4 Smith Predictor 187 X11 Contents Overview 7.5 Summary 188 7.6 Further reading 190 7.7 Problems for the reader 191 III SISO CONTROL DESIGN 195 PREVIEW 197 8 FUNDAMENTAL LIMITATIONS IN SISO CONTROL 199 8.1 Preview 199 8.2S 8. 3 Actuate 8. 4 Disturbances 203 8.5 Model error limitations 204 8. 6 Structural limitations 205 8. 7 Remedies 220 8. 8 An Industrial Application(Reversing Mill) 225 8.9 Design Homogeneity Revisited 少 8.10 Summary 8.11 Further Reading 8. 12 Problems for the reader 9 FREQUENCY DOMAIN DESIGN LIMITATIONS 239 9. 1 Preview 239 9.2 Bode's Integral Constraints on Sensitivity 240 9.3 Integral Constraints on Complementary Sensitivity 244 9. 4 Poisson Integral Constraint On Sensitivity 246 9.5 Poisson Integral Constraint on Complementary Sensitivit 252 9.6 Example of Design Trade-offs 254 9. 7 Summary 9. 8 Further Reading 258 9.9 Problems for the reader 261 10 ARCHITECTURAL ISSUES IN SISO CONTROL 263 10.1 Preview 10. 2 Modcls for Deterministic Distur bancos and Rofcrcncc Signals 263 10.3 Internal Model Principle for Disturbances 265 10.4 Internal Model Principle for Reference Tracking 269 Contents Overview 10.5 Feedforward 269 10.6 Reference Feedforward 10.7 Disturbance fccdfc d 10.8 Industrial Applications of Feedforward Control 277 10.9 Cascade contro 279 10.10Summary 283 10. 11Furthcr Reading 10.12Problems for the reader 11 DEALING WITH CONSTRAINTS 291 11.1 Preview 11.2 Wind-Cp 292 11.3 Anti-Windup Scheme l⊥.4 State saturation 299 11.5 Introduction to Model Predictive Control 304 ummary 304 11. 7 Further Reading 305 11. 8 Problems for the reader 307 IV DIGITAL COMPUTER CONTROL 313 PREVIEW 315 12 MODELS FOR SAMPLED DATA SYSTEMS 317 12. 1 Preview 12.2 Sampling 317 12.3 Signal Reconstruction 12.4 Linear discrete Time models 320 12.5 The Shift Operator 320 12.6 ZTransform 321 12.7 Discrete Transfer Functions 322 12.8 Discrete Delta domain models 326 12.9 Discrete delta transform 329 12. 10Discrete Transfer Functions(Delta Form) 333 12. 11Transfer Functions and Impulse Responses 334 12. 12Discrete System Stability 334 12. 13Obtaining Discrete Models for Sampled Continuous Systems 335 Contents Overview 12. 14USing Continuous State Space Models 338 12. 15Frequency Response of Sampled Data Systems 340 12. 16Summar 343 12.17Further Reading 346 12.18Probles for the reader 347 13 DIGITAL CONTROL 351 13.1 Preview 13.2 Discrete Time Sensitivity Functions 13.3 Zeros of Sampled Data Systems 353 13.4 Is a Special Theory of Digital Control Design Really Necessary? 355 13.5 Approximate Continuous Designs 13.6 At-Sample Digital Design 360 13.7 Internal Modcl Principlc for Digital Control 371 13.8 Fundamental performance limitations 13.9 Summary 379 13.10Further Reading 13.11 Problems for the reader 381 14 HYBRID CONTROL 385 14.1 Preview 14.2 Hybrid analysis 385 14.3 Models for Hybrid Control Systems 385 14.4 Analysis of Intersample behavior 389 14.5 Repetitive Control Revisited 391 14.6 Poisson Summation formula 14.7 Summary 14.8 Further reading 39 14.9 Problems for the reader 396 V ADVANCED SISO CONTROL 401 PREVIEW 403 15 SISO CONTROLLER PARAMETERIZATIONS 405 15.1 Preview 405 15.2 Open Loop Inversion Revisited 405 15.3 Affine Parameterization. The Stable Case 406 Contents Overview 15.4 PID Synthesis using the Affine Parameterization 15.5 Affine Parameterization for Systems having Time Delays 425 15.6 Undesirable Closed Loop Poles 428 15.7 Affine Parameterization: The Unstable Open Loop Case 437 15.8 Discrete Time Systems 444 15.9 Summary 445 15.10Further reading 449 15.11Problems for the reader 451 1 6 CONTROL DESIGN BASED ON OPTIMIZATION 455 16. 1 Preview 16.2 Optimal Q(Affine) Synthesis 16.3 Robust Control Design with Confidence Bounds 462 16.4 Summary 476 16.5 Further Reading 16.6 Problems for the reader 479 17 LINEAR STATE SPACE MODELS 483 17.⊥ Preview 483 17.2 Linear Continuous Time State Space Models 483 17.3 Similarity Transformations 484 17.4 Transfer Functions Revisited 17.5 From Transfer Function to State Space Representation 488 17.6 Controllability and Stabilizability 489 17. 7 Observability and Detectability 499 17.8 Canonical Decomposition 505 17.9 Polc Zero Cancellation and Systcm Propcrtics 507 17.suMmary 17.11Further Reading 513 17.12Problems for the reader 514 1 8 SYNTHESIS VIA STATE SPACE METHODS 519 18.1 Preview 519 18. 2 Pole Assignment by State Feedback 18.3 Observers 523 18.4 Combining State Feedback with an Observer 29 18.5 Transfer Function Interpretations 531 XVI Contents overview 18.6 Reinterpretation of the Affine Parameterization of all Stabilizing Con 537 18.7 State Space Interpretation of Internal Model principle 538 18.8 Trade-Offs in State Feedback and Observers 18.9 Dealing with Input C in the Context of State Es Feedback 18. 10Summary 545 l8.⊥ L Further readi 547 18. 12Problems for the reader 548 1 9 INTRODUCTION TO NONLINEAR CONTROL 551 19.1 Preview 19.2 Linear Control of a nonlinear plant 551 19.3 Switched Linear Controllers 19. 4 Control of Systems with Smooth Nonlinearities 559 19.5 Static Input nonlinearities 19.6 Sinooth DynaInic Nonlinearities for Stable anld Stably Invertible Models 560 19.7 Disturbance Issues in Nonlinear Control 567 19.8 More General Plants with Smooth Nonlinearities 19.9 Non-Smooth nonlinearities 575 19. 10Stability of Nonlinear Systems 577 19.11Summary 581 19.12Further Reading 583 19.13Probles for the reader 585 VI MIMO CONTROL ESSENTIALS 587 PREVIEW 589 20 ANALYSIS OF MIMO CONTROL LOOPS 591 20.1 Preview 591 20.2 Motivational Examples 91 20.3 Models for Multivariable Systems 593 20.4 The Basic MIMO Control Loop OU Stability 20.6 Stcady Statc Responsc for Stop Inputs 609 20.7 Frequency Domain Analysis 20.8 Robustness issues 620 【实例截图】
【核心代码】
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