Abidi / Xu Advanced Discrete-Time Control

Designs and Applications
1. Auflage 2015
ISBN: 978-981-287-478-8
Verlag: Springer Nature Singapore
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 23, 232 Seiten

Reihe: Studies in Systems, Decision and Control

This book covers a wide spectrum of systems such as linear and nonlinear multivariable systems as well as control problems such as disturbance, uncertainty and time-delays. The purpose of this book is to provide researchers and practitioners a manual for the design and application of advanced discrete-time controllers. The book presents six different control approaches depending on the type of system and control problem. The first and second approaches are based on Sliding Mode control (SMC) theory and are intended for linear systems with exogenous disturbances. The third and fourth approaches are based on adaptive control theory and are aimed at linear/nonlinear systems with periodically varying parametric uncertainty or systems with input delay. The fifth approach is based on Iterative learning control (ILC) theory and is aimed at uncertain linear/nonlinear systems with repeatable tasks and the final approach is based on fuzzy logic control (FLC) and is intended for highly uncertain systems with heuristic control knowledge. Detailed numerical examples are provided in each chapter to illustrate the design procedure for each control method. A number of practical control applications are also presented to show the problem solving process and effectiveness with the advanced discrete-time control approaches introduced in this book.

Professor Jian-Xin Xu received the Bachelor degree from Zhejiang University, China in 1982. He attended the University of Tokyo, Japan, where he received Master's and PhD degrees in 1986 and 1989 respectively. All degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory, Japan; for more than one year in Ohio State University, U.S.A. as a Visiting Scholar; and for 6 months in Yale University as a Visiting Research Fellow. In 1991 Professor Xu joined the National University of Singapore and is currently a professor at Department of Electrical and Computer Engineering. His research interests lie in the fields of intelligent and robust control and applications to motion control, mechatronics, and robotics. He is a Fellow of IEEE.Up to now he produced more than 500 peer-reviewed journal and conference papers, 2 monographs and 3 edited books. He has been supervising/co-supervising 29 PhD, 20 Master students, and 15 research staff including postdoctoral fellows and research fellows. He has completed 20 funded research projects and currently he work on AUV biomimetic locomotion and control.Dr Khalid Abidi received his BSc. degree in Mechanical Engineering from the Middle East Technical University, Ankara, Turkey in 2002 and the MSc. degree in Electrical Engineering and Computer Science from Sabanci University, Istanbul, Turkey in 2004. He obtained his PhD degree in Electrical and Computer Engineering, specializing in the area of Control Engineering, from the National University of Singapore in 2009. Dr Abidi is currently a lecturer of Electrical Power Engineering at Newcastle University based in Singapore. Prior to joining Newcastle University Dr Abidi worked as an Assistant Professor of Mechatronics Engineering at Bahcesehir University, Istanbul, Turkey from September 2009 until June 2014. His research interests include: Theory and modelling of dynamical systems, Discrete-Time systems, Time-delay systems, Learning Control, Robust Control, Applied Nonlinear Control, Robotics and Mechatronic Systems.

Autoren/Hrsg.

Abidi, Khalid

Xu, Jian-Xin

Xu, Jianxin

Inhaltsverzeichnis

1;Preface;7
2;Contents;9
3;1 Introduction;13
3.1;1.1 Background;13
3.2;1.2 Contributions;17
3.3;1.3 Organization;19
4;2 Discrete-Time Sliding Mode Control;21
4.1;2.1 Introduction;21
4.2;2.2 Problem Formulation;23
4.3;2.3 Classical Discrete-Time Sliding Mode Control Revisited;27
4.3.1;2.3.1 State Regulation;27
4.3.2;2.3.2 Output Tracking;30
4.4;2.4 Discrete-Time Integral Sliding Mode Control;33
4.4.1;2.4.1 State Regulation with ISM;33
4.4.2;2.4.2 Output-Tracking ISM Control: State Feedback Approach;36
4.4.3;2.4.3 Output Tracking ISM: Output Feedback Approach;42
4.4.4;2.4.4 Output Tracking ISM: State Observer Approach;50
4.4.5;2.4.5 Systems with a Piece-Wise Smooth Disturbance;54
4.4.6;2.4.6 Illustrative Example;55
4.5;2.5 Discrete-Time Terminal Sliding Mode Control;63
4.5.1;2.5.1 Controller Design and Stability Analysis;63
4.5.2;2.5.2 TSM Control Tracking Properties;67
4.5.3;2.5.3 Determination of Controller Parameters;68
4.6;2.6 Conclusion;73
5;3 Discrete-Time Periodic Adaptive Control;74
5.1;3.1 Introduction;74
5.2;3.2 Discrete-Time Periodic Adaptive Control;75
5.2.1;3.2.1 Discrete-Time Adaptive Control Revisited;75
5.2.2;3.2.2 Periodic Adaptation;77
5.2.3;3.2.3 Convergence Analysis;77
5.3;3.3 Extension to More General Cases;79
5.3.1;3.3.1 Extension to Multiple Parameters;79
5.3.2;3.3.2 Extension to Mixed Parameters;82
5.3.3;3.3.3 Extension to Tracking Tasks;84
5.3.4;3.3.4 Extension to Higher Order Systems;85
5.4;3.4 Illustrative Example;87
5.5;3.5 Conclusion;89
6;4 Discrete-Time Adaptive Posicast Control;90
6.1;4.1 Introduction;90
6.2;4.2 Problem Formulation;92
6.2.1;4.2.1 Continuous-Time Adaptive Posicast Controller (APC);93
6.3;4.3 Discrete-Time Adaptive Posicast Controller Design;93
6.3.1;4.3.1 Control of a 1st Order Input Time-Delay System in Discrete-Time;94
6.3.2;4.3.2 Adaptive Control of an Input Time-Delay System;95
6.3.3;4.3.3 Extension to Higher Order Systems;99
6.3.4;4.3.4 Stability Analysis;102
6.4;4.4 Extension to More General Cases;104
6.4.1;4.4.1 Uncertain Upper-Bounded Time-Delay;104
6.4.2;4.4.2 Extension to Nonlinear Systems;108
6.5;4.5 Illustrative Examples;113
6.5.1;4.5.1 Linear Systems;113
6.5.2;4.5.2 Nonlinear Systems;116
6.6;4.6 Conclusion;117
7;5 Discrete-Time Iterative Learning Control;119
7.1;5.1 Introduction;119
7.2;5.2 Preliminaries;120
7.2.1;5.2.1 Problem Formulation;121
7.2.2;5.2.2 Difference with Continuous-Time Iterative Learning Control;122
7.3;5.3 General Iterative Learning Control: Time Domain;123
7.3.1;5.3.1 Convergence Properties;124
7.3.2;5.3.2 D-Type and D2-Type ILC;126
7.3.3;5.3.3 Effect of Time-Delay;129
7.4;5.4 General Iterative Learning Control: Frequency Domain;131
7.4.1;5.4.1 Current-Cycle Iterative Learning;132
7.4.2;5.4.2 Considerations for L(q) and Q(q) Selection;134
7.4.3;5.4.3 D-Type and D2-Type ILC;135
7.5;5.5 Special Case: Combining ILC with Multirate Technique;137
7.5.1;5.5.1 Controller Design;137
7.5.2;5.5.2 Multirate Structure;137
7.5.3;5.5.3 Iterative Learning Scheme;138
7.5.4;5.5.4 Convergence Condition;139
7.6;5.6 Illustrative Example: Time Domain;143
7.6.1;5.6.1 P-Type ILC;143
7.6.2;5.6.2 D-Type and D2-Type ILC;144
7.7;5.7 Illustrative Example: Frequency Domain;146
7.7.1;5.7.1 P-Type ILC;146
7.7.2;5.7.2 D-Type and D2-Type ILC;147
7.7.3;5.7.3 Current-Cycle Iterative Learning Control;148
7.7.4;5.7.4 L(q) Selection;150
7.7.5;5.7.5 Sampling Period Selection;152
7.8;5.8 Conclusion;154
8;6 Discrete-Time Fuzzy PID Control;155
8.1;6.1 Introduction;155
8.2;6.2 Design of Fuzzy PID Control System;157
8.2.1;6.2.1 Fuzzy PID Controller with Parallel Structure;157
8.2.2;6.2.2 Tuning of the Fuzzy PID Controller;162
8.3;6.3 Stability and Performance Analysis;165
8.3.1;6.3.1 BIBO Stability Condition of the Fuzzy PID Control System;165
8.3.2;6.3.2 Control Efforts Between Fuzzy and Conventional PID Controllers;169
8.4;6.4 Illustrative Example;171
8.5;6.5 Conclusion;173
9;7 Benchmark Precision Control of a Piezo-Motor Driven Linear Stage;174
9.1;7.1 Introduction;174
9.2;7.2 Model of the Piezo-Motor Driven Linear Motion Stage;175
9.2.1;7.2.1 Overall Model in Continuous-Time;176
9.2.2;7.2.2 Friction Models;176
9.2.3;7.2.3 Overall Model in Discrete-Time;178
9.3;7.3 Discrete-Time Output ISM Control;179
9.3.1;7.3.1 Controller Design and Stability Analysis;180
9.3.2;7.3.2 Disturbance Observer Design;182
9.3.3;7.3.3 State Observer Design;184
9.3.4;7.3.4 Ultimate Tracking Error Bound;185
9.3.5;7.3.5 Experimental Investigation;187
9.4;7.4 Discrete-Time Terminal Sliding Mode Control;192
9.5;7.5 Sampled-Data ILC Design;193
9.5.1;7.5.1 Controller Parameter Design and Experimental Results;193
9.6;7.6 Conclusion;196
10;8 Advanced Control for Practical Engineering Applications;198
10.1;8.1 Introduction;198
10.2;8.2 Periodic Adaptive Control of a PM Synchronous Motor;199
10.2.1;8.2.1 Problem Definition;199
10.2.2;8.2.2 Control Strategy and Results;200
10.3;8.3 Multirate ILC of a Ball and Beam System;204
10.3.1;8.3.1 System Model;204
10.3.2;8.3.2 Target Trajectory;205
10.3.3;8.3.3 Controller Configurations;206
10.3.4;8.3.4 System Verifications;206
10.4;8.4 Discrete-Time Fuzzy PID of a Coupled Tank System;209
10.4.1;8.4.1 System Description;210
10.4.2;8.4.2 Experiment;210
10.5;8.5 Iterative Learning Control for Freeway Traffic Control;211
10.5.1;8.5.1 Traffic Model and Analysis;212
10.5.2;8.5.2 Density Control;216
10.5.3;8.5.3 Flow Control;219
10.6;8.6 Conclusion;222
11;Appendix Derivation of BIBO Stability Condition of Linear PID Control System;224
12; References;225