Bøger i Control Engineering serien

This monograph explores the analysis and design of model-free optimal control systems based on reinforcement learning (RL) theory, presenting new methods that overcome recent challenges faced by RL.  New developments in the design of sensor data efficient RL algorithms are demonstrated that not only reduce the requirement of sensors by means of output feedback, but also ensure optimality and stability guarantees.  A variety of practical challenges are considered, including disturbance rejection, control constraints, and communication delays.  Ideas from game theory are incorporated to solve output feedback disturbance rejection problems, and the concepts of low gain feedback control are employed to develop RL controllers that achieve global stability under control constraints.Output Feedback Reinforcement Learning Control for Linear Systems will be a valuable reference for graduate students, control theorists working on optimal control systems, engineers, and applied mathematicians.

Dynamics systems (living organisms, electromechanical and industrial systems, chemical and technological processes, market and ecology, and so forth) can be considered and analyzed using information and systems theories. For example, adaptive human behavior can be studied using automatic feedback control. As an illustrative example, the driver controls a car changing the speed and steer­ ing wheels using incoming information, such as traffic and road conditions. This book focuses on the most important and manageable topics in applied multivariable control with application to a wide class of electromechanical dynamic systems. A large spectrum of systems, familiar to electrical, mechanical, and aerospace stu­ dents, engineers, and scholars, are thoroughly studied to build the bridge between theory and practice as well as to illustrate the practical application of control theory through illustrative examples. It is the author's goal to write a book that can be used to teach undergraduate and graduate classes in automatic control and nonlin­ ear control at electrical, mechanical, and aerospace engineering departments. The book is also addressed to engineers and scholars, and the examples considered allow one to implement the theory in a great variety of industrial systems. The main purpose of this book is to help the reader grasp the nature and significance of multivariable control.

1 Introduction.- 2 Continuous-Time Quadratic Guaranteed Cost Filtering.- 3 Discrete-Time Quadratic Guaranteed Cost Filtering.- 4 Continuous-Time Set-Valued State Estimation and Model Validation.- 5 Discrete-Time Set-Valued State Estimation.- 6 Robust State Estimation with Discrete and Continuous Measurements.- 7 Set-Valued State Estimation with Structured Uncertainty.- 8 Robust H? Filtering with Structured Uncertainty.- 9 Robust Fixed Order H? Filtering.- 10 Set-Valued State Estimation for Nonlinear Uncertain Systems.- 11 Robust Filtering Applied to Induction Motor Control.- References.

The design of nonlinear controllers for mechanical systems has been an ex- tremely active area of research in the last two decades. From a theoretical point of view, this attention can be attributed to their interesting dynamic behavior, which makes them suitable benchmarks for nonlinear control the- oreticians. On the other hand, recent technological advances have produced many real-world engineering applications that require the automatic con- trol of mechanical systems. the mechanism for de- Often, Lyapunov-based techniques are utilized as veloping different nonlinear control structures for mechanical systems. The allure of the Lyapunov-based framework for mechanical system control de- sign can most likely be assigned to the fact that Lyapunov function candi- dates can often be crafted from physical insight into the mechanics of the system. That is, despite the nonlinearities, couplings, and/or the flexible effects associated with the system, Lyapunov-based techniques can often be used to analyze the stability of the closed-loop system by using an energy- like function as the Lyapunov function candidate. In practice, the design procedure often tends to be an iterative process that results in the death of many trees. That is, the controller and energy-like function are often constructed in concert to foster an advantageous stability property and/or robustness property. Fortunately, over the last 15 years, many system the- ory and control researchers have labored in this area to produce various design tools that can be applied in a variety of situations.

Perhaps the only full publication to present a unified and straightforward introduction to the design and analysis of automatic control systems for both atmospheric and space flight vehicles, Automatic Control of Atmospheric and Space Flight Vehicles is intended to be a textbook for senior undergraduate and graduate students in aerospace engineering/aeronautics and astronautics departments. Covering basic control theory and design concepts, the material in the book has been specifically developed for a modern course on flight control systems, where the artificial distinction between aircraft, rockets, and spacecraft is removed. A wide variety of flight control topics are presented in a concise and easy-to-read-yet rigorous-manner. The book highlights an understanding of relevant flight dynamic principles required for designing a flight control system, placing specific emphasis on a wealth of realistic examples and exercises that require programming. A particularly appealing feature of the text is the ready and extensive use of MATLAB®/Simulink® codes in the many solved examples illustrating flight control design and analysis; these examples give the reader hands-on experience with practical problems and make the book an even more useful and illuminating tool. For convenience, all the codes used can be downloaded from the author's and publisher's websites. Moreover, selected exercise solutions are provided in the text, and a full solutions manual is available to instructors online.The coverage of flight control topics in the book is fundamental rather than exhaustive, with a greater emphasis on single-variable control for a strong understanding of the relevant concepts. The work may therefore be used for a first course on flight control systems. However, it also covers some advanced topics-such as linear optimal control, nonlinear orbit plane control, and two-point boundaryvalue problem solution for de-orbiting spacecraft-imparting a flavor of the variety found in automatic flight control, and will be of interest to experienced researchers and practitioners in aerospace and control engineering.

It is with great pleasure that I offer my reflections on Professor Anthony N. Michel's retirement from the University of Notre Dame. I have known Tony since 1984 when he joined the University of Notre Dame's faculty as Chair of the Depart- ment of Electrical Engineering. Tony has had a long and outstanding career. As a researcher, he has made im- portant contributions in several areas of systems theory and control theory, espe- cially stability analysis of large-scale dynamical systems. The numerous awards he received from the professional societies, particularly the Institute of Electrical and Electronics Engineers (IEEE), are a testament to his accomplishments in research. He received the IEEE Control Systems Society's Best Transactions Paper Award (1978), and the IEEE Circuits and Systems Society's Guillemin-Cauer Prize Paper Award (1984) and Myril B. Reed Outstanding Paper Award (1993), among others. In addition, he was a Fulbright Scholar (1992) and received the Alexander von Hum- boldt Forschungspreis (Alexander von Humboldt Research Award for Senior U.S. Scientists) from the German government (1997). To date, he has written eight books and published over 150 archival journal papers. Tony is also an effective administrator who inspires high academic standards.

The vast majority of control systems built today are embedded; that is, they rely on built-in, special-purpose digital computers to close their feedback loops. Embedded systems are common in aircraft, factories, chemical processing plants, and even in cars-a single high-end automobile may contain over eighty different computers. In such settings, controllers often use shared networks to communicate with each other and with large numbers of sensors and actuators scattered throughout the system. The design of embedded controllers and of the intricate, automated communication networks that support them raises many new questions-practical, as well as theoretical-about network protocols, compatibility of operating systems, and ways to maximize the effectiveness of the embedded hardware. The Handbook of Networked and Embedded Control Systems, the first of its kind, provides engineers, computer scientists, mathematicians, and students a broad, comprehensive source of information and technology to address many questions and aspects of embedded and networked control. A carefully organized collection of important results, tools, software, and technology, this work unifies into a single reference many scattered articles, websites, and specification sheets-information that might otherwise be difficult to find.Key topics and features include:* Self-contained, sharply-focused articles; readers have easy access to specific answers to questions without having to read hundreds of pages * Clear structure and presentation of concepts in intuitive order * Separation of material into six main sections-Fundamentals, Hardware, Software, Theory, Networking, and Applications * Case studies, experiments, and examples that provide a multifaceted view of the subject, encompassing computation and communication considerations * Information about commercially availabletools and hardware * Comprehensive bibliographies and index This is an indispensable text for anyone interested in knowing more about embedded and networked control systems. Researchers will appreciate the handbook's up-to-date results in the theory of embedded control; developers and users will value its information on special-purpose computer hardware and operating systems modifications that support real-time control; students will find the systematic organization and wide coverage useful for learning and reference.

Dynamics systems (living organisms, electromechanical and industrial systems, chemical and technological processes, market and ecology, and so forth) can be considered and analyzed using information and systems theories. For example, adaptive human behavior can be studied using automatic feedback control. As an illustrative example, the driver controls a car changing the speed and steer­ ing wheels using incoming information, such as traffic and road conditions. This book focuses on the most important and manageable topics in applied multivariable control with application to a wide class of electromechanical dynamic systems. A large spectrum of systems, familiar to electrical, mechanical, and aerospace stu­ dents, engineers, and scholars, are thoroughly studied to build the bridge between theory and practice as well as to illustrate the practical application of control theory through illustrative examples. It is the author's goal to write a book that can be used to teach undergraduate and graduate classes in automatic control and nonlin­ ear control at electrical, mechanical, and aerospace engineering departments. The book is also addressed to engineers and scholars, and the examples considered allow one to implement the theory in a great variety of industrial systems. The main purpose of this book is to help the reader grasp the nature and significance of multivariable control.

The design of nonlinear controllers for mechanical systems has been an ex­ tremely active area of research in the last two decades. From a theoretical point of view, this attention can be attributed to their interesting dynamic behavior, which makes them suitable benchmarks for nonlinear control the­ oreticians. On the other hand, recent technological advances have produced many real-world engineering applications that require the automatic con­ trol of mechanical systems. the mechanism for de­ Often, Lyapunov-based techniques are utilized as veloping different nonlinear control structures for mechanical systems. The allure of the Lyapunov-based framework for mechanical system control de­ sign can most likely be assigned to the fact that Lyapunov function candi­ dates can often be crafted from physical insight into the mechanics of the system. That is, despite the nonlinearities, couplings, and/or the flexible effects associated with the system, Lyapunov-based techniques can often be used to analyze the stability of the closed-loop system by using an energy­ like function as the Lyapunov function candidate. In practice, the design procedure often tends to be an iterative process that results in the death of many trees. That is, the controller and energy-like function are often constructed in concert to foster an advantageous stability property and/or robustness property. Fortunately, over the last 15 years, many system the­ ory and control researchers have labored in this area to produce various design tools that can be applied in a variety of situations.

During the past decade we have had to confront a series of control design prob­ lems - involving, primarily, multibody electro-mechanical systems - in which nonlinearity plays an essential role. Fortunately, the geometric theory of non­ linear control system analysis progressed substantially during the 1980s and 90s, providing crucial conceptual tools that addressed many of our needs. However, as any control systems engineer can attest, issues of modeling, computation, and implementation quickly become the dominant concerns in practice. The prob­ lems of interest to us present unique challenges because of the need to build and manipulate complex mathematical models for both the plant and controller. As a result, along with colleagues and students, we set out to develop computer algebra tools to facilitate model building, nonlinear control system design, and code generation, the latter for both numerical simulation and real time con­ an outgrowth of that continuing effort. As trol implementation. This book is a result, the unique features of the book includes an integrated treatment of nonlinear control and analytical mechanics and a set of symbolic computing software tools for modeling and control system design. By simultaneously considering both mechanics and control we achieve a fuller appreciation of the underlying geometric ideas and constructions that are common to both. Control theory has had a fruitful association with analytical mechanics from its birth in the late 19th century.

This monograph is the first of its kind to present innovative research results on truncated predictor feedback (TPF) designs for general linear systems with input delay.

This monograph investigates the stability and performance of control systems subject to actuator saturation. The authors apply these treatments to the estimation of the domain of attraction and the finite-gain L2 performance by using the quadratic Lyapunov function and the composite quadratic Lyapunov function.

Sliding Mode Control: The Delta-Sigma Modulation Approach, combines rigorous mathematical derivation of the unique features of Sliding Mode Control and Delta-Sigma modulation with numerous illustrative examples from diverse areas of engineering.

Sliding Mode Control and Observation

Aeroservoelasticity

Recent developments in model-predictive control promise remarkable opportunities for designing multi-input, multi-output control systems and improving the control of single-input, single-output systems.

Whereas power systems have traditionally been designed with a focus on protecting them from routine component failures and atypical user demand, we now also confront the fact that deliberate attack intended to cause maximum disruption is a real possibility. In response to this changing environment, new concepts and tools have emerged that address many of the issues facing power system operation today. This book is aimed at introducing these ideas to practicing power systems engineers, control systems engineers interested in power systems, and graduate students in these areas.The ideas are examined with an emphasis on how they can be applied to improve our understanding of power system behavior and help design better control systems. The book is supplemented by a Mathematica package enabling readers to work out nontrivial examples and problems. Also included is a set of Mathematica tutorial notebooks providing detailed solutions of the worked examples in the text. In addition to Mathematica, simulations are carried out using Simulink with Stateflow.

During the past decade we have had to confront a series of control design prob­ lems - involving, primarily, multibody electro-mechanical systems - in which nonlinearity plays an essential role. Fortunately, the geometric theory of non­ linear control system analysis progressed substantially during the 1980s and 90s, providing crucial conceptual tools that addressed many of our needs. However, as any control systems engineer can attest, issues of modeling, computation, and implementation quickly become the dominant concerns in practice. The prob­ lems of interest to us present unique challenges because of the need to build and manipulate complex mathematical models for both the plant and controller. As a result, along with colleagues and students, we set out to develop computer algebra tools to facilitate model building, nonlinear control system design, and code generation, the latter for both numerical simulation and real time con­ an outgrowth of that continuing effort. As trol implementation. This book is a result, the unique features of the book includes an integrated treatment of nonlinear control and analytical mechanics and a set of symbolic computing software tools for modeling and control system design. By simultaneously considering both mechanics and control we achieve a fuller appreciation of the underlying geometric ideas and constructions that are common to both. Control theory has had a fruitful association with analytical mechanics from its birth in the late 19th century.

This book consolidates decades of knowledge on space flight navigation theory, which has thus far been spread across various research articles. By gathering this research into a single text, it will be more accessible to students curious about the study of space flight navigation. Books on optimal control theory and orbital mechanics have not adequately explored the field of space flight navigation theory until this point.The opening chapters introduce essential concepts within optimal control theory, such as the optimization of static systems, special boundary conditions, and dynamic equality constraints. An analytical approach is focused on throughout, as opposed to computational. The result is a book that emphasizes simplicity and practicability, which makes it accessible and engaging. This holds true in later chapters that involve orbital mechanics, two-body maneuvers, bounded inputs, and flight in non-spherical gravity fields.The intended audience is primarily upper-undergraduate students, graduate students, and researchers of aerospace, mechanical, and/or electrical engineering. It will be especially valuable to those with interests in spacecraft dynamics and control. Readers should be familiar with basic dynamics and modern control theory. Additionally, a knowledge of linear algebra, variational methods, and ordinary differential equations is recommended.

Recent developments in model-predictive control promise remarkable opportunities for designing multi-input, multi-output control systems and improving the control of single-input, single-output systems.

This book confronts the real possibility of a deliberate disruptive attack on power systems, with an array of modeling, monitoring and control innovations. The book is supplemented by a Mathematica package enabling readers to work out examples and problems.

This practical yet rigorous book provides a development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.

This book-the first of its kind-presents general methods for feedback controller synthesis and optimization of multiscale systems, illustrating their application to thin-film growth, sputtering processes, and catalytic systems of industrial interest.

The book establishes theoretically rich and practically important connections among modern control theory, Shannon information theory, and entropy theory of dynamical systems originated in the work of Kolmogorov.This self-contained monograph covers the latest achievements in the area.

Includes MATLAB-based computational and design algorithms utilizing the "Linear Systems Toolkit."All results and case studies presented in both the continuous- and discrete-time settings.

Stability is one of the most studied issues in the theory of time-delay systems, however the corresponding chapters of published volumes on time-delay systems do not include a comprehensive study of a counterpart of classical Lyapunov theory for linear delay free systems.

Although the issue of robustness in filtering is not as critical as in feedback control (where there is always the issue of instability to worry about), research on robust filtering and state estimation has remained very active in recent years.

The emerging area of hybrid dynamical systems lies at the interface of control theory and computer science, i.e., analogue 'and' digital aspects of systems. This new monograph presents state-of-the-art concepts, methods and tools for analyzing and describing hybrid dynamical systems.

This book is primarily a research monograph that presents in a unified man ner some recent research on a class of hybrid dynamical systems (HDS).