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Lurie J.B., Enright P.J. — Classical Feedback Control With Matlab
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Íàçâàíèå: Classical Feedback Control With MatlabÀâòîðû: Lurie J.B., Enright P.J. Àííîòàöèÿ: Doubling as a text book and a reference guide, this volume describes design and implementation of feedback controllers for engineering systems. Special attention is given to the frequency-domain design methods based on loop shaping, Bode integrals, and nonlinear dynamic compensation. The first six chapters support a one-semester course in linear control; the rest of the book considers the issues of complex system simulation, robustness, global stability, and nonlinear control. Throughout, MATLAB and SPICE are used for simulation and design, but no preliminary experience with this software is required. Some knowledge of Laplace transform and frequency responses is assumed. The authors are members of the technical staff at California Institute of Technology.Book News, Inc.®, Portland, OR
ßçûê: Ðóáðèêà: Ìàòåìàòèêà /×èñëåííûå ìåòîäû /Âåéâëåòû, îáðàáîòêà ñèãíàëîâ /Ñòàòóñ ïðåäìåòíîãî óêàçàòåëÿ: Ãîòîâ óêàçàòåëü ñ íîìåðàìè ñòðàíèö ed2k: ed2k stats Ãîä èçäàíèÿ: 2000Êîëè÷åñòâî ñòðàíèö: 456Äîáàâëåíà â êàòàëîã: 04.03.2005Îïåðàöèè: Ïîëîæèòü íà ïîëêó |
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255—256 255 Absolute encoder 234 Absolute process stability 322—324 Absolute stability 65 270—271 Accelerometer 235 308—309 360 324 Active suspension (vibration isolation) 206—207 228—229 Actuator 1 Actuator, main/vernier arrangement 39—40 Actuator, motor 1—2 Actuator, passim piezoelectric 40 224—225 Actuator, voice coil 40 206—207 Adaptation, direct and indirect 257 Adaptive system 257—265 Aliasing 156—157 Analogies, electrical to hydraulic 209—211 Analogies, electrical to thermal 208—209 Analogies, electromechanical 205—208 Analogies, feedback to connection of two-poles 237 271 324 Analogies, feedback to parallel channels 237 323 Analyzer, signal 197—199 357 361 Antenna 1 4 11—12 19 153 Approximation of constant slope Bode diagram 133—134 Approximation of describing function 296 Asymptote, high-frequency 97 98 Asymptotic Bode diagram 131—133 Asymptotic global stability 270 Automatic level control 19—20 Back emf 104 223 228 Backlash 297—298 Balanced bridge feedback 220 385 Bandwidth of closed-loop feedback 111 Bandwidth of open-loop feedback 110 Bandwidth, functional 111 Bang-bang control 299 Basin of attraction 268 Bessel filter 57—59 101 Bias 269 Bifilar coil 188—189 Bifurcation points 269 325—326 Bilinear function 149 150 152 193 194 220 385 Biquad 147 152 Black, H. S. 17 35 349 Black, H. S., feedforward 35—36 Blackman, R. B., formula 216 382—384 Block diagram transformation 40—43 Bode, H. W. 17 396 Bode, H. W., cutoff 106—107 Bode, H. W., diagram 7 Bode, H. W., integral of feedback 75—76 392 Bode, H. W., integral of gain 78—79 Bode, H. W., integral of imaginary part (phase) 78 136 372 Bode, H. W., integral of real part 75 372 393 Bode, H. W., integral of resistance 76—77 Bode, H. W., passim integral of admittance 77 Bode, H. W., phase-gain relation 79—81 373—375 392 Bode, H. W., step 97—100 139—143 Brake (stall) torque 213 Bridge, balanced 220 386 Bridge, Wheatstone 219 386 Bridged T-circuit 175 Burst of periodic signal 317 Cauer, W., two-pole implementation 179—180 Causal system 79 371 Chart, Nichols 10 25 246 327 Chart, RC-impedance 183 Clegg Integrator 310 Closed-loop transfer function 3 14 Coil, bifilar 188—189 Cold controller switching 335 Collocated control 116—119 232 260 Command 1 passim Command feedforward 31—32 Commander 33 44 Compensator 1 Compensator, lag 135—136 174—175 Compensator, lead 135 154 174 175 182 Compensator, switched capacitor 184—186 Compound feedback 218 383 Conditional stability 270 Conjecture of filter 291 Control, bang-bang 299 Control, collocated 116—119 232 260 Control, fuzzy-logic 331 Control, input matrix 249 Control, modern 95 253 Control, multiwindow 333—347 Control, non-collocated 115 119 232—234 Control, time-optimal 341—342 Control, vector 249 Controller, composite multiwindow 333—347 Controller, fuzzy logic 332 Controller, PID (proportional-integral-derivative) 20 143 186 190—192 337—338 394 Controller, TID (tilt-integral-derivative) 192—193 Corner frequency 132 Coulomb friction 227 Coupling 43—45 passim Criterion, Nyquist 61—62 Criterion, Nyquist-Bode 70 Criterion, Popov 271—275 Critical point 63 Cross-sectioned feedback circuit 362 Crossover frequency 8 Current feedback 25 218 312 382 Current regulator 25—26 Cycle, limit 268 Damping coefficient 137 367 Dashpot 143 207 Dead band, dead beat band 299 Dead zone 16 Decoupling matrix 44—45 185 Delay, transport 85 113—114 Describing ftinction 291—292 Describing ftinction of dead zone 293—295 Describing ftinction of hysteresis 297 Describing ftinction of saturation 294—295 Describing ftinction of three position relay 294—295 Describing ftinction, approximate formulas 296 Describing ftinction, inverse 292 Describing ftinction, phase-gain relations for 387 Design sequence 96—97 151 398 Diagram, asymptotic Bode 131—133 passim Diagram, Bode 7 passim Diagram, Ince — Strutt 239 Diagram, loading 213 Diagram, Nyquist 9—10 passim Diagram, Nyquist for unstable plant 67—69 Differentiator 171—172 Disturbances 11—12 Dominant poles and zeros 367 Drift 173 235 Driver 1 Dynamic range 137—139 146 173 electromotive force (EMF) 212 Electromotive force (emf), back emf 104 223 228 Encoder 223 234 Equation, Mathieu’s 238 Error 1 Error, feedforward 34 Error, static (steady state) 54 73 Estimator gain matrix 254 Exact linearization 426 Falling branch 269 325—327 Fano R 392 Feedback 2 Feedback, balanced bridge 220 386 Feedback, bandwidth (range) of closed-loop feedback 111 Feedback, bandwidth (range) of open-loop feedback 110 Feedback, bandwidth (range), functional 111 Feedback, common 37—38 Feedback, compound 218 382 Feedback, current 25 218 312 381 Feedback, error 1 Feedback, fall-state 251 254 Feedback, integral of 75—76 Feedback, large 4 Feedback, local 37—38 Feedback, maximization 96 394 394 Feedback, multiloop 36—37 Feedback, negative 3 76 97 Feedback, parallel 217 382 Feedback, path 1 Feedback, positive 3 58 65—66 76 97 Feedback, rate 217 Feedback, series 218 381—382 Feedback, voltage 217 382 Feedforward 31—36 Feedforward, Black’s 35—36 Feedforward, command 31—33 412 Feedforward, error 34 Filter, active RC, multiple feedback 176 Filter, active RC, Sallen-Key 176 Filter, active RC, state variable 177 Filter, active RC, switched capacitor 184—186 Filter, antialiasing 157 Filter, Bessel (Thompson) 57—59 101 Filter, Butterworth 56—57 Filter, Chebyshev 56—57 Filter, conjecture of 291 Filter, filter fork 339—340 Filter, Kalman 262 Filter, linear phase 57 Filter, transversal 264 Flexible (appendages, modes, parts, plant, structures) 77 96 115 116—119 passim Floating capacitor 215 Flux 218 271 Follower 5 172—173 Force, analogy to current 205—207 Force, analogy to voltage 208 Force, back electromotive 104 223 228 Foster, R., canonical two-pole 180 Foster, R., theorem 180 230 Four-port network 379 Fourier, formulas 291 Fourier, law 208 Free run velocity 213 Frequency, crossover 8 Frequency, Nyquist 148 Frequency, response 7 360—361 passim Frequency, sampling 147—153 Friction, Coulomb 227 Friction, viscous 226—227 Full-state feedback 251 254 Function, all-pass 86 Function, bilinear 149 150 152 193—194 220 385 Function, lossless impedance 117—118 229—231 371 Function, minimum phase 74—75 79 87 391 394—395 Function, positive real 87 272 323 371 Function, transfer 363 Furnace 351 399 Fuzzy logic controller 332 Gain matrix 249 Gain scheduling 259 Gear, flow chart 225—226 Generator, saw-tooth 199 298—299 Generator, sweep 198—199 Global stability 270 315—316 Goldfarb, L. S 291 Ground 186—187 Guard-point stability margin 67 Gyroscope 234 262 405 Hard oscillation 328 Harmonic balance 289—291 Harmonics 313—314 Heater 209 351 399 Homing system 12 passim Horowitz, I. M. IV 18 245 441 Horowitz, I. M., sensitivity 18—19 Hot controller switching 335 Hydraulic systems 209—211 Hysteresis 297 Hysteresis, negative 310 Hysteresis, negative, phase lag of 297 I-plane 9—10 Impedance 207—208 229—230 Impedance of lossless system 118 Impedance, load 212—213 381 Impedance, mechanical 206 Impedance, RC 180 Impedance, source 212 Impedance, wave (characteristic) 231 Incremental encoder 234 Initial value and final-value theorems 362 inner loop 33 Instrumentation amplifier 188 Integral of admittance 77 Integral of feedback 75—76 Integral of gain 78—79 Integral of phase 78 Integral of resistance 76—77 Integrator, Clegg 310—311 Integrator, discrete trapezoidal 146—149 Integrator, half-integrator approximation 134 Integrator, link 12 Integrator, op-amp implementation 171—172 Integrator, switched-capacitor 184 Interferometer, laser 234 Interferometer, orbiting stellar 40 417 Intermodulation 314—315 Internal feedback 68 Inverse describing function 292 Iso-f, iso-E, iso-w lines and responses 300—306 Johnson (Nyquist) noise 171 Jump-resonance 324—327 Junction of links 211—212 Kinematic nonlinearity 267 Kochenburger, R 291 Ladder network 75 86—87 Lag, compensator 135—136 174 175 Lag, nonminimum phase 74 85—86 113 394 Laplace transfer function 363—366 Laplace transform 362 Laser interferometer 234 Lead compensator 135—136 154 174—175 182 Limit cycle 268 Line, transmission 231 Linear Quadratic Gaussian 253—255 Linear Quadratic Regulator 253—254 Linear systems 1 links 1 352—353 LMI 256 Load, cell 206—207 228—229 Load, effect on feedback 219—220 Load, impedance 212—213 Load, resistance 213 Loading diagram 213 Loading line 213 Logarithmic amplifier 199 264 Loop transfer recovery 255 Loop, common 37 311—312 Loop, crossed 38—39 Loop, gain 7 Loop, inner 33 Loop, local 37—38 311—312 Loop, main and vernier 39—40 405—406 417 Loop, nested 38 Loop, outer 33 Loop, phase shift 7 Loop, tangent 41 Lossless distributed structure 230—231
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