New book! (Finally in print)
M U L T I V A R I A B L E
F E E D B A C K C O N T R O L
Analysis and Design
by
Sigurd Skogestad
Norwegian University of Science and Technology, Trondheim, Norway
and
Ian Postlethwaite
University of Leicester, UK
Published by Wiley, 1996, 570 pages.
Soft cover edition, ISBN 471-94330-4, Price: $48 (US), GBP 30 (UK).
Hard cover edition, ISBN 471-94277-4, Price: $96 (US), GBP 60 (UK).
For more detailed information about the book, see
http://www.kjemi.unit.no/~skoge/book.html
Short description:
The book presents a rigorous, yet easily readable, introduction to
the analysis and design of multivariable feedback systems. It provides
the reader with insights which are invaluable when designing or tuning
any control system.
The book includes more than 100 worked examples, 3 major case studies
and about 140 exercises. Many of the examples make use of MATLAB, and
sample files are included. MATLAB files for examples and figures,
solutions to selected exercises and models for the case studies are
available on the internet.
Of special interest for chemical engineers are the two chapters on
input-output controllability analysis and one chapter on control
structure design.
The prerequisites for reading this book are an introductory course in
classical single-input single-output (SISO) control and some elementary
knowledge of matrices and linear algebra.
Parts of the book can be studied alone, and provide an appropriate
background for a number of linear control courses at both undergraduate
and graduate levels: classical loop-shaping control, an introduction to
multivariable control, advanced multivariable control, robust control,
controller design, control structure design and controllability analysis.
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S.Skogestad and I.Postlethwaite, "Multivariable feedback control",
Wiley 1996, 570 pages.
Table of contents (see the web page for a more detailed contents):
1 INTRODUCTION
1.1 The process of control system design
1.2 The control problem
1.3 Transfer functions
1.4 Scaling
1.5 Deriving linear models
1.6 Notation
2 CLASSICAL FEEDBACK CONTROL
2.1 Frequency response
2.2 Feedback control
2.3 Closed-loop stability
2.4 Evaluating closed-loop performance
2.5 Controller design
2.6 Loop shaping
2.7 Shaping closed-loop transfer functions
2.8 Conclusion
3 INTRODUCTION TO MULTIVARIABLE CONTROL
3.1 Introduction
3.2 Transfer functions for MIMO systems
3.3 Multivariable frequency response analysis
3.4 Control of multivariable plants
3.5 Introduction to multivariable RHP-zeros
3.6 Condition number and RGA
3.7 Introduction to MIMO robustness
3.8 General control problem formulation
3.9 Additional exercises
3.10 Conclusion
4 ELEMENTS OF LINEAR SYSTEM THEORY
4.1 System descriptions
4.2 State controllability and state observability
4.3 Stability
4.4 Poles
4.5 Zeros
4.6 More on poles and zeros
4.7 Internal stability of feedback systems
4.8 Stabilizing controllers
4.9 Stability analysis in the frequency domain
4.10 System norms
4.11 Conclusion
5 LIMITATIONS ON PERFORMANCE IN SISO SYSTEMS
5.1 Input-Output Controllability
5.2 Perfect control and plant inversion
5.3 Constraints on $S$ and $T$
5.4 Ideal ISE optimal control
5.5 Limitations imposed by time delays
5.6 Limitations imposed by RHP-zeros
5.7 Non-causal controllers
5.8 Limitations imposed by RHP-poles
5.9 Combined RHP-poles and RHP-zeros
5.10 Performance requirements imposed by disturbances and commands
5.11 Limitations imposed by input constraints
5.12 Limitations imposed by phase lag
5.13 Limitations imposed by uncertainty
5.14 Controllability analysis with feedback control
5.15 Controllability analysis with feedforward control
5.16 Applications of controllability analysis
5.17 Conclusion
6 LIMITATIONS ON PERFORMANCE IN MIMO SYSTEMS
6.1 Introduction
6.2 Constraints on $S$ and $T$
6.3 Functional controllability
6.4 Limitations imposed by time delays
6.5 Limitations imposed by RHP-zeros
6.6 Limitations imposed by RHP-poles
6.7 RHP-poles combined with RHP-zeros
6.8 Performance requirements imposed by disturbances
6.9 Limitations imposed by input constraints
6.10 Limitations imposed by uncertainty
6.11 Input-output controllability
6.12 Conclusion
7 UNCERTAINTY AND ROBUSTNESS FOR SISO SYSTEMS
7.1 Introduction to robustness
7.2 Representing uncertainty
7.3 Parametric uncertainty
7.4 Representing uncertainty in the frequency domain
7.5 SISO Robust stability
7.6 SISO Robust performance
7.7 Examples of parametric uncertainty
7.8 Additional exercises
7.9 Conclusion
8 ROBUST STABILITY AND PERFORMANCE ANALYSIS
8.1 General control configuration with uncertainty
8.2 Representing uncertainty
8.3 Obtaining $P$, $N$ and $M$
8.4 Definitions of robust stability and robust performance
8.5 Robust stability of the $M\Delta $-structure
8.6 RS for complex unstructured uncertainty
8.7 RS with structured uncertainty: Motivation
8.8 The structured singular value
8.9 Robust stability with structured uncertainty
8.10 Robust performance
8.11 Application: RP with input uncertainty
8.12 $\mu $-synthesis and $DK$-iteration
8.13 Further remarks on $\mu $
8.14 Conclusion
9 CONTROLLER DESIGN
9.1 Trade-offs in MIMO feedback design
9.2 LQG control
9.3 ${\cal H}_2$ and ${\cal H}_\infty$ control
9.4 ${\cal H}_\infty $ loop-shaping design
9.5 Conclusion
10 CONTROL STRUCTURE DESIGN
10.1 Introduction
10.2 Optimization and control
10.3 Selection of controlled outputs
10.4 Selection of manipulations and measurements
10.5 RGA for non-square plant
10.6 Control configuration elements
10.7 Hierarchical and partial control
10.8 Decentralized feedback control
10.9 Conclusion
11 MODEL REDUCTION
11.1 Introduction
11.2 Truncation and residualization
11.3 Balanced realizations
11.4 Balanced truncation and balanced residualization
11.5 Optimal Hankel norm approximation
11.6 Two practical examples
11.7 Reduction of unstable models
11.8 Model reduction using MATLAB
11.9 Conclusion
12 CASE STUDIES
12.1 Introduction
12.2 Helicopter control
12.3 Aero-engine control
12.4 Distillation process
12.5 Conclusion
Appendix A MATRIX THEORY AND NORMS
A.1 Basics
A.2 Eigenvalues and eigenvectors
A.3 Singular Value Decomposition
A.4 Relative Gain Array
A.5 Norms
A.6 Factorization of the sensitivity function
A.7 Linear fractional transformations
Appendix B PROJECT WORK and SAMPLE EXAM
B.1 Project work
B.2 Sample exam
BIBLIOGRAPHY
INDEX