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E-book
Author Hippe, P. (Peter)

Title Design of observer-based compensators : from the time to the frequency domain / Peter Hippe, Joachim Deutscher
Published Dordrecht ; London : Springer, ©2009

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Description 1 online resource (xiii, 285 pages) : illustrations
Contents 1 Polynomial Matrix Fraction Descriptions 1 -- 1.1 Right Coprime Matrix Fraction Description 1 -- 1.2 Left Coprime Matrix Fraction Description 10 -- 2 State Feedback Control 17 -- 2.1 State Feedback in the Time Domain 18 -- 2.2 Parameterization of the State Feedback in the Frequency Domain 20 -- 3 State Observers 27 -- 3.1 The Reduced-order Observer in the Time Domain 28 -- 3.2 Parameterization of the Full-order Observer in the Frequency Domain 32 -- 3.3 Parameterization of the Reduced-order Observer in the Frequency Domain 36 -- 4 Observer-based Compensators 51 -- 4.1 The Observer-based Compensator in the Time Domain 52 -- 4.2 Representations of the Observer-based Compensator in the Frequency Domain 54 -- 4.3 Computation of the Observer-based Compensator in the Frequency Domain 60 -- 4.4 Summary of the Steps for the Design of Observer-based Compensators in the Frequency Domain 64 -- 4.5 Prevention of Problems Caused by Input-signal Restrictions 70 -- 5 Parametric Compensator Design 81 -- 5.1 Parametric Design of State Feedback in the Time Domain 82 -- 5.2 Parametric Design of State Feedback in the Frequency Domain 84 -- 5.2.1 Definition of the Pole Directions 84 -- 5.2.2 Parametric Expression of the State Feedback 85 -- 5.2.3 Relation Between the Pole Directions and the Closed-loop Eigenvectors 89 -- 5.2.4 Relation Between the Pole Directions and the Invariant Parameter Vectors 90 -- 5.3 Parameterization of the State Feedback Gain Using the Pole Directions 90 -- 5.4 Parametric Design of Reduced-order Observers in the Frequency Domain 92 -- 5.4.1 Definition of the Observer Pole Directions 92 -- 5.4.2 Parametric Expression for the Observer Design 93 -- 5.4.3 Relation Between the Observer Pole Directions and the Left Eigenvectors of the Observer 97 -- 5.4.4 Parameterization of Observers in the Time Domain Using the Pole Directions 99 -- 5.5 Parametric Design of Reduced-order Observers in the Time Domain 103 -- 6 Decoupling Control 107 -- 6.1 Diagonal Decoupling 108 -- 6.1.1 Criterion for Diagonal Decoupling 108 -- 6.1.2 A Simple Solution of the Diagonal Decoupling Problem 111 -- 6.1.3 Diagonal Decoupling Using the Parametric Approach 115 -- 6.2 Decoupling with Coupled Rows 119 -- 6.2.1 Decoupling of Non-minimum Phase Systems 119 -- 6.2.2 Decoupling of Non-decouplable Systems 124 -- 6.2.3 Decoupling of Non-minimum Phase and Non-decouplable Systems 127 -- 7 Disturbance Rejection Using the Internal Model Principle 131 -- 7.1 Time-domain Approach to Disturbance Rejection 132 -- 7.2 State Feedback Control of the Augmented System in the Frequency Domain 142 -- 7.3 State Observer for the Non-augmented System in the Frequency Domain 147 -- 7.4 Design of the Observer-based Compensator with an Internal Signal Model in the Frequency Domain 148 -- 8 Optimal Control and Estimation 167 -- 8.1 The Linear Quadratic Regulator in the Time Domain 168 -- 8.2 The Linear Quadratic Regulator in the Frequency Domain 169 -- 8.3 The Stationary Kalman Filter in the Time Domain 174 -- 8.4 The Stationary Kalman Filter in the Frequency Domain 177 -- 9 Model-matching Control with Two Degrees of Freedom 185 -- 9.1 Model-based Feedforward Control in the Time Domain 187 -- 9.2 Model-based Feedforward Control in the Frequency Domain 189 -- 9.3 Tracking Control by State Feedback in the Time Domain 190 -- 9.3.1 Tracking Controller without Disturbance Rejection 190 -- 9.3.2 Tracking Controller with Disturbance Rejection 191 -- 9.4 Tracking Control by State Feedback in the Frequency Domain 195 -- 9.5 Observer-based Tracking Control in the Time Domain 198 -- 9.6 Observer-based Tracking Control in the Frequency Domain 200 -- 10 Observer-based Compensators with Disturbance Rejection for Discrete-time Systems 209 -- 10.1 Discrete-time Control in the Time Domain 210 -- 10.2 Discrete-time Control in the Frequency Domain 215 -- 11 Optimal Control and Estimation for Discrete-time Systems 225 -- 11.1 The Linear Quadratic Regulator in the Time Domain 226 -- 11.2 The Linear Quadratic Regulator in the Frequency Domain 227 -- 11.3 The Stationary Kalman Filter in the Time Domain 232 -- 11.4 The Stationary Kalman Filter in the Frequency Domain 237 -- 11.4.1 Parameterization of the Stationary Kalman Filter for an a posteriori Estimate in the Frequency Domain 237 -- 11.4.2 Frequency-domain Design of the Stationary Kalman Filter 246 -- 11.5 Observer-based Compensators with a posteriori State Estimate in the Frequency Domain 255
Summary Design of Observer-based Compensators presents the frequency domain design of observer-based controllers in complete correspondence to well-known time domain results and gives connecting relations at every design stage. This facilitates and adds transparency to the design in the frequency domain which is not as well-established among control engineers as time-domain design. The presentation of the design procedures starts with a short review of the time domain results; therefore, the book also provides quick access to state space methods for control system design. The frequency domain design of observer-based compensators of all orders from the full-order to the completely reduced-order compensator is covered. The design of decoupling and disturbance rejecting controllers is presented. Furthermore, solutions are given to the linear quadratic and the model matching problems. The pole assignment is facilitated by a new parametric approach which is formulated directly in the frequency domain. Anti-windup control is also investigated in the framework of the polynomial approach. Though mainly continuous-time systems are considered, the discrete-time results for disturbance rejection and linear quadratic control are also presented. The monograph contains worked examples that can easily be reproduced by the reader, and the results are illustrated by simulations. Design of Observer-based Compensators will be of use as a reference for control engineers, graduate students and researchers who are familiar with the time domain design and who want to become acquainted with the frequency domain design using polynomial matrices
Bibliography Includes bibliographical references and index
Notes Print version record
Subject Systems engineering.
System design.
Frequencies of oscillating systems.
Time-series analysis.
Discrete-time systems.
Control theory.
systems engineering.
TECHNOLOGY & ENGINEERING -- Engineering (General)
TECHNOLOGY & ENGINEERING -- Reference.
Ingénierie.
Control theory
Discrete-time systems
Frequencies of oscillating systems
System design
Systems engineering
Time-series analysis
Form Electronic book
Author Deutscher, Joachim.
ISBN 9781848825376
1848825374
9781848825369
1848825366