Articles liés à Robust Control: Systems with Uncertain Physical Parameters
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Synopsis
I Introduction to Some Practical Problems of Robust Control.- 1 Examples for Modelling of Plants with Uncertain Parameters.- 1.1 Crane.- 1.2 Four-Wheel Car Steering.- 1.3 Automatic Car Steering.- 1.4 A Flight Control Problem.- 1.5 Notation for Uncertain Plants.- 1.6 Exercises.- 2 Control System Structures.- 2.1 Robust Controllability and Observability.- 2.2 State and Output Feedback.- 2.3 Choice of Sensors.- 2.4 Further Aspects of Controller Structures.- 2.5 Robust Decoupling of Car Steering Dynamics.- 2.6 Gain Scheduling Controllers.- 2.7 Problem Classes of Parametric Polynomials.- 2.8 Exercises.- 3 Analysis and Design.- 3.1 Eigenvalue Specifications.- 3.2 Introduction to Robustness Analysis.- 3.3 Introduction to Robust Controller Design.- 3.4 Three Basic Rules of Robust Control.- 3.5 Exercises.- II Stability Analysis of Polynomial Families.- 4 Classical Stability Tests Applied to Uncertain Polynomials.- 4.1 Root Set Problem Formulation.- 4.2 Boundary Crossing.- 4.3 Algebraic Problem Formulation.- 4.4 Singular Frequencies.- 4.5 Parameter Space Problem Formulation.- 4.6 Frequency Plot Problem Formulation.- 4.7 Exercises.- 5 Testing Sets.- 5.1 Interval Polynomials: Kharitonov's Theorem.- 5.2 Affine Coefficients: Edge Theorem.- 5.3 A Warning Example.- 5.4 Jacobi Conditions.- 5.5 The Mapping Theorem.- 5.6 Exercises.- 6 Value Set Construction.- 6.1 Sequential Set Operations.- 6.2 Simplification of Elementary Value Set Operations.- 6.3 Computer-Aided Execution of Value Set Operations.- 6.4 Color Coding of Value Sets.- 6.5 Tree Structured Decomposition.- 6.6 Animation of Value Sets.- 6.7 Exercises.- 7 The Stability Radius.- 7.1 Tsypkin-Polyak Loci.- 7.2 Affine Dependency: The Largest Hypersphere in Parameter Space.- 7.3 Polynomial Dependency.- 7.4 Exercises.- III Robustness Analysis of Feedback Systems.- 8 Single-Loop Feedback Structures.- 8.1 Interval Plants with a Compensator.- 8.2 Positive Interval Plants with a Positive Compensator.- 8.3 Tree Structured Transfer Functions.- 8.4 Robustness with Respect to Sector Nonlinearities.- 8.5 Exercises.- 9 Gamma-Stability.- 9.1 Boundary Representation.- 9.2 Boundary Crossing.- 9.3 Algebraic Problem Formulation.- 9.4 Gamma-Stability Boundaries in Parameter Space.- 9.5 Value Sets for Gamma-Stability.- 9.6 Gamma-Stability Radius.- 9.7 Testing Sets.- 9.8 Exercises.- 10 Robustness of Sampled-Data Control Systems.- 10.1 Plant Discretization.- 10.2 Discrete-time Controllers.- 10.3 Eigenvalue Specifications.- 10.4 Classical Stability Tests.- 10.5 Testing Sets.- 10.6 Construction of Value Sets.- 10.7 Real Radius of Stability.- 10.8 Single-Loop Feedback Structures.- 10.9 Circle Stability.- 10.10 Exercises.- IV Some Design Tools for Robust Control Systems.- 11 Parameter Space Design.- 11.1 Introduction to Design by Simultaneous Gamma-Stabilization.- 11.2 Pole Region Assignment.- 11.3 Intersections in Controller Parameter Space.- 11.4 Selection of a Controller from the Admissible Set.- 11.5 Case Study: Automatic Steering of a Bus.- 11.6 Case Study: Flight Control.- 11.7 Exercises.- 12 Design by Optimizing a Vector Performance Index.- 12.1 Formulation of Design Specifications for a Finite Plant Family.- 12.2 Concept of the Design by Optimizing a Vector Performance Index.- 12.3 Case Study: Car Steering.- V Appendix.- Color plates.
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