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UID:

Format: 1 Online-Ressource (XX, 619 p. 225 illus., 50 illus. in color)

Edition: 1st ed. 2021

ISBN: 9783030587864

Series Statement: Advances in Industrial Control

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-030-58785-7

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-030-58787-1

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-030-58788-8

Language: English

DOI: 10.1007/978-3-030-58786-4

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: 1 Online-Ressource (XXXI, 968 p. 595 illus., 66 illus. in color)

Edition: 2nd ed. 2024

ISBN: 9783031559600

Series Statement: Advanced Textbooks in Control and Signal Processing

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-031-55959-4

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-031-55961-7

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-031-55962-4

Language: English

DOI: 10.1007/978-3-031-55960-0

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: XXXI, 968 p. 595 illus., 66 illus. in color. , online resource.

Edition: 2nd ed. 2024.

ISBN: 9783031559600

Series Statement: Advanced Textbooks in Control and Signal Processing,

Content: This book offers an enhanced and comprehensive understanding of control theory and its practical applications. The theoretical chapters on control tools have been meticulously revised and improved to provide a clearer and more insightful exploration of the fundamental concepts and ideas. The explanations have been refined, and new examples have been added to aid comprehension. Additionally, a new chapter on discrete-time systems has been included, delving into an important aspect of control theory. Advanced topics in control are also covered in greater detail, ensuring a comprehensive treatment of the subject matter. The section on experimental applications has been revamped to showcase the application of control ideas in various scenarios. Several chapters have been replaced with fresh content that focuses on controlling new and different experimental prototypes. These examples illustrate how control concepts can be effectively applied in real-world situations. Furthermore, this book introduces a new approach for control of non-minimum phase systems and explores the concept of differential flatness for multiple-input multiple-output systems. Additionally, a fascinating application involving a wheeled pendulum mobile robot has been included. While some chapters have been replaced, the second edition retains the chapters on the control of DC motors and the control of a magnetic levitation system. However, the material in the former chapter is mostly new, and the latter chapter is entirely supported by new control concepts and ideas.

Note: Introduction -- Linear ordinary differential equations -- Basic tools for arbitrary order systems -- Time response-based design -- Frequency response-based design -- The state variables approach -- Advanced topics in control -- Discrete-time systems -- Control of PM brushed DC-motor -- Control of a ball and beam system -- Control of a magnetic levitation system -- Control of Pendubot -- Tilt angle estimation -- Control of wheeled pendulum -- Control of mechanical systems with flexibility -- Control of DC/DC power electronic converters.

In: Springer Nature eBook

Additional Edition: Printed edition: ISBN 9783031559594

Additional Edition: Printed edition: ISBN 9783031559617

Additional Edition: Printed edition: ISBN 9783031559624

Language: English

DOI: 10.1007/978-3-031-55960-0

URL: https://doi.org/10.1007/978-3-031-55960-0

UID:

Format: XX, 619 p. 225 illus., 50 illus. in color. , online resource.

Edition: 1st ed. 2021.

ISBN: 9783030587864

Series Statement: Advances in Industrial Control,

Content: This book introduces a passivity-based approach which simplifies the controller design task for AC motors. It presents the application of this novel approach to several classes of AC motors, magnetic levitation systems, microelectromechanical systems (MEMS) and rigid robot manipulators actuated by AC-motors. The novel passivity-based approach exploits the fact that the natural energy exchange existing between the mechanical and the electrical subsystems allows the natural cancellation of several high order terms during the stability analysis. This allows the authors to present come of the simplest controllers proposed in scientific literature, but provided with formal stability proofs. These simple control laws will be of use to practitioners as they are robust with respect to numerical errors and noise amplification, and are provided with tuning guidelines. Energy-based Control of Electromechanical Systems is intended for both theorists and practitioners. Therefore, the stability proofs are not based on abstract mathematical ideas but Lyapunov stability theory. Several interpretations of the proofs are given along the body of the book using simple energy ideas and the complete proofs are included in appendices. The complete modeling of each motor studied is also presented, allowing for a thorough understanding. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Note: Introduction -- Mathematical Preliminaries -- Permanent Magnet Brushed DC-Motor -- Permanent Magnet Synchronous Motor -- Induction Motor -- Switched Reluctance Motor -- Synchronous Reluctance Motor -- Bipolar Permanent Magnet Stepper Motor -- Brushless DC-Motor -- Magnetic Levitation Systems and Microelectromechanical Systems -- Trajectory Tracking for Robot Manipulators Equipped With PM Synchronous Motors -- PID Control of Robot Manipulators Equipped with SRMs.

In: Springer Nature eBook

Additional Edition: Printed edition: ISBN 9783030587857

Additional Edition: Printed edition: ISBN 9783030587871

Additional Edition: Printed edition: ISBN 9783030587888

Language: English

DOI: 10.1007/978-3-030-58786-4

URL: https://doi.org/10.1007/978-3-030-58786-4

UID:

Format: 1 online resource (XX, 619 p. 225 illus., 50 illus. in color.)

Edition: 1st edition 2021.

ISBN: 3-030-58786-X

Series Statement: Advances in Industrial Control,

Content: This book introduces a passivity-based approach which simplifies the controller design task for AC motors. It presents the application of this novel approach to several classes of AC motors, magnetic levitation systems, microelectromechanical systems (MEMS) and rigid robot manipulators actuated by AC-motors. The novel passivity-based approach exploits the fact that the natural energy exchange existing between the mechanical and the electrical subsystems allows the natural cancellation of several high order terms during the stability analysis. This allows the authors to present come of the simplest controllers proposed in scientific literature, but provided with formal stability proofs. These simple control laws will be of use to practitioners as they are robust with respect to numerical errors and noise amplification, and are provided with tuning guidelines. Energy-based Control of Electromechanical Systems is intended for both theorists and practitioners. Therefore, the stability proofs are not based on abstract mathematical ideas but Lyapunov stability theory. Several interpretations of the proofs are given along the body of the book using simple energy ideas and the complete proofs are included in appendices. The complete modeling of each motor studied is also presented, allowing for a thorough understanding. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Note: Introduction -- Mathematical Preliminaries -- Permanent Magnet Brushed DC-Motor -- Permanent Magnet Synchronous Motor -- Induction Motor -- Switched Reluctance Motor -- Synchronous Reluctance Motor -- Bipolar Permanent Magnet Stepper Motor -- Brushless DC-Motor -- Magnetic Levitation Systems and Microelectromechanical Systems -- Trajectory Tracking for Robot Manipulators Equipped With PM Synchronous Motors -- PID Control of Robot Manipulators Equipped with SRMs.

Additional Edition: ISBN 3-030-58785-1

Language: English

DOI: 10.1007/978-3-030-58786-4

UID:

Format: 1 online resource (987 pages)

Edition: 2nd ed.

ISBN: 3-031-55960-6

Series Statement: Advanced Textbooks in Control and Signal Processing Series

Note: Intro -- Series Editors' Foreword -- Foreword -- Preface -- Acknowledgments -- Contents -- 1 Introduction -- 1.1 The Human Being as a Controller -- 1.1.1 Steering a Boat -- 1.1.2 Video Recording While Running -- 1.2 Feedback Is Omnipresent -- 1.2.1 A Predator-Prey System -- 1.2.2 Homeostasis -- 1.3 Real-Life Applications of Automatic Control -- 1.3.1 A Position Control System -- 1.3.2 A Velocity Control System -- 1.3.3 Robotic Arm -- 1.3.4 Automatic Steering of a Ship -- 1.3.5 A Gyro-Stabilized Video Camera -- 1.4 Nomenclature in Automatic Control -- 1.5 History of Automatic Control -- 1.6 Experimental Prototypes -- 1.7 Summary -- 1.8 Review Questions -- References -- 2 Linear Ordinary Differential Equations -- 2.1 First-Order Differential Equation -- 2.1.1 The a not equals 0aneq0 Case -- 2.1.2 The a equals 0a= 0 Case -- 2.1.3 Transfer Function -- 2.2 Second-Order Differential Equation -- 2.2.1 Graphical Study of the Solution -- 2.2.2 Transfer Function -- 2.3 Arbitrary Order Differential Equations -- 2.3.1 Real and Different Roots -- 2.3.2 Real and Repeated Roots -- 2.3.3 Complex Conjugate and Nonrepeated Roots -- 2.3.4 Complex Conjugated and Repeated Roots -- 2.3.5 Conclusions -- 2.4 Poles and Zeros in Higher-Order Systems -- 2.4.1 Approximate Pole-Zero Cancelation and Reduced-Order Models -- 2.4.2 Dominant Poles and Reduced-Order Models -- 2.4.3 Approximating the Transient Response of Higher-Order Systems -- 2.5 The Case of Sinusoidal Excitations -- 2.6 The Superposition Principle -- 2.7 First- and Second-Order Control Systems -- 2.7.1 Proportional Control of Velocity in a DC Motor -- 2.7.2 Proportional Position Control Plus Velocity Feedback for a DC Motor -- 2.7.3 Proportional-Derivative Position Control of a DC Motor -- 2.7.4 Proportional-Integral Velocity Control of a DC Motor -- 2.7.5 Why Not to Use PID Control for First-Order Systems. , 2.8 Case Study: Electric Current Loops for Control of Electric Motors -- 2.9 Summary -- 2.10 Review Questions -- 2.11 Exercises -- References -- 3 Basic Tools for Arbitrary-Order Systems -- 3.1 Block Diagrams -- 3.2 The Rule of Signs -- 3.2.1 Second Degree Polynomials -- 3.2.2 First Degree Polynomials -- 3.2.3 Polynomials with Degree Greater Than or Equal to 3 -- 3.3 Routh's Stability Criterion -- 3.4 Steady-State Error -- 3.4.1 Step Desired Output -- 3.4.2 Ramp Desired Output -- 3.4.3 Parabola Desired Output -- 3.5 Case Study. An Electronic Oscillator -- 3.6 Summary -- 3.7 Review Questions -- 3.8 Exercises -- References -- 4 Time Response-Based Design -- 4.1 An Introductory Example -- 4.2 Plotting Root Locus Diagrams -- 4.2.1 Rules to Plot the Root Locus Diagram -- 4.3 DC Motor Control -- 4.3.1 Proportional Control of Position -- 4.3.2 Proportional-Derivative (PD) Control of Position -- 4.3.3 Proportional-Integral (PI) Control of Velocity -- 4.3.4 Performance Limitations of Proportional-Integral (PI) Control of Velocity ch4FortinoIEEEtierlocus -- 4.3.5 Proportional-Integral-Derivative (PID) Control of Position -- 4.3.6 Performance Limitations of Classical Proportional-Integral-Derivative (PID) Control -- 4.4 Control of a Ball and Beam System -- 4.4.1 Assigning the Desired Closed-Loop Poles for a Ball and Beam System -- 4.5 Case Study. Additional Notes on PID Control of Position -- 4.6 Summary -- 4.7 Review Questions -- 4.8 Exercises -- References -- 5 Frequency Response-Based Design -- 5.1 Frequency Response of Some Electric Circuits -- 5.1.1 A Series upper R upper CRC Circuit: Output at the Capacitance -- 5.1.2 A Series upper R upper CRC Circuit: Output at the Resistance -- 5.1.3 A Series upper R upper L upper CRLC Circuit: Output at the Capacitance -- 5.1.4 A Series upper R upper L upper CRLC Circuit: Output at the Resistance. , 5.2 The Relationship Between Frequency Response and Time Response -- 5.3 Common Graphical Representations -- 5.3.1 Bode Diagrams -- 5.3.2 Polar Plots -- 5.4 Frequency Response-Based Model Identification -- 5.4.1 DC Motor Velocity Model -- 5.4.2 DC Motor Position Model -- 5.4.3 A Mechanism with Flexibility -- 5.5 Nyquist Stability Criterion -- 5.5.1 Contours Around Poles and Zeros -- 5.5.2 Nyquist Path -- 5.5.3 Poles and Zeros -- 5.5.4 Nyquist Criterion. A Special Case -- 5.5.5 Nyquist Criterion-the General Case -- 5.6 Stability Margins for Minimum Phase Systems -- 5.7 The Relationship Between Frequency Response and Time Response Revisited -- 5.7.1 Closed-Loop Frequency Response and Closed-Loop Time Response -- 5.7.2 Open-Loop Frequency Response and Closed-Loop Time Response -- 5.8 Analysis and Design Examples -- 5.8.1 Velocity Control in a DC Motor -- 5.8.2 PD Position Control of a DC Motor -- 5.8.3 Redesign of the PD Position Control for a DC Motor -- 5.8.4 PID Position Control of a DC Motor -- 5.8.5 Time-Varying References and Disturbances -- 5.8.6 A Ball and Beam System -- 5.9 Case Study. PID Control of an Unstable Plant -- 5.10 Summary -- 5.11 Review Questions -- 5.12 Exercises -- References -- 6 The State Variable Approach -- 6.1 Definition of State Variables -- 6.2 The Error Equation -- 6.3 Approximate Linearization of Nonlinear State Equations -- 6.3.1 Procedure for First-Order State Equations Without Input -- 6.3.2 General Procedure for Arbitrary Order State Equations with Arbitrary Number of Inputs -- 6.4 Some Results from Linear Algebra -- 6.5 Solution of a Linear Time-Invariant Dynamical Equation -- 6.6 Stability of a Dynamical Equation -- 6.7 Linearly Independent Functions of Time ch6chitsongchenestado -- 6.8 Controllability and Observability -- 6.8.1 Controllability -- 6.8.2 Observability -- 6.9 Transfer Function of a Dynamical Equation. , 6.10 A Realization of a Transfer Function -- 6.11 Equivalent Dynamical Equations -- 6.12 State Feedback Control -- 6.13 State Observers -- 6.14 The Separation Principle -- 6.15 Case Study: Output-Feedback Control of a DC Motor -- 6.16 Summary -- 6.17 Review Questions -- 6.18 Exercises -- References -- 7 Advanced Topics in Control -- 7.1 Trade-Offs in Classical Control -- 7.1.1 Time-Domain Design Limitations -- 7.1.2 Frequency-Domain Design Limitations. Bode's Integral Constraints -- 7.2 Internal Model Principle -- 7.2.1 Simulation Example -- 7.3 Nonminimum Phase Systems -- 7.3.1 Linear Nonminimum Phase Systems -- 7.3.2 Nonlinear Nonminimum Phase Systems -- 7.4 Differential Flatness -- 7.4.1 Linear Single-Input Single-Output Systems -- 7.4.2 Linear Multiple-Input Multiple-Output Systems ch7SiraDCT -- 7.5 Describing Function Analysis -- 7.5.1 The Dead Zone Nonlinearity ch7DCTslotine,ch7Cagliari -- 7.5.2 The Saturation Nonlinearity ch7DCTslotine,ch7Cagliari -- 7.6 Summary -- 7.7 Review Questions -- 7.8 Exercises -- References -- 8 Discrete-Time Systems -- 8.1 The Sampling Process -- 8.2 Reconstructing Continuous-Time Functions from Discrete-Time Functions -- 8.2.1 Aliasing -- 8.2.2 Folding -- 8.2.3 Hidden Oscillation -- 8.2.4 Zero-Order Hold -- 8.3 script upper ZmathcalZ Transform -- 8.3.1 Transfer Functions of Sampled Systems -- 8.3.2 Transfer Function of Systems Including a Zero-Order Hold -- 8.4 Inverse script upper ZmathcalZ Transform -- 8.5 Stability of Discrete-Time Systems -- 8.6 Performance Limitations -- 8.7 Is upper X left parenthesis s right parenthesisX(s) the Limit of upper X left parenthesis z right parenthesisX(z) When upper T Subscript s Baseline right arrow 0Tsto0? -- 8.7.1 An Introductory Example -- 8.7.2 Result in ch8astrom84Discreto -- 8.7.3 The Proposed Procedure -- 8.7.4 A Different Approach. An Example -- 8.7.5 Conclusions. , 8.7.6 Result in ch8astrom84Discreto Revisited -- 8.8 The Frequency Response Method -- 8.8.1 Nyquist Stability Criterion -- 8.8.2 Sensitivity Function for Discrete-Time Systems -- 8.8.3 An Illustrative Example -- 8.9 Effect of Sampling Period on Closed-Loop Response … -- 8.10 State Space Representation of Discrete-Time Systems -- 8.10.1 Stability -- 8.11 Summary -- 8.12 Review Questions -- 8.13 Exercises -- References -- 9 Control of PM Brushed DC Motor -- 9.1 Mathematical Model -- 9.2 Identification -- 9.2.1 Velocity Model. Step Response-Based Identification -- 9.2.2 Position Model-Step Response-Based Identification -- 9.3 Velocity Control -- 9.3.1 Proportional Control -- 9.3.2 Proportional-Integral (PI) Control of Velocity -- 9.4 Position Control -- 9.4.1 Proportional Position Control Plus Velocity Feedback -- 9.4.2 Proportional-Derivative (PD) Position Control -- 9.4.3 Proportional-Integral-Derivative (PID) Position Control -- 9.5 Trajectory Tracking -- 9.6 Control of a Mechanism with Flexibility -- 9.6.1 System Modeling -- 9.6.2 Controller Design -- 9.7 Experimental Prototype Construction -- 9.7.1 Microcontroller PIC16F877A C Program -- 9.7.2 Personal Computer Builder C++ Program -- 9.7.3 Other Experiments -- 9.8 Internal Model Principle -- 9.8.1 Experimental Results -- 9.9 PC Program Used in Experiments of Sect.9.8 -- 9.10 Inverted Pendulum Control -- 9.10.1 The Experimental Prototype -- 9.10.2 Limit Cycles -- 9.10.3 PID Control -- 9.11 Microcontroller Program Used for Experiments in Sect. 9.10 -- 9.12 Summary -- 9.13 Review Questions -- References -- 10 Control of a Ball and Beam System -- 10.1 Mathematical Model -- 10.1.1 Nonlinear Model -- 10.1.2 Linear Approximate Model -- 10.2 Prototype Construction -- 10.2.1 Ball Position xx Measurement System -- 10.2.2 Beam Angle thetaθ Measurement System -- 10.3 Parameter Identification. , 10.3.1 Motor-Beam Subsystem.

Additional Edition: ISBN 3-031-55959-2

Language: English