Feedback Control of Computing Systems

, by Hellerstein, Joseph L.; Diao, Yixin; Parekh, Sujay; Tilbury, Dawn M.

Note: Supplemental materials are not guaranteed with Rental or Used book purchases.

ISBN: 9780471266372 | 047126637X
Cover: Hardcover
Copyright: 8/24/2004

Buy New

Print on Demand: 2-4 Weeks. This item cannot be cancelled or returned.

$236.29

This is the first practical treatment of the design and application of feedback control of computing systems. MATLAB files for the solution of problems and case studies accompany the text throughout. The book discusses information technology examples, such as maximizing the efficiency of Lotus Notes.This book results from the authors' research into the use of control theory to model and control computing systems. This has important implications to the way engineers and researchers approach different resource management problems. This guide is well suited for professionals and researchers in information technology and computer science.

PREFACE

PART I BACKGROUND

(28)

1 Introduction and Overview

(240)

1.1 The Nature of Feedback Control

(3)

1.2 Control Objectives

(1)

1.3 Properties of Feedback Control Systems

(3)

1.4 Open-Loop versus Closed-Loop Control

(1)

1.5 Summary of Applications of Control Theory to Computing Systems

(2)

1.6 Computer Examples of Feedback Control Systems

(11)

1.6.1 IBM Lotus Domino Server

(2)

1.6.2 Queueing Systems

(1)

1.6.3 Apache HTTP Server

(3)

1.6.4 Random Early Detection of Router Overloads

(1)

1.6.5 Load Balancing

(1)

1.6.6 Streaming Media

(1)

1.6.7 Caching with Differentiated Service

(2)

1.7 Challenges in Applying Control Theory to Computing Systems

(2)

1.8 Summary

(1)

1.9 Exercises

(2)

PART II SYSTEM MODELING

(214)

2 Model Construction

(34)

2.1 Basics of Queueing Theory

(4)

2.2 Modeling Dynamic Behavior

(7)

2.2.1 Model Variables

(1)

2.2.2 Signals

(3)

2.2.3 Linear, Time-Invariant Difference Equations

(2)

2.2.4 Nonlinearities

(2)

2.3 First-Principles Models

(2)

2.4 Black-Box Models

(12)

2.4.1 Model Scope

(2)

2.4.2 Experimental Design

(2)

2.4.3 Parameter Estimation

(4)

2.4.4 Model Evaluation

(3)

2.5 Summary

(1)

2.6 Extended Examples

(3)

2.6.1 IBM Lotus Domino Server

(1)

2.6.2 Apache HTTP Server

(1)

2.6.3 M/M/1/K Comparisons

(1)

2.7 Parameter Estimation Using MATLAB

(3)

2.8 Exercises

(3)

3 Z-Transforms and Transfer Functions

(46)

3.1 Z-Transform Basics

(16)

3.1.1 Z-Transform Definition

(2)

3.1.2 Z-Transforms of Common Signals

(3)

3.1.3 Properties of Z-Transforms

(3)

3.1.4 Inverse Z-Transforms

(1)

3.1.5 Using Z-Transforms to Solve Difference Equations

(6)

3.2 Characteristics Inferred from Z-Transforms

(8)

3.2.1 Review of Complex Variables

(2)

3.2.2 Poles and Zeros of a Z-Transform

(3)

3.2.3 Steady-State Analysis

(2)

3.2.4 Time Domain versus Z-Domain

(1)

3.3 Transfer Functions

(13)

3.3.1 Stability

(3)

3.3.2 Steady-State Gain

(1)

3.3.3 System Order

(1)

3.3.4 Dominant Poles and Model Simplification

(4)

3.3.5 Simulating Transfer Functions

100

(2)

3.4 Summary

102

(1)

3.5 Extended Examples

103

(2)

3.5.1 M/M/1/K from System Identification

103

(1)

3.5.2 IBM Lotus Domino Server: Sensor Delay

103

(1)

3.5.3 Apache HTTP Server: Combining Control Inputs

104

(1)

3.6 Z-Transforms and MATLAB

105

(2)

3.7 Exercises

107

(4)

4 System Modeling with Block Diagrams

111

(18)

4.1 Block Diagrams Basics

111

(20)

4.2 Transforming Block Diagrams

115

(1)

4.2.1 Special Aggregations of Blocks

115

(1)

4.3 Transfer Functions for Control Analysis

116

(3)

4.4 Block Diagram Restructuring

119

(1)

4.5 Summary

120

(1)

4.6 Extended Examples

121

(1)

4.6.1 IBM Lotus Domino Server

121

(2)

4.6.2 Apache HTTP Server with Control Loops

123

(1)

4.6.3 Streaming

124

(2)

4.7 Composing Transfer Functions in MATLAB

126

(2)

4.8 Exercises

128

(1)

5 First-Order Systems

129

(1)

5.1 First-Order Model

129

(1)

5.2 System Response

131

(34)

5.2.1 Steady-State and Transient Responses

131

(2)

5.2.2 Input Signal Model

133

(1)

5.2.3 Time-Domain Solution

133

(2)

5.3 Initial Condition Response

135

(1)

5.4 Impulse Response

136

(5)

5.5 Step Response

141

(1)

5.5.1 Numerical Example

141

(1)

5.5.2 Time-Domain Solution

141

(2)

5.5.3 Steady-State Response

143

(1)

5.5.4 Transient Response

144

(3)

5.6 Transient Response to Other Signals

147

(1)

5.6.1 Ramp Response

147

(3)

5.6.2 Frequency Response

150

(2)

5.7 Effect of Stochastics

152

(2)

5.8 Summary

154

(2)

5.9 Extended Examples

156

(1)

5.9.1 Estimating Operating Region of the Apache HTTP Server

156

(1)

5.9.2 IBM Lotus Domino Server with a Disturbance

157

(2)

5.9.3 Feedback Control of the IBM Lotus Domino Server

159

(2)

5.10 Analyzing Transient Response with MATLAB

161

(1)

5.11 Exercises

162

(3)

6 Higher-Order Systems

165

(36)

6.1 Motivation and Definitions

165

(3)

6.2 Real Poles

168

(11)

6.2.1 Initial Condition Response

168

(3)

6.2.2 Impulse Response

171

(3)

6.2.3 Step Response

174

(2)

6.2.4 Other Signals

176

(1)

6.2.5 Effect of Zeros

177

(2)

6.3 Complex Poles

179

(7)

6.3.1 Second-Order System

179

(2)

6.3.2 Impulse Response

181

(4)

6.3.3 Step Response 183 6.4 Summary

185

(1)

6.5 Extended Examples

186

(10)

6.5.1 Apache HTTP Server with a Filter

186

(3)

6.5.2 Apache HTTP Server with a Filter and Controller

189

(2)

6.5.3 IBM Lotus Domino Server with a Filter and Controller

191

(1)

6.5.4 M/M/1/K with a Filter and Controller

192

(4)

6.6 Analyzing Transient Response with MATLAB

196

(1)

6.7 Exercises

197

(4)

7 State-Space Models

201

(1)

7.1 State Variables

201

(1)

7.2 State-Space Models

204

(1)

7.3 Solving Difference Equations in State Space

207

(1)

7.4 Converting Between Transfer Function Models and State-Space Models

211

(1)

7.5 Analysis of State-Space Models

216

(29)

7.5.1 Stability Analysis of State-Space Models

216

(2)

7.5.2 Steady-State Analysis of State-Space Models

218

(2)

7.5.3 Transient Analysis of State-Space Models

220

(1)

7.6 Special Considerations in State-Space Models

221

(1)

7.6.1 Equivalence of State Variables

221

(1)

7.6.2 Controllability

222

(3)

7.6.3 Observability

225

(3)

7.7 Summary

228

(1)

7.8 Extended Examples

229

(1)

7.8.1 MIMO System Identification of the Apache HTTP Server

229

(5)

7.8.2 State-Space Model of the IBM Lotus Domino Server with Sensor Delay

234

(3)

7.9 Constructing State-Space Models in MATLAB

237

(2)

7.10 Exercises

239

(4)

PART III CONTROL ANALYSIS AND DESIGN

243

(154)

8 Proportional Control

245

(48)

8.1 Control Laws and Controller Operation

245

(7)

8.2 Desirable Properties of Controllers

252

(2)

8.3 Framework for Analyzing Proportional Control

254

(7)

8.3.1 Closed-Loop Transfer Functions

255

(2)

8.3.2 Stability

257

(1)

8.3.3 Accuracy

258

(2)

8.3.4 Settling Time

260

(1)

8.3.5 Maximum Overshoot

260

(1)

8.4 P-Control: Robustness, Delays, and Filters

261

(10)

8.4.1 First-Order Target System

261

(5)

8.4.2 Measurement Delay

266

(2)

8.4.3 Moving-Average Filter

268

(3)

8.5 Design of Proportional Controllers

271

(4)

8.6 Summary

275

(1)

8.7 Extended Examples

276

(10)

8.7.1 IBM Lotus Domino Server with a Moving-Average Filter

276

(2)

8.7.2 Apache with Precompensation

278

(4)

8.7.3 Apache with Disturbance Rejection

282

(1)

8.7.4 Effect of Operating Region on M/M/1/K Control

282

(4)

8.8 Designing P-Controllers in MATLAB

286

(3)

8.9 Exercises

289

(4)

9 PID Controllers

293

(44)

9.1 Integral Control

293

(8)

9.1.1 Steady-State Error with Integral Control

294

(2)

9.1.2 Transient Response with Integral Control

296

(5)

9.2 Proportional-Integral Control

301

(14)

9.2.1 Steady-State Error with PI Control

303

(1)

9.2.2 PI Control Design by Pole Placement

303

(4)

9.2.3 PI Control Design Using Root Locus

307

(2)

9.2.4 PI Control Design Using Empirical Methods

309

(6)

9.3 Proportional-Derivative Control

315

(5)

9.4 PID Control

320

(4)

9.5 Summary

324

(1)

9.6 Extended Examples

325

(7)

9.6.1 PI Control of the Apache HTTP Server Using Empirical Methods

325

(2)

9.6.2 Designing a PI Controller for the Apache HTTP Server Using Pole Placement Design

327

(1)

9.6.3 IBM Lotus Domino Server with a Sensor Delay

328

(2)

9.6.4 Caching with Feedback Control

330

(2)

9.7 Designing PI Controllers in MATLAB

332

(1)

9.8 Exercises

333

(4)

10 State-Space Feedback Control

337

(38)

10.1 State-Space Analysis

337

(2)

10.2 State Feedback Control Systems

339

(14)

10.2.1 Static State Feedback

340

(2)

10.2.2 Precompensated Static State Feedback

342

(4)

10.2.3 Dynamic State Feedback

346

(5)

10.2.4 Comparison of Control Architectures

351

(2)

10.3 Design Techniques

353

(9)

10.3.1 Pole Placement Design

353

(5)

10.3.2 LQR Optimal Control Design

358

(4)

10.4 Summary

362

(2)

10.5 Extended Examples

364

(8)

10.5.1 MIMO Control of the Apache HTTP Server

364

(6)

10.5.2 Effect of the LQR Design Parameters in a Dynamic State Feedback System

370

(2)

10.6 Designing State-Space Controllers Using MATLAB

372

(1)

10.7 Exercises

373

(2)

11 Advanced Topics

375

(28)

11.1 Motivating Example

376

(2)

11.2 Gain Scheduling

378

(3)

11.3 Self-Tuning Regulators

381

(3)

11.4 Minimum-Variance Control

384

(2)

11.5 Fluid Flow Analysis

386

(3)

11.6 Fuzzy Control

389

(4)

11.7 Summary

393

(2)

11.8 Exercises

395

(2)

APPENDIX A MATHEMATICAL NOTATION

397

(4)

APPENDIX B ACRONYMS

401

(2)

APPENDIX C KEY RESULTS

403

(6)

C.1 Modeling

403

(1)

C.1.1 Dominant Pole Approximation

403

(1)

C.1.2 Closed-Loop Transfer Functions

403

(1)

C.2 Analysis

404

(1)

C.2.1 Stability

404

(1)

C.2.2 Settling Time

405

(1)

C.2.3 Maximum Overshoot

405

(1)

C.2.4 Steady-State Gain

405

(1)

C.3 Controller Design

405

(4)

C.3.1 Control Laws

405

(1)

C.3.2 Pole Placement Design

406

(1)

C.3.3 LQR Design

407

(2)

APPENDIX D ESSENTIALS OF LINEAR ALGEBRA

409

(4)

D.1 Matrix Inverse, Singularity

409

(1)

D.2 Matrix Minor, Determinant, and Adjoint

409

(1)

D.3 Vector Spaces

410

(1)

D.4 Matrix Rank

411

(1)

D.5 Eigenvalues

411

(2)

APPENDIX E MATLAB BASICS

413

(8)

E.1 Variables and Values

413

(3)

E.1.1 Vectors

414

(1)

E.1.2 Matrices

415

(1)

E.2 Functions

416

(1)

E.3 Plotting

417

(1)

E.4 M-files

418

(2)

E.5 Summary of MATLAB Functions and Commands

420

(1)

REFERENCES

421

(6)

INDEX

427

Please wait while the item is added to your bag...

FREE SHIPPING

Amazon no longer offers textbook rentals. We do!

Feedback Control of Computing Systems

Summary

Author Biography

Table of Contents

Supplemental Materials