Industrial Control Systems Design

, by Grimble, Michael J.

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ISBN: 9780471492252 | 0471492256
Cover: Hardcover
Copyright: 3/30/2001

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Summary

Author Biography

Supplemental Materials

* Discusses the design of LQG and H-controllers with several degrees of freedom, including feedback, tracking and feedforward functions.

Preface

Introduction to Advanced Industrial Control

(36)

Introduction

(6)

Hierarchical Modelling and Control

(1)

Benefits of Advanced Process Control

(1)

Frequency Domain and State Space Methods

(2)

Robust Control Design

(6)

Models for Plant Uncertainty

(1)

Uncertainties in Multivariable Systems

(2)

Robust Stability and Performance

(1)

Robust Controllers: Limitations and Advantages

(1)

Structured Singular Values

(1)

Linear Matrix Inequalities

(1)

Fault-tolerant Control Systems

(12)

Summary of Terms in Fault-tolerant Control

(1)

Summary of Terms in Fault Monitoring

(2)

Fault Monitoring and Diagnosis

(2)

Redundancy in Fault and Failure Diagnosis Methods

(2)

Control Reconfiguration

(2)

Multiple Model Approach

(3)

Safety Critical Control System Design

(1)

Intelligent Control and Artificial Intelligence

(4)

Artificial Neural Networks

(1)

Fuzzy Control

(1)

Expert Systems and Knowledge Based Systems

(1)

Genetic Algorithms

(1)

Total Control and Systems Integration

(2)

Systems Integration and Fault Conditions

(1)

Concluding Remarks

(1)

References

(6)

I Polynomial System Descriptions

(244)

H2 Optimal and Feedforward Control

(62)

Introduction

(4)

Industrial Controller Structures

(2)

Discrete-time Models and Terminology

(1)

Wiener Feedforward / Feedback Solution

(8)

System Model and Signals

(2)

LQG Control Problem and Wiener-Hopf Theorem

(1)

Wiener-Hopf Solution of 3 DOF Control Problem

(3)

Wiener-Hopf Cost-function Minimisation

(10)

Structure of the Wiener-Hopf Optimal Solution

Polynomial Feedforward / Feedback Solution

(20)

Polynomial System Description and Solution

(3)

Three DOF Control Law Proof

(3)

Cost-function Minimisation

(2)

Optimal Solution: Properties and Structure

(11)

Multiple DOF LQG Control Problem

(11)

Polynomial System Description

(1)

Feedback/Feedforward System Equations

(1)

Error and Control Signal Costing Terms

(1)

Cost-function and Optimal Control Solution

(5)

Invariance Property

(1)

Design of Feedforward Controllers

(14)

Feedforward in Dynamic Ship Positioning Systems

(13)

Concluding Remarks

(1)

References

(5)

H2 Predictive Optimal Control

101

(46)

Introduction

101

(2)

The LQGPC Solution Strategy

102

(1)

Applications of Predictive Control

102

(1)

Predictive Control Terminology

102

(1)

GPC System Description and Prediction

103

(4)

Optimal Linear Predictor

104

(1)

Derivation of the Predictor

104

(3)

Generalised Predictive Control Law

107

(7)

Solution for the GPC Optimal Control Law

107

(2)

Algorithm for the GPC Optimal Control Law

109

(3)

Relationship Between GMV and GPC Control

112

(1)

Predictive Control Laws Properties and Problems

113

(1)

Linear Quadratic Gaussian Predictive Control

114

(27)

Introduction

114

(1)

Plant and Disturbance Description

115

(2)

Optimal Linear Predictor

117

(2)

Stochastic Generalised Predictive Optimal Control

119

(1)

Solution of the LQGPC Problem

120

(6)

Vector-Matrix Computation of Future Controls

126

(3)

Vector-matrix Form of the LQGPG Algorithm

129

(10)

The Value of Disturbance Prediction

139

(1)

Quadratic Programming Theory

140

(1)

Concluding Remarks

141

(1)

References

142

(5)

H2 Multivariable Control

147

(60)

Introduction

147

(1)

Combined Fault Estimation and Control

148

(27)

System Description

150

(4)

LQG Sensitivity Reduction and Fault Estimation

154

(4)

Minimisation of the Combined Criterion

158

(3)

Wiener Solution of the Combined Problem

161

(1)

Polynomial Solution of the Combined Problem

162

(1)

Scalar Continuous-time Results

163

(2)

Marine Roll Stabilisation Example

165

(9)

Remarks on Combined Control/Fault Estimation

174

(1)

Separation Principle for Polynomial Systems

175

(29)

Polynomial System Description

176

(1)

Noise Free Output Feedback Control Problem

177

(6)

Discrete-time Output Estimation Problem

183

(7)

Output Feedback Problem and Separation Principle

190

(2)

Alternative Separation Principle Result

192

(2)

Closed-loop System Stability

194

(1)

Flight Control Example

195

(9)

Concluding Remarks

204

(1)

References

205

(2)

H∞ Optimal Control Laws

207

(32)

Introduction

207

(1)

Scalar H∞ Feedback/Feedforward Control

208

(7)

LQG Embedding Principle

209

(1)

Mixed H2 and H∞ Cost Minimisation

210

(1)

Equalising Solutions

211

(1)

The GH∞ Cost Function and Computations

212

(2)

Summary of Scalar H2/H∞ Results

214

(1)

Single-input Multi-output Control Design

215

(11)

SIMO System Description

215

(5)

The H2 SIMO Control Problem

220

(3)

The H∞ SIMO Control Problem

223

(1)

Mixed H2 and H∞ Cost Minimisation Problems

224

(1)

Computation of the GH∞ Controllers

224

(2)

H∞ Predictive Optimal Control Laws

226

(7)

Plant and Disturbance Description

227

(1)

Review of the LQGPC Control Law

227

(2)

Vector-matrix Form of LQGPC Algorithm

229

(2)

The H∞ Predictive Control Problem

231

(1)

The Equalising H∞ GPC Solution

232

(1)

Need for Adaptation and H∞ Robustness

233

(1)

Concluding Remarks

234

(1)

References

234

(5)

H2 and H∞ Filtering and Prediction

239

(42)

Introduction

239

(1)

H2 Estimation Using Probabilistic Models

240

(12)

Uncertain Signal Model and Noise Descriptions

241

(3)

The H2 Cost Minimisation Problem and Theorem

244

(2)

Solution of Uncertain H2 Deconvolution Problems

246

(4)

Properties of the H2 Estimator

250

(2)

H∞ Optimal Estimation Problems

252

(8)

H∞ Robust Estimator and Uncertainty

252

(3)

H∞ Estimation and Embedding

255

(1)

Derivation of the Weighting Filter Wσ

256

(1)

The H∞ Estimator and Example

257

(3)

Standard System for H2 Estimation

260

(7)

Signal Processing Standard System Description

261

(2)

Polynomial Models and System Equations

263

(2)

The Standard H2 Optimal Estimation Problem

265

(2)

Standard System for H∞ Estimation

267

(8)

Relationship between H2 and H∞ Problems

267

(1)

Derivation of the Weighting Filter Wλ

268

(2)

H∞ Optimal Estimator for the Standard System

270

(1)

Properties of the Optimal Estimator

271

(1)

Deconvolution Filtering Problem Example

272

(3)

Multivariable Estimation Problems

275

(1)

Concluding Remarks

275

(1)

References

276

(5)

II State Space and Frequency Response Descriptions

281

(138)

H2 and H∞ State-space Control and Filtering

283

(52)

Introduction

283

(2)

Smith Predictor

284

(1)

Wiener-Hopf Optimal Controller

285

(10)

Discrete-time System Description

286

(2)

The LQG Stochastic Regulating Problem

288

(3)

Wiener-Hopf Solution for Optimal Controller

291

(4)

State-space Form of Optimal Controller

295

(27)

LQG Output Feedback Controller

297

(4)

Finite-impulse Response Form of Control Law

301

(3)

Stability of the Closed Loop System

304

(1)

Unstable Open Loop Plant Example

305

(6)

Relationship to the Smith Predictor

311

(1)

Hot Strip Mill Profile Control Example

312

(10)

Remarks on LQG Delay Compensation

322

(1)

H∞ State-space Control and Estimation

322

(8)

H∞ State Regulation Problem

323

(1)

H∞ State Estimation Problem

324

(2)

Output Feedback Control Problem

326

(4)

Concluding Remarks

330

(1)

References

331

(4)

State-space Predictive Optimal Control

335

(44)

Introduction

335

(2)

Model Based Predictive Control

336

(1)

Set-point Optimisation

336

(1)

State-space Form of GPC Controller

337

(4)

Prediction Modelling

339

(1)

GPC Performance Index and Optimal Solution

340

(1)

State-space Form of LQGPC Controller

341

(8)

LQGPC Dynamic Performance Index

341

(2)

The Deterministic Problem

343

(4)

Stochastic Disturbance Case

347

(2)

State-space GPC with Through Terms

349

(7)

GPC Performance Index and Optimal Solution

355

(1)

State-space LQGPC with Through Terms

356

(10)

Augmented System Model Including Through Terms

358

(1)

Current and Future Tracking Error Terms

359

(2)

LQGPC Dynamic Performance Criterion

361

(2)

Separation Principle Proof

363

(1)

The Discrete-time Kalman Filter

364

(2)

LQ State-space Predictive Optimal Control

366

(4)

System Description

366

(1)

LQ State Feedback Predictive Control Problem

367

(3)

LQG Predictive State Estimate Feedback

370

(4)

LQG State Estimate Feedback for Finite-time Cost

372

(1)

Receding-horizon Optimal Control

373

(1)

Concluding Remarks

374

(1)

References

375

(4)

QFT and Frequency Domain Design

379

(40)

Introduction

379

(1)

Quantitative Feedback Theory

380

(30)

Frequency Responses and the Nichols Chart

385

(1)

Stability Criterion

386

(1)

Uncertainty and Plant Templates

387

(3)

QFT Design for Single-input Single-output Systems

390

(7)

The QFT Design Procedure Example

397

(12)

Summary of Design Steps

409

(1)

QFT for Multi-input Multi-output Systems

410

(5)

Nonlinear QFT

412

(1)

QFT and its Relationship to H∞ Control Theory

412

(3)

Disadvantages of the QFT Design Approach

415

(1)

Advantages of the QFT Approach

415

(1)

Concluding Remarks

415

(1)

References

416

(3)

III Industrial Applications

419

Power Generation and Transmission

421

Introduction

421

Automatic Voltage Regulator Design

423

Synchronous Machine Stability

424

Automatic Voltage Regulator Design

425

Electro-mechanical Equations

426

Electro-mechanical Oscillations

427

Nonlinear Operation

429

Additional Feedback Control Signals

429

H2 Automatic Voltage Regulator Design

431

Frequency and Time-domain Results

434

H∞ Automatic Voltage Regulator Design

443

Frequency and Time Domain Results

447

Failure Detection and Systems Integration

454

Conclusions

455

References

455

Design of Controllers for Metal Processing

459

Introduction

459

Hot Strip Mill Objectives

460

Background on Multivariable Control in Hot Mills

461

Finishing Mill Features

463

Hot Mill Modelling

465

Mill Equations

467

Gaugemeter Principle in Classical Control

467

Measurements

468

Control of Interstand Tension

469

Strip Tension Calculation

470

Classical Design of Looper Control Systems

472

Classical Gauge Control System Design

474

Flatness and Profile Control

474

Factors Affecting the Strip Profile

476

Parameterisation of Strip Profile and Flatness

476

Hot Mill Shape Measurement

477

Flatness Control Systems

477

Thickness Profile Control

478

Classical Control of Hot Strip Mills

480

Classical Gauge and Tension Control

481

Classical Cordinate Control

481

Hot Rolling Mill Advanced Control Design

482

Summary of Control Requirements

483

Mill Modulus Uncertainty

483

Advanced Mill Control Structure

488

Performance and Disturbance Weightings

491

Stand Zone Control Design Philosophy

493

Plant and Controller Frequency Responses

496

Hot Strip Mill Simulation Results

503

Reliable Tension Control

509

Coordinated Control

511

Concluding Remarks

515

References

516

Marine Control Systems

521

Introduction

521

Fin Roll Stabilisation Control Systems

522

System Description

522

Selection of H∞ Cost Function Weightings

525

Frequency Responses Results

527

Time Response Results

529

H∞ Fin Roll Stabilisation Progress

532

Robust Ship Positioning Systems Design

532

H∞ Design of Dynamic Ship Positioning Systems

534

Advantages of H∞ Design in Ship Positioning

535

Polynomial Based H∞ Ship Positioning Design

537

Frequency Responses

539

Time Responses

544

Feedforward Controller Tuning

547

Multivariable State-space Ship Positioning

549

Dynamic Ship Positioning Multivariable Models

551

The Ship Positioning Criterion

553

Multivariable Ship Positioning Example

556

Adaptation and Future Generation

564

Concluding Remarks

564

References

564

Aero-engine and Flight Control Design

569

Introduction

569

Aero-engine Gas Turbine Control

569

Introduction to Gas Turbine Control

570

The Engine and Gas Turbine Control Problem

572

Major Engine Components

573

Surge Margin and Working Lines

575

Classical Gas Turbine Control and Design

577

Gas Turbine Control Design Study

578

Remarks on the Gas Turbine Control Problem

596

Introduction to Flight Control Design

596

Dynamic Modes of Aircraft

598

Vectored Thrust Aircraft

598

Problems In Flight Control Systems Design

602

The Aircraft Model

603

Flight Control Loop Design

607

Concluding Remarks

614

References

615

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Industrial Control Systems Design

Summary

Author Biography

Table of Contents

Supplemental Materials