Quantitative Feedback Theory: Fundamentals and Applications, Second Edition

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

ISBN: 9780849333705 | 0849333709
Cover: Hardcover
Copyright: 12/9/2005

Rent

(Recommended)

$100.82

Term

Due

Price

Semester

Dec 12

$112.01

Quarter

Sep 21

$106.41

Short Term

Aug 13

$100.82

*This item is part of an exclusive publisher rental program and requires an additional convenience fee. This fee will be reflected in the shopping bag.
Buy New

Usually Ships in 3-5 Business Days

$143.41
eBook

Available Instantly

Online: 180 Days

Downloadable: 180 Days

*To support the delivery of the digital material to you, a digital delivery fee of $3.99 will be charged on each digital item.

$57.42*

The first edition of Quantitative Feedback Theory gained enormous popularity by successfully bridging the gap between theory and real-world engineering practice. Avoiding mathematical theorems, lemmas, proofs, and correlaries, it boiled down to the essential elements of quantitative feedback theory (QFT) necessary to readily analyze, develop, and implement robust control systems. Thoroughly updated and expanded, Quantitative Feedback Theory: Fundamentals and Applications, Second Edition continues to provide a platform for intelligent decision making and design based on knowledge of the characteristics and operating scenario of the plant.Beginning with the fundamentals, the authors build a background in analog and discrete-time multiple-input-single-output (MISO) and multiple-input-multiple-output (MIMO) feedback control systems along with the fundamentals of the QFT technique. The remainder of the book links these concepts to practical applications. Among the many enhancements to this edition are a new section on large wind turbine control system, four new chapters, and five new appendices. The new chapters cover non-diagonal compensator design for MIMO systems, QFT design involving Smith predictors for time delay systems with uncertainty, weighting matrices and control authority, and QFT design techniques applied to real-world industrial systems.Quantitative Feedback Theory: Fundamentals and Applications, Second Edition includes new and revised examples and end-of-chapter problems and offers a companion CD that supplies MIMO QFT computer-aided design (CAD) software. It is the perfect guide to effectively and intuitively implementing QFT control.

Preface

QFT Standard Symbols & Terminology

xxi

Chapter 1 INTRODUCTION

(21)

1-1 Introduction

(1)

1-2 The Engineering Control Problem

(4)

1-3 Quantitative Feedback Theory (QFT)

(1)

1-4 Control Theory Background

(1)

1-5 Definitions and Symbols

(1)

1-6 QFT Applications

(12)

1-6.1 QF.T and Robust Process Control

(1)

1-6.2 Idle Speed Control for Automotive Fuel Injected Engine

(1)

1-6.3 Welding Control Systems

(1)

1-6.4 Control System for an Actuator Plant

(1)

1-6.5 VISTA F-16 Flight Control System (Including Configuration Variation)

(2)

1-6.6 Design of Flight Control Laws for Aircraft with Flexible Wings Using Quantitative Feedback Theory

(1)

1-6.7 Robot Controllers

(1)

1-6.8 Operational Amplifiers (Op-Amp)

(1)

1-6.9 Wastewater Treatment Control System

(1)

1-6.10 Large Wind Turbine Control Systems

(1)

1-6.11 QFT Design of a PI Controller With Dynamic Pressure Feedback for Positioning a Pneumatic Actuator

(1)

1-6.12 Robust Control of an Articulating Flexible Structure Using MIMO QFT

(2)

1-6.13 Coordinated QFT Based Control of Formation Flying Spacecraft

(1)

1-7 Outline of Text

(3)

Chapter 2 INTRODUCTION TO QFT

(17)

2-1 Quantitative Feedback Theory

(1)

2-2 Why Feedback?

(3)

2-3 QFT Overview

(8)

2-3.1 QFT Design Objective

(1)

2-3.2 Structured Parametric Uncertainty: A Basic Explanation

(3)

2-3.2.1 A Simple Example

(2)

2-3.2.2 A Simple Mathematical Description

(1)

2-3.3 Control System Performance Specifications

(1)

2-3.4 QFT Design Overview

(1)

2-3.5 QFT Basics

(1)

2-3.6 QFT Design

(2)

2-4 Insight to the QFT Technique

(4)

2-4.1 Open-Loop Plant

(1)

2-4.2 Closed-Loop Formulation

(1)

2-4.3 Results of Applying the QFT Design Technique

(1)

2-4.4 Insight to the Use of the Nichols Chart (NC) in the QFT Technique

(3)

2-5 Benefits of QFT

(1)

2-6 Summary

(1)

Chapter 3 THE MISO ANALOG CONTROL SYSTEM

(61)

3-1 Introduction

(1)

3-2 The QFT Method (Single-Loop MISO System)

(1)

3-3 Design Procedure Outline

(1)

3-4 Minimum-phase System Performance Specifications

(6)

3-4.1 Tracking Models

(4)

3-4.2 Disturbance Rejection Models

(1)

3-5 J LTI Plant Models

(1)

3-6 Plant Templates of PL(s), P(j ωi)

(3)

3-7 Nominal Plant

(1)

3-8 U-Contour (Stability Bound)

(3)

3-9 Tracking Bounds BR(jωi) on the NC

(4)

3-10 Disturbance Bounds BD(jωi): Case 1

(6)

3-11 Disturbance Bounds BD(jωi): Case 2

(4)

3-12 The Composite Boundary B0(jωi)

(1)

3-13 Shaping of Lo(jω)

(7)

3-14 Guidelines for Shaping Lo(jω)

(2)

3-15 Design of the Pre-filter

(2)

3-16 Basic Design Procedure for a MISO System

(3)

3-17 Design Example 1

(11)

3-18 Design Example 2

(1)

3-19 Template Generation for Unstable Plants

(5)

3-20 Summary

(1)

Chapter 4 DISCRETE QUANTITATIVE FEEDBACK TECHNIQUE

100

(57)

4-1 Introduction

100

(1)

4-2 Bilinear Transformation

101

(8)

4-2.1 w- and w'-Domain Transformation

101

(1)

4.2.2 s-Plane and w-Plane Relationship

102

(3)

4-2.3 s- to z-Plane Transformation: Tustin Transformation

105

(4)

4-3 Non-Minimum Phase Analog Plant

109

(5)

4-3.1 Analog QFT Design Procedure for a n.m.p. Plant

111

(3)

4-4 Discrete MISO Module with Plant Uncertainty

114

(1)

4-5 QFT w-Domain DIG Design

115

(20)

4-5.1 Closed-Loop System Specifications

118

(2)

4-5.2 Plant Templates

120

(1)

4-5.3 Bounds B(jv) on Lo(jv)

121

(2)

4-5.4 Non-Minimum Phase Lo(w)

123

(3)

4-5.5 Synthesizing Lmo(w)

126

(1)

4-5.6 ωs = 120 Is too Small

127

(4)

4-5.7 Error in the Design

131

(3)

4-5.8 Design of the Pre-filter F(w)

134

(1)

4-6 Simulation

135

(6)

4-7 Basic Design Procedure for a MISO Sampled-Data Control System

141

(4)

4-8 QFT Technique Applied to the Pseudo-Continuous-Time (PCT) System

145

(9)

4-8.1 Introduction to Pseudo-Continuous-Time System DIG Technique

145

(2)

4-8.2 Simple PCT Example

147

(2)

4-8.3 The Sampled-Data Control System Example

149

(4)

4-8.4 The PCT System of Fig. 4.8

153

(1)

4-8.5 PCT Design Summary

153

(1)

4-9 Applicability of Design Technique to Other Plants

154

(1)

4-10 Designing L(w) Directly

154

(1)

4-11 Summary

155

(2)

4-11.1 Minimum-Phase, Non-Minimum Phase, and Unstable P(s)

155

(1)

4-11.2 Digital Controller Implementation

155

(1)

4-11.3 Conclusions

155

(2)

Chapter 5 MULTIPLE-INPUT MULTIPLE-OUTPUT (MIMO) PLANTS: STRUCTURED PLANT PARAMETER UNCERTAINTY

157

(35)

5-1 Introduction

157

(1)

5-2 The MIMO Plant

158

(5)

5-3 Introduction to MIMO Compensation

163

(3)

5-4 MIMO Compensation

166

(1)

5-5 Introduction to MISO Equivalents

166

(7)

5-5.1 Effective MISO Equivalents

168

(5)

5-6 Effective MISO Loops of the MIMO System

173

(12)

5-6.1 Example: The 2x2 plant

174

(3)

5-6.2 Performance Bounds

177

(4)

5-6.3 QFT Design Method 1

181

(1)

5-6.4 QFT Design Method 2

182

(2)

5-6.5 Summary

184

(1)

5-7 Constraints on the Plant Matrix

185

(4)

5-8 Basically Non-Interacting (BNIC) Loops

189

(1)

5-9 Summary

190

(2)

Chapter 6 DESIGN METHOD 1 – THE SINGLE-LOOP (MISO) EQUIVALENTS

192

(29)

6-1 Introduction

192

(1)

6-2 Design Example

193

(8)

6-2.1 Performance Tolerances

194

(1)

6-2.2 Sensitivity Analysis

195

(3)

6-2.3 Simplification of the Single-Loop Structures

198

(3)

6-3 High Frequency Range Analysis

201

(2)

6-4 Stability Analysis

203

(1)

6-5 Equilibrium and Trade-Offs

203

(17)

6-5.1 Trade-Off In High Frequency Range

207

(4)

6-5.2 Some Universal Design Features

211

(2)

6-5.3 Examples–Bounds Determination

213

(7)

6-6 Templates: Special Case

220

(1)

6-7 Summary

220

(1)

Chapter 7 MIMO SYSTEM DESIGN METHOD 2–MODIFIED SINGLE-LOOP EQUIVALENTS

221

(22)

7-1 Introduction

221

(1)

7-2 Design Equations for the 2x2 System

222

(2)

7-3 Design Guidelines

224

(1)

7-4 Reduced Over-design

225

(1)

7-5 3x3 Design Equations

226

(2)

7-6 Example – 3x3 System Design Equations

228

(1)

7-7 mxm System: m > 3

229

(1)

7-8 Conditions for Existence of a Solution

230

(5)

7-8.1 Conditions for "a.s. Sensitivity" in Single-Loop Design

231

(2)

7-8.2 Applications of Sec. 7-8.1 to Design Method 2

233

(1)

7-8.3 Inherent Constraints

234

(1)

7-9 Non-Diagonal G

235

(1)

7-10 Achievability of a m.p. Effective Plant det Pe

236

(6)

7-11 Summary

242

(1)

Chapter 8 MIMO SYSTEM WITH EXTERNAL DISTURBANCE INPUTS

243

(30)

8-1 Introduction

243

(1)

8-2 MIMO QFT with External (Input) Disturbance

243

(7)

8-3 An External Disturbance Problem

250

(3)

8-3.1 Aerial Refueling Background

251

(1)

8-3.2 Problem Statement

251

(1)

8-3.3 Assumptions

251

(1)

8-3.4 Design Objectives

252

(1)

8-3.5 Scope

252

(1)

8-3.6 Methodology

252

(1)

8-3.7 Overview of the Aerial Refueling Design Problem

253

(1)

8-4 Air-to-Air Refueling FCS Design Concept

253

(2)

8-4.1 C-135B Modeling

253

(1)

8-4.2 Disturbance Modeling

254

(1)

8-5 Plant and Disturbance Matrices

255

(1)

8-6 Control Problem Approach

256

(2)

8-7 The QFT Design

258

(9)

8-7.1 Disturbance Rejection Specification

258

(2)

8-7.2 Loop Shaping

260

(1)

8-7.3 Channel 2 Loop Design (Method 1 "Loop 1" Design Procedure)

260

(1)

8-7.4 Channel 1 Loop Design (Method 2 "Loop 2" Design Procedure)

261

(2)

8-7.5 Channel 3 Loop Design (A SISO Design)

263

(3)

8-7.6 Closed Loop Lm Plots

266

(1)

8-8 Air-to-Air Refueling Simulations

267

(3)

8-8.1 Linear Simulations

267

(1)

8-8.2 Nonlinear Simulations

268

(2)

8-9 Tracking/Regulator MIMO System

270

(2)

8-10 Summary

272

(1)

Chapter 9 NOW THE "PRACTICING ENGINEER TAKES OVER"

273

(20)

9-1 Introduction

273

(2)

9-2 Transparency of QFT

275

(4)

9-3 Body of Engineering QFT Knowledge

279

(6)

9-3.1 E.R.1 Weighting Matrix

279

(1)

9-3.2 E.R.2 n.m.p. qii's

280

(1)

9-3.3 E.R.3 Templates

280

(1)

9-3.4 E.R.4 Design Techniques

281

(1)

9-3.5 E.R.5 QFT Method 2

282

(1)

9-3.6 E.R.6 Minimum Order Compensator (Controller)(MOC)

282

(1)

9-3.7 E.R.7 Minimum Compensator Gain

283

(1)

9-3.8 E.R.8 Basic mxm Plant P Preconditioning

283

(1)

9-3.9 E.R.9 Nominal Plant Determination

284

(1)

9-3.10 E.R.10 Optimization and Simulation Run Time

284

(1)

9-3.11 E.R.11 Asymptotic Results

284

(1)

9-3.12 E.R.12 Controller Implementation

284

(1)

9-3.13 E.R.l3 Non-Ideal Step Function for Simulation

285

(1)

9-4 Nonlinearities — The Engineering Approach

285

(1)

9-5 Plant Inversion

286

(2)

9-6 Invertibility

288

(2)

9-7 Pseudo-Continuous-Time (PCT) System

290

(1)

9-8 Bode's Theorem

290

(1)

9-9 The Control Design Process

291

(1)

9-10 Summary

291

(2)

Chapter 10 QUANTITATIVE NON-DIAGONAL COMPENSATOR DESIGN FOR MIMO SYSTEMS

293

(32)

10-1 Introduction

293

(1)

10-2 The Coupling Matrix

294

(6)

10-2.1 Tracking

295

(3)

10-2.2 Disturbance Rejection at Plant Input

298

(1)

10-2.3 Disturbance Rejection at Plant Output

299

(1)

10-3 The Coupling Elements

300

(2)

10-4 The Optimum Non-Diagonal Compensator

302

(3)

10-4.1 Tracking

304

(1)

10-4.2 Disturbance Rejection at Plant Input

304

(1)

10-4.3 Disturbance Rejection at Plant Output

304

(1)

10-5 The Coupling Effects

305

(1)

10-5.1 Tracking

305

(1)

10-5.2 Disturbance Rejection at Plant Input

305

(1)

10-5.3 Disturbance Rejection at Plant Output

305

(1)

10-6 Quality Function of the Designed Compensator

306

(1)

10-7 Design Methodology

307

(3)

10-8 Some Practical Issues

310

(1)

10-9 Example: Non-Diagonal MIMO QFT Compensator Design for Tracking Specifications in a SCARA Robot

311

(11)

10-9.1 Plant Model

312

(1)

10-9.2 Performance Specifications

313

(2)

10-9.3 Compensator Design

315

(4)

10-9.4 Experimental Results

319

(3)

10-10 Other Methods

322

(1)

10-11 Summary

323

(2)

Chapter 11 THE DESIGN AND IMPLEMENTATION PROCESS FOR A ROBUST CONTROL SYSTEM

325

(22)

11-1 Introduction

325

(1)

11-2 Control System Design Process

326

(5)

11-2.1 Functional Requirements

326

(1)

11-2.2 Performance Specifications

326

(2)

11-2.3 Dynamics Model

328

(1)

11-2.4 Control Authority Allocation

328

(1)

11-2.5 QFT Control System Design

329

(1)

11-2.6 Linear Simulation

329

(1)

11-2.7 Nonlinear Simulation

329

(1)

11-2.8 Engineering Visualization

329

(1)

11-2.9 Engineering Interactive Simulation

330

(1)

11-2.10 Hardware-in-the-Loop S imulation/Implementation

330

(1)

11-2.11 Operator-in-the-Loop Simulation

330

(1)

11-2.12 System Test

331

(1)

11-2.13 Redesign

331

(1)

11-3 Design Process Example

331

(7)

11-3.1 First Design Cycle

332

(2)

11-3.2 Second Design Cycle

334

(2)

11-3.3 Third Design Cycle

336

(1)

11-3.4 Fourth Design Cycle

337

(1)

11-4 Selection of Design Envelope

338

(2)

11-5 Control System Implementation Issues

340

(1)

11-6 Hardware/Software Consideration

340

(1)

11-7 Bending Modes

341

(5)

11-7.1 Lambda Bending Example

341

(1)

11-7.2 Un-modeled Behavior

341

(5)

11-8 Summary

346

(1)

Chapter 12 TIME DELAY SYSTEMS WITH UNCERTAINTY: QFT DESIGN INVOLVING SMITH PREDICTOR

347

(21)

12-1 Introduction

347

(2)

12-2 Methodology of Design

349

(4)

12-3 A Synthesis Example

353

(6)

12-3.1 Applying First Step

353

(1)

12-3.2 Applying Second Step

354

(5)

12-4 Application to a HTST Pasteurization Plant

359

(8)

12-4.1 Model of the Pasteurization Plant

359

(2)

12-4.2 Control of the Pasteurization Plant

361

(6)

12-5 Summary

367

(1)

Chapter 13 QFT DESIGN TECHNIQUES APPLIED TO REAL-WORLD INDUSTRIAL SYSTEMS

368

(28)

13-1 Introduction

368

(1)

13-2 QFT Based Control of a Biological Wastewater Treatment Plant

369

(15)

13-2.1 The Wastewater Treatment Plant

369

(1)

13-2.2 Input and Output Variables

370

(2)

13-2.3 Model of the Process

372

(1)

13-2.4 Parameter Estimation

373

(1)

13-2.5 The Control Strategy

373

(6)

13-2.6 Experimental Results

379

(5)

13-2.7 Conclusions Part I.

384

(1)

13-3 QFT Based Control of a Variable-Speed Direct-Drive Multi-Pole Synchronous Wind Turbine: TWT1650

384

(9)

13-3.1 Variable-Speed Wind Turbine Control

385

(2)

13-3.2 TWT Description

387

(4)

13-3.3 Control Strategies

391

(1)

13-3.4 Experimental Results

392

(1)

13-3.5 Conclusions Part II

393

(1)

13-4 Summary

393

(3)

Chapter 14 WEIGHTING MATRICES AND CONTROL AUTHORITY

396

(14)

14-1 Introduction

396

(1)

14-2 Fixed Weighting Matrices

397

(6)

14-2.1 Fixed W with Dynamic Elements

398

(1)

14-2.2 Fixed W – Engineering Knowledge Method

398

(3)

14-2.3 Fixed W – Frequency Response Method

401

(1)

14-2.4 Fixed W – Pseudo-Inverse Method

402

(1)

14-3 Variable Weighting Matrices

403

(6)

14-3.1 Table Look-up

404

(1)

14-3.2 Dynamic Control Allocation

405

(4)

14-4 Summary

409

(1)

APPENDICES

410

(1)

Appendix A: TEMPLATE GENERATION

410

(4)

A-1 Template Analysis

410

(2)

A-2 Example

412

(2)

Appendix B: INEQUALITY BOUNDS EXPRESSIONS

414

(6)

Appendix C: MIMO QFT CAD PACKAGE

420

(21)

C-1 Introduction

420

(1)

C-2 Introduction: Overview of Multivariable Control

421

(1)

C-3 Continuous-Time vs. Discrete-Time Design

421

(3)

C-4 Overview of the Multivariable External Disturbance Rejection Problem

424

(1)

C-5 Open-loop Structure

424

(3)

C-6 Formation of Plant Models for Tracking Control Problems

427

(1)

C-7 Inverse of Pe

428

(1)

C-8 MISO Loops of the Tracking Control Problem

428

(2)

C-9 MISO Loops of External Disturbance Rejection Problem

430

(1)

C-10 Q Matrix Validation Checks

431

(1)

C-11 Improved Method

431

(1)

C-12 Specifications

432

(1)

C-12.1 Stability Specifications

432

(1)

C-12.2 Tracking Performance Specifications

432

(1)

C-12.3 External Disturbance Rejection Performance Specifications

433

(1)

C-12.4 Gamma Bound Specifications

433

(1)

C-13 Bounds on the NC

433

(4)

C-13.1 Stability Bounds

434

(1)

C-13.2 Cross-Coupling Bounds

434

(1)

C-13.3 Gamma Bounds

435

(1)

C-13.4 Allocated Tracking Bounds

435

(1)

C-13.5 External Disturbance Rejection Bounds

436

(1)

C-13.6 Composite Bounds

437

(1)

C-14 Compensator Design

437

(1)

C-15 Pre-filter Design

438

(1)

C-16 Design Validation

439

(1)

C-17 Summary

440

(1)

Appendix D: TOTAL-PC CAD PACKAGE

441

(7)

D-1 Introduction

441

(1)

D-2 Overview of TOTAL-PC

441

(1)

D-3 QFT CAD Package

442

(6)

Appendix E: DISCRETE QFT DESIGN PROCESS

448

(6)

E-1 Discrete QFT Design (w'- and z-domain)

448

(6)

Appendix F: MISO DESIGN EXAMPLE

454

(6)

F-1 MISO Design Problem

454

(1)

F-2 Problem

454

(1)

F-3 Solution

455

(5)

F-3.1 Template Generation

455

(1)

F-3.2 Determination of Boundaries BR(jωi)

456

(1)

F-3.3 Determination of Lo(s)

456

(3)

F-3.4 Design of F(s)

459

(1)

F-3.5 Simulation of Design

459

(1)

Appendix G: DIAGONAL MIMO DESIGN EXAMPLE

460

(18)

G-1 Design Problem

460

(1)

G-2 Problem

461

(1)

G-3 Solution

461

(11)

G-3.1 L1o(s) Design

461

(3)

G-3.2 Design (Improved Method) for L2e(s)

464

(7)

G-3.3 Pre-filter ƒ22(s) Design

471

(1)

G-4 Simulation

472

(5)

G-5 Summary

477

(1)

Appendix H: NON-DIAGONAL MIMO QFT TRACKING DESIGN EXAMPLE

478

(12)

H-1 Heat Exchanger Temperature Control System

478

(1)

H-2 Mathematical Model

479

(2)

H-3 Performance Specifications

481

(1)

H-4 Design Example

482

(6)

H-5 Experimental Results

488

(2)

Appendix I: NON-DIAGONAL QFT DISTURBANCE REJECTION DESIGN EXAMPLE

490

(9)

I-1 Introduction

490

(1)

I-2 Model of a Heat Exchanger for a Solar Plant

490

(3)

I-3 Non-Diagonal MIMO QFT Compensation Deign

493

(2)

I-4 Results

495

(2)

I-5 Conclusions

497

(2)

Appendix J: ELEMENTS FOR LOOP SHAPING

499

(9)

J-1 Introduction

499

(1)

J-2 Simple Gain: K

499

(1)

J-3 Real Pole

500

(1)

J-4 Real Zero

501

(1)

J-5 Integrator

502

(1)

J-6 Differentiator

502

(1)

J-7 Complex Pole

502

(1)

J-8 Complex Zero

503

(1)

J-9 Lead Network

504

(1)

J-10 Lag Network

505

(1)

J-11 Notch Filter

506

(2)

References

508

(11)

Problems

519

(45)

Answers to Selected Problems

564

(13)

Index

577

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

FREE SHIPPING

Rent More, Save More! Use code: BBRENTAL

5% off 1 book, 7% off 2 books, 10% off 3+ books

Quantitative Feedback Theory: Fundamentals and Applications, Second Edition

Summary

Table of Contents

Supplemental Materials

FREE SHIPPING

Rent More, Save More! Use code: BBRENTAL

5% off 1 book, 7% off 2 books, 10% off 3+ books

Quantitative Feedback Theory: Fundamentals and Applications, Second Edition

Summary

Table of Contents

Supplemental Materials

Digital License