Mathukumalli Vidyasagar's Control System Synthesis - A Factorization Approach, Part I PDF

By Mathukumalli Vidyasagar

ISBN-10: 1608456617

ISBN-13: 9781608456611

ISBN-10: 1608456625

ISBN-13: 9781608456628

This publication introduces the so-called "stable factorization process" to the synthesis of suggestions controllers for linear keep an eye on platforms. the main to this procedure is to view the multi-input, multi-output (MIMO) plant for which one needs to layout a controller as a matrix over the fraction box F linked to a commutative ring with identification, denoted by way of R, which additionally has no divisors of 0. during this environment, the set of single-input, single-output (SISO) reliable keep an eye on platforms is strictly the hoop R, whereas the set of solid MIMO keep watch over structures is the set of matrices whose parts all belong to R. The set of volatile, which means no longer inevitably strong, regulate platforms is then taken to be the sphere of fractions F linked to R within the SISO case, and the set of matrices with parts in F within the MIMO case. The significant concept brought within the publication is that, in such a lot occasions of functional curiosity, each matrix P whose components belong to F should be "factored" as a "ratio" of 2 matrices N,D whose components belong to R, in this sort of approach that N,D are coprime. within the established case the place the hoop R corresponds to the set of bounded-input, bounded-output (BIBO)-stable rational move capabilities, coprimeness is corresponding to services no longer having any universal zeros within the closed correct half-plane together with infinity. in spite of the fact that, the proposal of coprimeness extends effortlessly to discrete-time structures, distributed-parameter structures in either the continual- in addition to discrete-time domain names, and to multi-dimensional structures. hence the good factorization process permits one to catch a lot of these occasions inside a typical framework. the most important bring about the reliable factorization process is the parametrization of all controllers that stabilize a given plant. it's proven that the set of all stabilizing controllers may be parametrized by means of a unmarried parameter R, whose components all belong to R. in addition, each move matrix within the closed-loop approach is an affine functionality of the layout parameter R. therefore difficulties of trustworthy stabilization, disturbance rejection, powerful stabilization and so on. can all be formulated when it comes to settling on a suitable R. it is a reprint of the publication regulate approach Synthesis: A Factorization process initially released by means of M.I.T. Press in 1985. desk of Contents: creation / right sturdy Rational services / Scalar structures: An advent / Matrix earrings / Stabilization

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Extra info for Control System Synthesis - A Factorization Approach, Part I (Synthesis Lectures on Control and Mechatronics)

Example text

11). 26) 36 3. 26) can be simplified considerably. 22). Now δ(p, c) is a unit of S; hence, as r varies freely over S, so does rδ. In other words, the map r → rδ is a one-to-one map of S onto itself. Therefore we may as well replace rδ by a new “free” parameter q, which is an arbitrary function in S. 5)(s + 1) − sq(s) . 17). 29) where q = rδ. 30) and of course h22 (p, c) = h11 (p, c). 30) give the corresponding (stable) closed-loop transfer matrices. 3) belongs to S2×2 D . 3 and all the preliminary results leading up to it, we see that the entire development depends on just two facts: (i) S is a proper Euclidean domain, and (ii) every f ∈ R(s) can be factorized as a/b where a, b ∈ S are coprime.

Conversely, suppose c stabilizes p. 10). 15) for some r ∈ S. 10) and rearranging gives (nc − x)np = (y − dc )dp . 11 that dp divides (nc − x) and that np divides dc − y. Let, r denote (nc − x)/dp . Then nc = x + rdp . 16) shows that dc = y − rnp . 3 to determine the set of all compensators that stabilize a given plant p, one needs to do two things: (i) Express p as a ratio np /dp where np , dp ∈ S are coprime. 11). 2. 2, the second step is equivalent to finding one compensator that stabilizes p.

8) Finally, the compensator is given by c = (u − dp )/np . Thus, the problem is whether a given plant p ∈ R(s) can be “stabilized” by a compensator c ∈ SD such that H (p, c) ∈ S2×2 D . 1 42 3. 6 Suppose p(s) = (s + 1)(s − 1)(s 2 + 1) . 9) Then p has two real C+e -zeros, namely σ1 = 1 and σ2 = ∞. Since p has two poles in the interval (1, ∞), namely the double pole at s = 2, p is strongly stabilizable. Now let D = {s : Re s < −2| Im s| ≤ 2| Re s|} . 10) Then p has three real zeros in the extended complement of D, namely σ1 = −1, σ2 = 1, σ3 = ∞.

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Control System Synthesis - A Factorization Approach, Part I (Synthesis Lectures on Control and Mechatronics) by Mathukumalli Vidyasagar

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