High performance control (Q1370788)

This book is written with a view to blending insights and methods from classical, optimal, and adaptive control so as to achieve both robust control and high performance control. It is intended for graduate students with some undergraduate background in linear algebra, probability theory, linear dynamical systems, and preferably some background in control theory. However, the book is self-contained, including appropriate appendices in the background areas. In Chapter 2, a class of linear plant stabilizing controllers for a linear plant model is parametrized in terms of a state filter \(Q\). This work is based on a theory of coprime factorization and linear fractional representations. In Chapter 3, the controller design environment is characterized in terms of the uncertainties associated with any plant model, be they signal uncertainties, structured or unstructured uncertainties. In Chapter 4, the notion of off-line optimizing a stabilizing controller design to achieve various performance objectives is introduced. One approach consists in optimal \(Q\) filter selection. Various performance indices and methods to achieve optimality are studied. Chapter 5 discusses the interaction between control via the \(Q\)-parametrization of all stabilizing controllers for a nominal plant model and identification via the corresponding parametrization of all plants stabilized by a controller. In Chapter 6, a direct adaptive-\(Q\) method is presented. The premise is that the plant dynamics are well known but that the control performance of the nominal controller needs refinement. It is shown that under very reasonable conditions the adaptive scheme improves the performance of the nominal controller. The direct adaptive scheme adjusts only a plug-in controller \(Q\). To overcome the problem that this scheme can not handle significant model mismatch, an indirect adaptive-\(Q\) method is introduced in Chapter 7. In Chapter 8, the direct adaptive-\(Q\) scheme is applied to optimal control of nonlinear systems by means of linearization techniques. In Chapter 9, real-time controller implementation aspects are discussed, including the various hardware and software options for a controller design. In Chapter 10, some laboratory case studies are presented including a disk drive control system, heat exchanger control system and a flight control system. Finally, in the appendices, background results in linear algebra, probability theory and averaging theory are summarized briefly.