Control system design based on exact model matching techniques (Q1060169)

Model matching implies the problem of compensating a dynamical system by either state feedback or dynamic compensation in order to attain a specified transfer function. By making the model reflect requirements for the closed loop system, almost all control system design problems can be reduced to model matching. The author adopts mainly the frequency domain viewpoint in his book. This presents simple guiding principles for control system design problems. Chapter 1 introduces the concept of control system design. In order to understand the frequency domain method easily. Chapter 2 explains pole assignment and model matching in a single-input single-output system from the time domain viewpoint. Chapter 3 solves the same problem by the frequency method, and shows that it is superior to the time domain one. Chapter 4 gives a solution to the adaptive control problem by applying the adaptive identification theory to the model matching control law. Chapter 5 develops methods to remove the effect of disturbances in control systems obtained in chapter 3 or 4. The minimum phase property of a plant is necessary for model matching or adaptive control. For a nonminimum phase plant, the only thing we can do is pole assignment. Chapter 6 treats the adaptive pole assignment problem by the new direct method. Chapter 7 and 8 are concerned with a multi-input multi-output control system, which is called a multivariable control system. A multivariable control system is said to be decoupled if each system output can be independently controlled by a corresponding system input. Under right invertibility and two additional assumptions for a plant, chapter 7 gives a compensator which is feasible and achieves decoupling with each single- input single-output system being exactly model matched. The approach used is also an extension of scalar exactly model matching techniques. Under the same assumptions, chapter 8 develops adaptive control for a multivariable system. Chapter 9 covers discrete-time systems, and gives discrete-time counterparts of the theory in previous chapters. Section 9.1 introduces basic concepts such as characteristic equation, z-transform and pulse transfer function. Latter part of the chapter includes pole assignment, finite time settling system, exact model matching and adaptive control. Finite time setling control is the problem inherent in discrete-time systems and has no continuous-time counterpart. Chapter 10 covers control of systems with delay in either input or output portion. For stabilizing, the finite pole assignment problem is introduced and solved by the frequency domain method. The exact model matching problem is discussed from the same viewpoint as chapter 3. A section on adaptive control finishes the chapter.