Multivariable control systems. An engineering approach. (Q1417223)

The book is structured to cover the main steps in the design of multivariable control systems, providing a complete view of the multivariable control design methodology, with case studies, without detailing all aspects of the theory. The first chapter is introductory and it outlines the problems to be solved in designing a multivariable control system, from the conception, the modeling and simulation phase to the implementation. A deeper analysis of these fundamental ideas is given in the rest of the book. The second chapter discusses the different model types available for system simulation and model-based control. The chapter is focused on linear systems and the linearised approximation of nonlinear systems. Disturbance models are also introduced. The third chapter studies important concepts related with the analysis of state-space systems such as the time-response, stability, discretization, system internal structure, etc. Emphasis is placed on obtaining reduced order models that are suitable for control purpose design. The fourth chapter deals with the objectives of control and outlines the solutions to the control problem that are available to the designer. Chapter 6 introduces some now-classical centralized state and output feedback strategies. Pole placement state feedback, observers and rejection of deterministic unmeasurable disturbances are the main results here. Chapter 7 presents various controller design techniques based on the optimization of a (scalar) cost index. The popular multivariable predictive control is briefly discussed, while an optimality-based approach to state feedback and observer design is also presented. An introduction to the fundamental concepts of robust control design is presented in chapter 8. Finally, chapter 9 deals with additional issues regarding implementation of multivariable controllers, nonlinearity cancellation and supervision. Six appendices are included to help in the reading of the main body of the book. More specifically, some basic results on SISO systems are summarized in Appendix A. In Appendix B some properties regarding matrices are outlined. Appendix C introduces definitions related to signals and system norms, and presents the small-gain theorem. Appendix D outlines the fundamentals of the optimization of multivariable static and dynamic models. Appendix E reviews basic concepts of stochastic processes (derivation of the Kalman filter), whereas Appendix F details some robust-control related results.