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Analysis and Control of Linear Systems
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Sections
« prev | next »- Transfer Functions and Spectral Models
- 1.1. System representation
- 1.2. Signal models
- 1.2.1. Unit-step function or Heaviside step function U(t)
- 1.2.2. Impulse
- 1.2.3. Sine-wave signal
- 1.3. Characteristics of continuous systems
- 1.4. Modeling of linear time-invariant systems
- 1.4.2. Causality
- 1.4.3. Unit-step response
- 1.4.4. Stability
- 1.4.5. Transfer function
- 1.4.6. Causality, stability and transfer function
- 1.4.7. Frequency response and harmonic analysis
- 1.5. Main models
- 1.5.1. Integrator
- 1.5.2. First order system
- 1.5.3. Second order system
- 1.6. A few reminders on Fourier and Laplace transforms
- 1.6.1. Fourier transform
- 1.6.2. Laplace transform
- 1.6.3. Properties
- 1.6.4. Laplace transforms of ordinary causal signals
- 1.6.5. Ordinary Fourier transforms
- 1.7. Bibliography
- 2.1. Reminders on the systems
- 2.1.1. Internal representation of determinist systems: the concept of state
- 2.1.3. Case of linear systems
- 2.1.4. Case of continuous and invariant linear systems
- 2.2. Resolving the equation of state
- 2.2.1. Free state
- 2.2.2. Forced state
- 2.2.3. Particular case of linear and invariant systems
- 2.2.4. Calculation method of the transition matrix 0
- 2.2.5. Application to the modeling of linear discrete systems
- 2.3. Scalar representation of linear and invariant systems
- 2.3.1. State passage → transfer
- 2.3.2. Change of basis in the state space
- 2.3.3. Transfer passage → state
- 2.3.4. Scalar representation of invariant and linear discrete systems
- 2.4. Controllability of systems
- 2.4.1. General definitions
- 2.4.2. Controllability of linear and invariant systems
- 2.4.3. Canonic representation of partially controllable systems
- 2.4.4. Scalar representation of partially controllable systems
- 2.5. Observability of systems
- 2.5.1. General definitions
- 2.5.2. Observability of linear and invariant systems
- 2.5.3. Case of partially observable systems
- 2.5.4. Case of partially controllable and partially observable systems
- 2.6. Bibliography
- 3.1. Introduction
- 3.2. Discrete signals: analysis and manipulation
- 3.2.1. Representation of a discrete signal
- 3.2.2. Delay and lead operators
- 3.2.3. z-transform
- 3.3. Discrete systems (DLTI)
- 3.3.1. External representation
- 3.3.2. Internal representation
- 3.3.3. Representation in terms of operator
- 3.3.4. Transfer function and frequency response
- 3.3.5. Time response of basic systems
- 3.4. Discretization of continuous-time systems
- 3.4.1. Discretization of analog signals
- 3.4.2. Transfer function of the discretized system
- 3.4.3. State representation of the discretized system
- 3.4.4. Frequency responses of the continuous and discrete system
- 3.4.5. The problem of sub-sampling
- 3.4.6. The problem of over-sampling
- 3.5. Conclusion
- 3.6. Bibliography
- Structural Properties of Linear Systems
- 4.1. Introduction: basic tools for a structural analysis of systems
- 4.1.1. Vector spaces, linear applications
- 4.1.2. Invariant sub-spaces
- 4.1.3. Polynomials, polynomial matrices
- 4.1.4. Smith form, companion form, Jordan form
- 4.1.5. Notes and references
- 4.2. Beams, canonical forms and invariants
- 4.2.1. Matrix pencils and geometry
- 4.2.2. Kronecker’s canonical form
- 4.2.3. Controllable, observable canonical form (Brunovsky)
- 4.2.4. Morse’s canonical form
- 4.2.5. Notes and references
- 4.3. Invariant structures under transformation groups
- 4.3.1. Controllability indices
- 4.3.2. Observability indices
- 4.3.3. Infinite zeros
- 4.3.4. Invariants, transmission finite zeros
- 4.3.5. Notes and references
- 4.4. An introduction to a structural approach of the control
- 4.4.1. Disturbance rejection and decoupling: existence of solutions
- 4.4.4. Notes and references
- 4.5. Conclusion
- 4.5.1. Optimal attenuation of disturbance
- 4.6. Bibliography
- Signals: Deterministic and Statistical Models
- 5.1. Introduction
- 5.2. Signals and spectral analysis
- 5.3. Generator processes and ARMA modeling
- 5.4. Modeling of LTI systems and ARMAX modeling
- 5.4.1. ARX modeling
- 5.4.2. ARMAX modeling
- 5.4.3. Output error model
- 5.4.4. Representation of the ARMAX model within the state space
- 5.4.5. Predictor filter associated with the ARMAX model
- 5.5. From the Markovian system to the ARMAX model
- 5.6. Bibliography
- 6.1. The academic problem of stabilization through state feedback
- 6.2. Stabilization by pole placement
- 6.2.1. Results
- 6.2.2. Example
- 6.3. Reconstruction of state and observers
- 6.3.1. General principles
- 6.3.2. Continuous-time observer
- 6.3.3. Discrete-time observer
- 6.3.4. Calculation of the observer by pole placement
- 6.3.5. Behavior of the observer outside the ideal case
- 6.3.6. Example
- 6.4. Stabilization through quadratic optimization
- 6.4.1. General results for continuous-time
- 6.4.2. General results for discrete-time
- 6.4.3. Interpretation of the results
- 6.4.4. Example
- 6.5.1. Calculation of a continuous-time observer
- 6.5.2. Calculation of a discrete-time observer
- 6.5.3. Interpretation in a stochastic context
- 6.5.4. Example
- 6.6. Control through state feedback and observers
- 6.6.1. Implementation of the control
- 6.6.2. Dynamics of the looped system
- 6.6.3. Interest and limitations of this result
- 6.6.4. Interpretation in the form of equivalent corrector
- 6.6.5. Example
- 6.7. A few words on the resolution of Riccati’s equations
- 6.8. Conclusion
- 6.9. Bibliography
- 7.1. Introduction
- 7.2. Modeling
- 7.3. Graphic identification approached
- 7.3.1. Pseudo-periodic unit-step response
- Figure 7.2. Pseudo-periodic unit-step response
- Pseudo-periodic unit-step response
- Aperiodic unit-step response
- 7.3.2. Aperiodic unit-step response
- 7.3.3. Partial conclusion
- 7.4. Identification through criterion optimization
- 7.4.1. Algorithms
- 7.4.2. Models
- 7.4.3. Methods
- 7.4.4. Optimization criteria
- 7.4.5. The problem of precision
- 7.4.6. How to optimize
- 7.4.7. Partial conclusion
- 7.4.8. Practical application
- 7.5. Conclusion around an example
- 7.5.1. Simulated procedure
- 7.5.2. In search of a model
- 7.6. Bibliography
- 8.1. Introduction
- 8.1.1. About linear equations
- 8.1.2. About non-linear equations
- 8.2. Standard linear equations
- 8.2.1. Definition of the problem
- 8.2.2. Solving principle
- 8.2.3. Practical implementation
- 8.3. Specific linear equations
- 8.3.1. Definition of the problem
- 8.3.2. Solving principle
- 8.3.3. Practical implementation
- 8.4. Stability, stiffness and integration horizon
- 8.5. Non-linear differential systems
- 8.5.1. Preliminary aspects
- 8.5.2. Characterization of an algorithm
- 8.5.3. Explicit algorithms
- 8.5.4. Multi-interval implicit algorithms
- 8.5.5. Solver for stiff systems
- 8.5.6. Partial conclusion
- 8.6. Discretization of control laws
- 8.6.1. Introduction
- 8.6.2. Discretization
- 8.6.3. Application to PID regulators
- 8.7. Bibliography
- 9.1. Configuration of feedback loops
- 9.1.1. Open loop – closed loops
- 9.1.2. Closed loop harmonic analysis
- 9.2. Stability
- 9.2.1. Nyquist criterion
- 9.2.2. Routh’s algebraic criterion
- 9.2.3. Stability margins
- 9.3. Precision
- 9.3.1. Permanent error
- 9.3.2. Transitional error
- 9.4. Parametric sensitivity
- 9.4.1. Open loop sensitivity
- 9.4.2. Closed loop sensitivity
- 9.5. Bibliography
- 10.1. Role of correctors: precision-stability dilemma
- 10.1.1. Analysis of systems’ behavior
- 10.1.2. Serial correction
- 10.1.3. Parallel correction
- 10.1.4. Correction by anticipation
- 10.1.5. Conclusions
- 10.2. Serial correction
- 10.2.1. Correction by phase lead
- 10.3. Correction by combined actions
- 10.3.1. Transfer function
- 10.4. Proportional derivative (PD) correction
- 10.4.1. Transfer function
- 10.5. Proportional integral (PI) correction
- 10.5.1. Transfer function
- 10.6. Proportional integral proportional (PID) correction
- 10.6.1. Transfer function
- 10.6.2. Experimental adjustment method
- 10.7. Parallel correction
- 10.7.1. General principle
- 10.7.2. Simple tachymetric correction (C(p) = λp)
- 10.7.3. Filtered tachymetric correction
- 10.7.4. Correction of delay systems: Smith predictor
- 10.8. Bibliography
- 11.1. Introduction
- 11.1.1. Guiding principles and notations
- 11.1.2. Reminders on polynomial algebra
- 11.2. The obvious objectives of the correction
- 11.2.1. Internal stability
- 11.2.2. Stationary behavior
- 11.3. Resolution
- 11.3.1 Resolution of a particular case
- 11.3.2. General case
- 11.4. Implementation
- 11.4.1. First possibility
- 11.4.2. Minimal representation
- 11.4.3. Management of saturations
- 11.5. Methodology
- 11.5.1. Intuitive approach
- 11.5.2. Reduction of the noise on the control by choice of degrees
- 11.5.3. Choice of the dynamics of Am and Ao
- 11.5.4. Examples
- 11.6. Conclusion
- 11.7. Bibliography
- 12.1. General principles of predictive control
- 12.1.1. Anticipative aspect
- 12.1.2. Explicit prediction of future behavior
- 12.1.3. Optimization by minimization of a quadratic criterion
- 12.1.4. Principle of the sliding horizon
- 12.2. Generalized predictive control (GPC)
- 12.2.1. Formulation of the control law
- 12.2.2. Automatic synthesis of adjustment parameters
- 12.2.3. Extension of the basic version
- 12.3. Functional predictive control (FPC)
- 12.3.1. Definition of numerical model
- 12.3.2. Choice of a reference trajectory
- 12.3.3. Object-model difference
- 12.3.4. Structure of the future control
- 12.3.5. Structure of the optimal predictor
- 12.3.6. Definition of quadratic criterion, concept of match points
- 12.3.7. Adjustment parameters
- 12.4. Conclusion
- 12.5. Bibliography
- 13.1. Introduction
- 13.2. H2 control
- 13.2.1. Standards
- 13.2.2. H2 optimization
- 13.2.3. H2 – LQG
- 13.2.4. H2 – LTR
- 13.2.5. Generalization of the H2 standard problem
- 13.2.6. Generalized H2 problem and robust RPIS
- 13.2.7. Discretization of the H2 problem
- 13.3. Data of a feedback control problem
- 13.3.1. Model of the process
- 13.3.2. Modeling the environment of the system to adjust
- 13.3.3. Additional data
- 13.4. Standard H2 optimization problem
- 13.4.1. Construction of the conceptual control model
- 13.4.2. Definition of the H2 optimization problem
- 13.4.3. The interest in standardization
- 13.4.4. Management of the control compromises
- 13.5. Conclusion
- 13.6. Appendices
- 13.6.1. Resolution of the Lyapunov equations
- 13.6.2. Duality principle
- 13.6.3. Another useful interpretation of grammians
- 13.6.4. Zeros of a multivariable system
- 13.6.5. Standardization of a system
- 13.7. Bibliography
- 14.1. Introduction
- 14.2. The eigenstructure
- 14.2.1. Notations
- 14.2.2. Relations among signals, modes and eigenvectors
- 14.3. Modal analysis
- 14.3.1. Introduction
- 14.3.2. Modal simulation
- 14.3.3. Controllability
- 14.4. Traditional methods for eigenstructure placement
- 14.4.1. Modal specifications
- 14.4.2. Choice of eigenvectors of the closed loop
- 14.4.3. State feedback and output elementary static feedback
- 14.5. Eigenstructure placement as observer
- 14.5.1. Elementary observers
- 14.5.2. Observer synthesis
- 14.5.3. Synthesis of output dynamic feedback in the form of observer
- 14.6. Conclusion
- 14.7. Bibliography
- 15.1. The H∞ approach
- 15.1.1. The H∞ standard problem
- 15.1.2. Example
- 15.1.3. Resolution methods
- 15.1.6. Restricted synthesis on the corrector order
- 15.2. The µ-analysis
- 15.2.2. Main results of robustness
- 15.2.3. Example
- 15.2.4. Evaluation of structured single value
- 15.3. The µ-synthesis
- 15.3.1. A H∞ robust synthesis
- 15.3.2. Approach by D-K iterations
- 15.3.3. Example
- 15.4. Synthesis of a corrector depending on varying parameters
- 15.4.1. Problem considered and L2 gain
- 15.4.2. Polytopic approach
- 15.4.3. A more general approach
- 15.4.4. Example
- 15.5. Conclusion
- 15.6. Bibliography
- 16.1. Ring of non-commutative polynomials
- 16.1.1. Division and the right highest divisor (RHD)
- 16.1.2. Right least common multiple (RLCM)
- 16.1.3. Explicit formulation of RLCM
- 16.1.4. Factoring, roots, relations with the coefficients
- 16.2. Body of rational fractions
- 16.3. Transfer function
- 16.3.1. Properties of transfer functions
- 16.3.2. Normal modes
- 16.3.3. Stability
- 16.4. Algebra of non-stationary linear systems
- 16.4.1. Serial systems
- 16.4.2. Parallel systems
- 16.5. Applications
- 16.5.1. Modeling
- 16.5.2. Pole placement
- 16.6. Conclusion
- 16.7. Bibliography
- List of Authors
- Index
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