Download PDF by Mathukumalli Vidyasagar: Control System Synthesis - A Factorization Approach, Part I

By Mathukumalli Vidyasagar

ISBN-10: 1608456617

ISBN-13: 9781608456611

ISBN-10: 1608456625

ISBN-13: 9781608456628

This ebook introduces the so-called "stable factorization technique" to the synthesis of suggestions controllers for linear keep watch over platforms. the foremost to this method 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 means of R, which additionally has no divisors of 0. during this atmosphere, the set of single-input, single-output (SISO) strong keep an eye on structures is exactly the hoop R, whereas the set of solid MIMO keep an eye on platforms is the set of matrices whose components all belong to R. The set of risky, which means now not inevitably sturdy, keep an eye on structures is then taken to be the sphere of fractions F linked to R within the SISO case, and the set of matrices with components in F within the MIMO case. The significant thought brought within the booklet is that, in so much events of functional curiosity, each matrix P whose parts belong to F should be "factored" as a "ratio" of 2 matrices N,D whose parts belong to R, in one of these means that N,D are coprime. within the regular case the place the hoop R corresponds to the set of bounded-input, bounded-output (BIBO)-stable rational move features, coprimeness is similar to services now not having any universal zeros within the closed correct half-plane together with infinity. in spite of the fact that, the idea of coprimeness extends conveniently to discrete-time platforms, distributed-parameter structures in either the continual- in addition to discrete-time domain names, and to multi-dimensional platforms. hence the good factorization strategy allows one to trap these kinds of events inside of a standard framework. the most important bring about the sturdy factorization technique is the parametrization of all controllers that stabilize a given plant. it's proven that the set of all stabilizing controllers might be parametrized through a unmarried parameter R, whose components all belong to R. additionally, each move matrix within the closed-loop method is an affine functionality of the layout parameter R. therefore difficulties of trustworthy stabilization, disturbance rejection, powerful stabilization and so forth. can all be formulated when it comes to selecting a suitable R. it is a reprint of the publication regulate approach Synthesis: A Factorization strategy initially released by way of M.I.T. Press in 1985. desk of Contents: advent / right good Rational services / Scalar structures: An creation / 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

PROPER STABLE RATIONAL FUNCTIONS not be a real matrix. Select a complex vector v such that v 2 = 1 and F −1 (j ω)v 2 = F −1 . As before let c denote F −1 and let u denote F −1 (j ω)v. Express each component of u, v in the form ui = u¯ i exp(j θi ), vi = v¯i exp(j φi ), i = 1, · · · , n . 18) where u¯ i , v¯i are real and θi , φi ∈ (−π, 0] ∀i. 19) where the nonnegative constants αi , βi are chosen such that a(j ω) = v, b(j ω) = u. Finally, define H (s) = c−2 a(s)b (s). Then H = c, but (F − H )(j ω) is singular, so that G = F − H is not a unit.

1 Suppose p, c ∈ R(s), and let p = np /dp , c = nc /dc , where np , dp , nc , dc ∈ S, and np , dp are coprime, nc , dc are coprime. Define δ(p, c) = np nc + dp dc . 4) Then the pair (p, c) is stable if and only if δ(p, c) ∈ U. Proof. “if ” Suppose δ(p, c) ∈ U; then 1/δ(p, c) ∈ S. 5) belongs to S2×2 , so that the pair (p, c) is stable. “only if ” Suppose (p, c) is stable. Then certainly 1 + pc = 0. Also, dp = 0, dc = 0 since both are denominators of fractions. 5) is valid. 5) that dp dc dp nc np dc ∈ S, ∈ S, ∈S.

11). It can be shown to be the same as the product topology on M(S) obtained from the one on S. In simpler terms, this means the following: Suppose {Al } is a sequence of matrices, and A is another matrix, all of the same order, in M(S). Then Al − A → 0 as l → ∞ if and only if aijl − aij → 0 as l → ∞ for each i, j . 11) if and only if each component sequence of scalars aijl converges to the scalar aij in 1 Recall that the largest singular value of a matrix M is defined as the square-root of the largest eigenvalue of the symmetric matrix M ∗ M.

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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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