416 pages | 242 B/W Illus.
Integrating feedforward control with feedback control can significantly improve the performance of control systems compared to using feedback control alone. Focusing on feedforward control techniques, Optimal Reference Shaping for Dynamical Systems: Theory and Applications lucidly covers the various algorithms for attenuating residual oscillations that are excited by reference inputs to dynamical systems. The reference shaping techniques presented in the book require the system to be stable or marginally stable, including systems where feedback control has been used to stabilize the system.
Illustrates Techniques through Benchmark Problems
After developing models for applications in which the dynamics are dominated by lightly damped poles, the book describes the time-delay filter (input shaper) design technique and reviews the calculus of variations. It then focuses on four control problems: time-optimal, fuel/time-optimal, fuel limited time-optimal, and jerk limited time-optimal control. The author explains how the minimax optimization problem can help in the design of robust time-delay filters and explores the input-constrained design of open-loop control profiles that account for friction in the design of point-to-point control profiles. The final chapter presents numerical techniques for solving the problem of designing shaped inputs.
Supplying MATLAB® code and a suite of real-world problems, this book provides a rigorous yet accessible presentation of the theory and numerical techniques used to shape control system inputs for achieving precise control when modeling uncertainties exist. It includes up-to-date techniques for the design of command-shaped profiles for precise, robust, and rapid point-to-point control of underdamped systems.
Hard Disk Drives
High Speed Tape Drives
High Speed Elevator
Time-Delay Filter/Input Shaping
Proportional Plus User-Selected Multiple Delay Control
Time-Delay Control of Multi-Mode Systems
Jerk Limited Input Shapers
Robust Jerk Limited Time-Delay Filter
Jerk Limited Time-Delay Filters for Multi-Mode Systems
Filtered Input Shapers
Discrete-Time Time-Delay Filters
Calculus of Variations
Minimum Power Control
Frequency Shaped LQR Controller
LQR Control with Noisy Input
Minimum Time Control
Fuel/Time Optimal Control
Fuel Limited Minimum Time Control
Jerk Limited Time Optimal Control
Minimax Time-Delay Filters
Minimax Feedback Controllers
Time-Optimal Rest-to-Rest Maneuvers
Pulse-Width Pulse-Amplitude Control
Linear Matrix Inequality
Appendix A: Van Loan Exponential
Appendix B: Differential Lyapunov Equation
Appendix C: Parseval’s Theorem
A Summary appears at the end of each chapter.