Robust Control Engineering: Practical QFT Solutions, 1st Edition (Hardback) book cover

Robust Control Engineering

Practical QFT Solutions, 1st Edition

By Mario Garcia-Sanz

CRC Press

556 pages

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Description

This book thoroughly covers the fundamentals of the QFT robust control, as well as practical control solutions, for unstable, time-delay, non-minimum phase or distributed parameter systems, plants with large model uncertainty, high-performance specifications, nonlinear components, multi-input multi-output characteristics or asymmetric topologies. The reader will discover practical applications through a collection of fifty successful, real world case studies and projects, in which the author has been involved during the last twenty-five years, including commercial wind turbines, wastewater treatment plants, power systems, satellites with flexible appendages, spacecraft, large radio telescopes, and industrial manufacturing systems. Furthermore, the book presents problems and projects with the popular QFT Control Toolbox (QFTCT) for MATLAB, which was developed by the author.

Reviews

"There had been a big vacuum as far as textbooks on QFT is concerned. The books in market are either outdated and not easily available or do not discuss examples with MATLAB extensively as your book does. Your book completely fills in that gap with more updated information and relevant MATLAB based examples. The book is complete and self-contained with a wide variety of examples as ranging from Satellite control to Wind Turbine control – all using QFT techniques. Further, from a student point of view, many projects have been discussed with QFT MATLAB toolbox which is a highlight of this book and hence a definite must have for anyone interested, doing research and working in this field. The author has blended his practical experience also into this book which makes it unique and the favourite of any QFT designer."

Rajesh Joseph Abraham, Indian Institute of Space Science & Technology, India

"Professor Garcia-Sanz is one of the leading exponents of the robust control design method, which is referred to as quantitative feedback theory (QFT). This excellent text introduces the fundamentals of QFT and provides control solutions for a range of systems including unstable, transport delay, non-minimum phase and distributed parameter systems.

The QFT design method provides real robustness to uncertainties of various types. The method originated from the work of Professor Isaac Horowitz but this book extends his original work in many ways. It is particularly valuable for the range of applications considered including wind turbines, wastewater treatment plants, power systems, satellites, radio telescopes and manufacturing systems.

A feature of such design texts is that they often contain MATLAB toolboxes to enable the design methods to be assessed. In this case the book includes problems where the MATLAB QFT control toolbox can be applied. This was developed by the author.

The book is written in a style that should be very accessible to engineers, particularly those that have a classical control engineering background. In fact, it provides access to modern multivariable control design methods but it is based upon frequency response ideas that should be very familiar to most engineers.

The layout of the text is excellent and it includes numerous examples and problems. It should be valuable to experienced engineers working on real control design applications but it is also suitable for undergraduate and graduate students pursuing courses on control engineering. It is recommended for the bookshelves of engineers or the more economical eBook version can be convenient."

Applied Control Technology Consortium E-News, 2017 Issue

"This book covers the fundamentals of robust control using quantitative feedback theory (QFT). Practical control solutions are provided for unstable, time-delay, nonminimum phase, or distributed parameter systems. Moreover, plants with large model uncertainty and/or high-performance specifications, nonlinear components, and multi-input, multi- output characteristics or asymmetric topologies are also considered. The reader will discover practical applications through a collection of 50 real-world case studies and projects, in which the author has been involved over the last 25 years. These applications include commercial wind turbines, wastewater treatment plants, power systems, spacecraft with flexible appendages, large radio telescopes, and industrial manufacturing systems. The book presents problems and projects using the QFT Control Toolbox for MATLAB, which was developed by the author."

IEEE Control Systems Magazine, December 2017 Issue

Table of Contents

Preface

Chapter 1. INTRODUCTION

1-1. The control engineer’s leadership

1-2. QFT robust control engineering

1-3. Book’s outline

1-4. Courses and modules

Chapter 2. QFT ROBUST CONTROL

2-1. Introduction

2-2. Plant modeling –Step 1

2-3. The nominal plant –Step 2

2-4. QFT-templates –Step 3

2-5. Stability specifications –Step 4

2-6. Performance specifications –Step 5

2-7. QFT-bounds –Steps 6 to 8

2-8. Controller design, G(s). Loop-shaping –Step 9

2-9. Prefilter design, F(s) –Step 10

2-10. Analysis and validation –Steps 11 to 13

2-11. Model matching

2-12. Feedforward control

2-13. P.I.D. control: design and tuning with QFT

2-14. Practical tips

2-15. Summary

2-16. Practice

Chapter 3. UNSTABLE SYSTEMS AND CONTROL SOLUTIONS

3-1. Introduction

3-2. Understanding gain/phase margins and Ws circles

3-3. The Nyquist stability criterion

3-4. Nyquist stability criterion in the Nichols chart

3-5. Examples

3-6. Guidelines to design controllers

3-7. Analysis of the first case

3-8. Summary

3-9. Practice

Chapter 4. TIME-DELAY AND NON-MINIMUM PHASE SYSTEMS

4-1. Time-delay systems

4-2. Robust design of the Smith Predictor

4-3. Continuing with Example 4.1

4-4. Non-minimum phase systems

4-5. Summary

4-6. Practice

Chapter 5. DISTRIBUTED PARAMETER SYSTEMS

5-1. Introduction

5-2. Modeling approaches for PDE

5-3. Generalized DPS control system structure

5-4. Extension of Quantitative Feedback Theory to DPS

5-5. Example 5.1: Heat conduction with distributed temperature

5-5. Summary

5-6. Practice

Chapter 6. GAIN SCHEDULING / SWITCHING CONTROL SOLUTIONS

6-1. Introduction

6-2. System stability under switching

6-3. Methodology

6-4. Examples

6-5. Summary

6-6. Practice

Chapter 7. NONLINEAR DYNAMIC CONTROL

7-1. Introduction

7-2. The circle stability criterion

7-3. Nonlinear dynamic control. One nonlinearity

7-4. Anti wind-up solution for PID controllers

7-5. Nonlinear dynamic control. Several nonlinearities

7-6. Summary

7-7. Practice

Chapter 8. MULTI-INPUT MULTI-OUTPUT SYSTEMS: ANALYSIS & CONTROL

8-1. Introduction

8-2. Formulation for n×n systems

8-3. MIMO systems – description and characteristics

8-4. MIMO QFT control –overview

8-5. Non-diagonal MIMO QFT. Method 1

8-6. Non-diagonal MIMO QFT. Method 2

8-7. Comparison of Methods 1 and 2

8-8. Heat exchanger, Example 8.1. MIMO QFT Method 1

8-9. Heat exchanger, Example 8.1. MIMO QFT Method 2

8-10. Summary

8-11. Practice

Chapter 9. CONTROL TOPOLOGIES

9-1. Introduction

9-2. Cascade control systems

9-3. Feedforward control systems

9-4. Override control systems

9-5. Ratio control systems

9-6. Mid-range control systems

9-7. Load-sharing control systems

9-8. Split-range control systems

9-9. Inferential control systems

9-10. Auctioneering control systems

9-11. Summary

9-12. Practice

Chapter 10. CONTROLLER IMPLEMENTATION

10-1. Introduction

10-2. Analog implementation

10-3. Digital implementation

10-4. Fragility analysis with QFT

10-5. Summary

10-6. Practice

Case study CS1. Satellite control

CS1-1. Description

CS1-2. Plant model

CS1-3. Preliminary analysis

CS1-4. Control specifications

CS1-5. Controller design

CS1-6. Analysis and validation

CS1-7. Summary

Case study CS2. Wind turbine control

CS2-1. Description

CS2-2. Plant model

CS2-3. Preliminary analysis

CS2-4. Control specifications

CS2-5. Controller design

CS2-6. Analysis and validation

CS2-7. Extension to higher wind velocities

CS2-8. Summary

Case study CS3. Wastewater treatment plant control

CS3-1. Description

CS3-2. Plant model

CS3-3. Preliminary analysis

CS3-4. Control specifications

CS3-5. Controller design

CS3-6. Analysis and validation

CS3-7. Summary

Case study CS4. Radio-telescope control

CS4-1. Description

CS4-2. Plant model

CS4-3. Preliminary analysis

CS4-4. Azimuth axis. Velocity control

CS4-5. Azimuth axis. Position control

CS4-6. Simulation: Position and velocity loops

CS4-7. Improving with Nonlinear Dynamic Control

CS4-8. Summary

Case study CS5. Attitude and position control of spacecraft telescopes with flexible appendages

CS5-1. Introduction

CS5-2. System description and modeling

CS5-3. Control specifications

CS5-4. Control system design

CS5-5. Simulation and validation

CS5-6. Summary

Appendix 1. PROJECTS AND PROBLEMS

A1-1. PROJECTS

Project P1. Vehicle active suspension control

Project P2. DVD Head control

Project P3. Inverted pendulum control

Project P4. Interconnected micro-grids control

Project P5. Distillation column control

Project P6. Central heating system control

Project P7. Multi-tank hydraulic control system

Project P8. Attitude control of a satellite with fuel tanks partially filled

A1-2. QUICK PROBLEMS

Problem Q1. Definition of uncertainty

Problem Q2. Control of first-order system with uncertainty

Problem Q3. Control of third-order State space system with uncertainty

Problem Q4. Field-controlled DC motor

Problem Q5. Formation flying spacecraft control. Deep space

Problem Q6. Helicopter control

Problem Q7. Two cart problem

Problem Q8. Two flow problem

Problem Q9. 2×2 MIMO system

Problem Q10. 2×2 MIMO system

Problem Q11. Spacecraft flying in formation in Low Earth Orbit

Problem Q12. 3×3 MIMO system

Appendix 2. QFT CONTROL TOOLBOX (QFTCT). USER’S GUIDE

Appendix 3. ALGORITHM. NYQUIST STABILITY CRITERION IN NICHOLS CHART

Appendix 4. ALGORITHMS. SMITH PREDICTOR ROBUST CONTROL

Appendix 5. ALGORITHMS. DPS ROBUST CONTROL

Appendix 6. ALGORITHMS. GAIN SCHEDULING / SWITCHING CONTROL

Appendix 7. ALGORITHMS. NONLINEAR DYNAMIC CONTROL

Appendix 8. ALGORITHMS. MIMO ROBUST CONTROL

Appendix 9. CONVERSION OF UNITS

References

About the Author

Prof. Mario García-Sanz is one of the pioneers in the QFT robust control arena. Over the last 30 years, he has developed new QFT control theory for multi-input multi-output plants, distributed parameter systems, time-delay processes, nonlinear switching and feedforward control, including also methods to apply the Nyquist stability criterion in the Nichols chart, and to calculate QFT templates and bounds. In addition, he has designed many commercial control solutions for industry and space agencies. Customers include NASA-JPL, ESA-ESTEC, US-AFIT, NRAO-GBT, GMRT, Gamesa, Acciona, MTorres, IngeTeam, CENER, Eaton Corporation, Enercon, Siemens, Iberdrola, REE, Sener, EEQ, etc.

With over 20 industrial patents and 200 research papers, Dr. García-Sanz is one of the inventors of the TWT direct-drive variable-speed pitch-control multi-megawatt wind turbine, of the EAGLE airborne wind energy system, of the TWT variable-speed hydro-wind turbine, of the DeltaGrids optimal planning algorithms for electrical distribution networks, and of numerous advanced industrial controllers. In addition, he has been the Principal Investigator of over 50 funded research projects for industry, and worked as an international expert on wind turbine design and control in patent litigation at the British Court in London. As a Full Professor at the Public University of Navarra (Spain) and Senior Advisor for European wind energy companies, he played a central role in the design and field experimentation of multi-megawatt wind turbines for industry, including the advice of many PhD students and engineers in the field.

Dr. García-Sanz is currently a Professor and Founding Director of the Control and Energy Systems Center, and the inaugural Milton and Tamar Maltz Endowed Chair in Energy Innovation at Case Western Reserve University (http://cesc.case.edu). He also has been NATO/RTO Lecture Series Director for Advanced Controls, Visiting Professor at the Control Systems Centre, UMIST (UK); at Oxford University (UK); at the Jet Propulsion Laboratory NASA-JPL (California); and at the European Space Agency ESA-ESTEC (The Netherlands), and has given invited seminars in over 20 countries. He founded CoDyPower LLC, a consulting firm specialized on control systems, energy innovation and optimum planning of electrical distribution networks (http://codypower.com). Professor García-Sanz's CRC-Press three books "Quantitative Feedback Theory: Theory and Applications" (2006), "Wind Energy Systems: Control Engineering Design" (2012), and "Robust Control Engineering: Practical QFT Solutions" (2017) are among the best-selling books in QFT robust control and Wind turbine control. His QFT Control Toolbox for Matlab is considered as the top tool for designing QFT robust control systems. Dr. García-Sanz is Subject Editor of the International Journal of Robust and Nonlinear Control and was awarded the IEE Heaviside Prize (UK) in 1995, the BBVA research award (Spain) in 2001 and the CWRU Diekhoff Teaching Award (USA) in 2012 among other prizes.

Subject Categories

BISAC Subject Codes/Headings:
SCI024000
SCIENCE / Energy
TEC007000
TECHNOLOGY & ENGINEERING / Electrical
TEC031020
TECHNOLOGY & ENGINEERING / Power Resources / Electrical