Computer-Aided Control Systems Design

Book Description

Computer-Aided Control Systems Design: Practical Applications Using MATLAB® and Simulink® supplies a solid foundation in applied control to help you bridge the gap between control theory and its real-world applications. Working from basic principles, the book delves into control systems design through the practical examples of the ALSTOM gasifier system in power stations and underwater robotic vehicles in the marine industry. It also shows how powerful software such as MATLAB® and Simulink® can aid in control systems design.

Make Control Engineering Come Alive with Computer-Aided Software

Emphasizing key aspects of the design process, the book covers the dynamic modeling, control structure design, controller design, implementation, and testing of control systems. It begins with the essential ideas of applied control engineering and a hands-on introduction to MATLAB and Simulink. It then discusses the analysis, model order reduction, and controller design for a power plant and the modeling, simulation, and control of a remotely operated vehicle (ROV) for pipeline tracking. The author explains how to obtain the ROV model and verify it by using computational fluid dynamic software before designing and implementing the control system. In addition, the book details the nonlinear subsystem modeling and linearization of the ROV at vertical plane equilibrium points. Throughout, the author delineates areas for further study. Appendices provide additional information on various simulation models and their results.

Learn How to Perform Simulations on Real Industry Systems

A step-by-step guide to computer-aided applied control design, this book supplies the knowledge to help you deal with control problems in industry. It is a valuable reference for anyone who wants a better understanding of the theory and practice of basic control systems design, analysis, and implementation.

Table of Contents

  1. Cover
  2. Half Title
  3. Title Page
  4. Copyright Page
  5. Table of Contents
  6. Foreword
  7. Preface
  8. Acknowledgments
  9. Chapter 1 An Overview of Applied Control Engineering
    1. 1.1 Historical Review
    2. 1.2 Computer-Aided Control System Design
    3. 1.3 Control System Fundamentals
      1. 1.3.1 Open-Loop Systems
      2. 1.3.2 Closed-Loop Systems
    4. 1.4 Examples of Control Systems
      1. 1.4.1 Ship Control System
      2. 1.4.2 Underwater Robotic Vehicle Control System
      3. 1.4.3 Unmanned Aerial Vehicle Control System
    5. 1.5 Control System Design
  10. Chapter 2 Introduction to MATLAB and Simulink
    1. 2.1 What Is MATLAB and Simulink?
    2. 2.2 MATLAB Basic
      1. 2.2.1 Vector
      2. 2.2.2 Matrices
      3. 2.2.3 Plot Graph
      4. 2.2.4 Polynomials
      5. 2.2.5 M-Files and Function
    3. 2.3 Solving a Differential Equation
      1. 2.3.1 MATLAB Open-Loop Transfer Function Modeling
      2. 2.3.2 Simulink Open-Loop Transfer Function Modeling
      3. 2.3.3 Simulink Open-Loop System Modeling
    4. 2.4 Simulink Closed-Loop Control System Design
      1. 2.4.1 PID Tuning Using Simulink
      2. 2.4.2 PID Tuning Using the SISO Tool
  11. Chapter 3 Analysis and Control of the ALSTOM Gasifier Problem
    1. 3.1 Gasifier System Description and Notation
    2. 3.2 Inherent Properties Analysis
    3. 3.3 Control Structure Design
    4. 3.4 Gasifier System Analysis
    5. 3.5 Model Order Reduction (MOR)
    6. 3.6 Linear Quadratic Regulator (LQR)
      1. 3.6.1 LQR Theory
      2. 3.6.2 LQR Design Steps
      3. 3.6.3 Performance Tests on LQR Design
    7. 3.7 Linear Quadratic Gaussian (LQG)
      1. 3.7.1 LQG Theory
      2. 3.7.2 Loop Transfer Recovery (LTR)
      3. 3.7.3 LQG/LTR Design Steps
      4. 3.7.4 Performance Tests on LQG/LTR
    8. 3.8 H-Infinity Optimization
      1. 3.8.1 Generalized Plant
      2. 3.8.2 H-Infinity Design Assumptions
      3. 3.8.3 H∞ Optimization Routine
      4. 3.8.4 Mixed Sensitivity Problem Formulation
      5. 3.8.5 Selection of Weighting Function
      6. 3.8.6 H-Infinity Design Steps
      7. 3.8.7 Performance Tests on H-Infinity Design
    9. 3.9 H2 Optimization
      1. 3.9.1 H2 Design Steps
      2. 3.9.2 Performance Tests on H2 Design
    10. 3.10 Comparison of Controllers
      1. 3.10.1 Sensitivity (S)
      2. 3.10.2 Robust Stability (RS)
      3. 3.10.3 MIMO System Asymptotic Stability (MIMO AS)
      4. 3.10.4 Nyquist Type Criterion (NTC)
      5. 3.10.5 Internal Stability (IS)
      6. 3.10.6 Instantaneous Error (ISE)
      7. 3.10.7 Final Value Theorem (FVT)
      8. 3.10.8 Controller Order (CO)
      9. 3.10.9 Condition Number (CN)
    11. 3.11 Comparison of All Controllers
  12. Chapter 4 Modeling of a Remotely Operated Vehicle
    1. 4.1 Background of the URV
    2. 4.2 Basic Design of a ROV and Tasks Undertaken
    3. 4.3 Need for ROV Control
    4. 4.4 Dynamic Equation Using the Newtonian Method
    5. 4.5 Kinematics Equations and Earth-Fixed Frame Equation
    6. 4.6 RRC ROV Model
      1. 4.6.1 Rigid-Body Mass and Coriolis and Centripetal Matrix
      2. 4.6.2 Hydrodynamic Added Mass Forces
      3. 4.6.3 Hydrodynamic Damping Forces
      4. 4.6.4 Buoyancy and Gravitational Forces
      5. 4.6.5 Thruster’s Configuration Model
    7. 4.7 Perturbed RRC ROV Model
      1. 4.7.1 Perturbation Bound on M and C Matrix
      2. 4.7.2 Perturbation Bound on D Matrix
    8. 4.8 Verification of ROV Model
  13. Chapter 5 Control of a Remotely Operated Vehicle
    1. 5.1 Nonlinear ROV Subsystem Model
      1. 5.1.1 Station-Keeping Model
      2. 5.1.2 Horizontal and Vertical Plane Subsystem Models
    2. 5.2 Linear ROV Subsystem Model
    3. 5.3 Nonlinear ROV Control Systems Design
      1. 5.3.1 Multivariable PID Control Design
      2. 5.3.2 Sliding-Mode Control
      3. 5.3.3 Velocity State-Feedback Linearization
      4. 5.3.4 Fuzzy Logic Control
      5. 5.3.5 Cascaded System Control on the Reduced ROV Model
    4. 5.4 Linear ROV Control Systems Design
      1. 5.4.1 Inherent Properties of Linear ROV System
      2. 5.4.2 LQG/LTR Controller Design
      3. 5.4.3 H-Infinity Controller Design
  14. References
  15. Appendix A1: State-Space Matrices for ALSTOM Gasifier System (Linear)
  16. Appendix A2: LQR Simulation Model and Results
  17. Appendix A3: LQG Simulation Model
  18. Appendix A4: LQG/LTR Simulation Model and Results
  19. Appendix A5: H2 Simulation Model and Results
  20. Appendix A6: H∞ Simulation Model and Results
  21. Index

Product Information

  • Title: Computer-Aided Control Systems Design
  • Author(s): Cheng Siong Chin
  • Release date: December 2017
  • Publisher(s): CRC Press
  • ISBN: 9781351831901