Books

Robotics

Robotics

Modern Control Design with MATLAB and SIMULINK

Contents

Preface

1. Introduction
2. Linear Systems and Classical Control
   1. How Valid is the Assumption of Linearity
   2. Singularity Functions
   3. Frequency Response
   4. Laplace Transform and the Transfer Function
   5. Response to Singularity Functions
   6. Response to Arbitrary Inputs
   7. Performance
   8. Stability
   9. Root-Locus Method
   10. Nyquist Stability Criterion
   11. Robustness
   12. Closed Loop Compensation Techniques for Single Input-Single Output Systems
   13. Exercises
   14. References
3. State-Space Representation
   1. The State-Space: Why Do I Need It?
   2. Linear Transformation of State-Space Representations
   3. System Characteristics form State-Space Representation
   4. Special Stat-Space Representations: The Canonical Forms
   5. Block Building In Linear, Time-Invariant State-Space
   6. Exercises
   7. References
4. Solving the State-Equations
   1. Solutions or the Linear Time Invariant State Equations
   2. Calculation of the State-Transition Matrix
   3. Understanding the Stability Critrea through the State-Transition Matrix
   4. Numerical Solutionof Linear Time-Invariant State-Equations
   5. Numerical Solutions of Time-Varying State-Equations
   6. Numerical Solutions of Nonlinear State-Equations
   7. Simulating Control System Response with SIMULINK
   8. Exercises
   9. References
5. Control Sytems Design In State-Space
   1. Design: Classical vs Modern
   2. Controllability
   3. Pole-Placement Design Using Full-State Feedback
   4. Observers, Observability, and Compensators
   5. Exercises
   6. References
6. Linear Optimal Control
   1. The Optimal Control Problem
   2. Infinite-Time Linear Optimal Regulator Design
   3. Optimal Control of Tracking Systems
   4. Output Weighted Linear Optimal Control
   5. Terminal Time Weighting: Solving the Matrix Riccati Equation
   6. Exercises
   7. References
7. Kalman Filters
   1. Stochastic Systems
   2. Filtering of Random Signals
   3. White Noise, and White Noise Filters
   4. The Kalman Filter
   5. Optimal (Linear, Quadratic, Gaussion) Compensators
   6. Robust Multivariable LQG Control: Loop Transfer Recovery
   7. Exercises
   8. References
8. Digital Control Systems
   1. What are Digital Systems
   2. A/D Conversion and the z-Transform
   3. Pulse Transter Functions of Single-Input, Single-Output Digital Systems
   4. Frequency Response of Single-Input, Single-Output Digital Systems
   5. Stability of Single-Input, Single-Output Digital Systems
   6. Performance of Single-Input, Single-Output Digital Systems
   7. Closed-Loop Compensation Techniques for Single-Input, Single-Output Digital Systems
   8. State-Space Modelling of Multivariable Digital Systems
   9. Solution of Linear Digital State-Equations
   10. Design of Multivariable, Digital Control Systems Using Pole-Placement: Regulators, Observers, and Compensators
   11. Linear Optimal Control of Digital Systems
   12. Stochastic Digital Sytems, Digital Kalman Filters, and Optimal Digital Compensators
   13. Exercises
   14. References
9. Advanced Topics in Modern Control
   1. Introduction
   2. H[sub()] Robust, Optimal Control
   3. Structured Singlar Calue Synthesis for Robust Control
   4. Time-Optimal Control with Pre-Shaped Inputs
   5. Output-Rate Weighted Linear Optimal Control
   6. Nonlinear Optimal Control
   7. Exercises
   8. References
10. Appendix A: Introduction to MATLAB, SIMULINK and the Control System Toolbox
11. Appendix B: Review of Matrices and Linear Algebra
12. Appendix A: Mass, Stiffness, and Control Infuence Matrices of the Flexible Spacecraft
13. Answers to Selected Excerises
14. Index