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Robust control theory allows for changes in a system whilst maintaining stability and performance. Applications of this technique are very important for dependable embedded systems, making technologies such as drones and other autonomous systems with sophisticated embedded controllers and systems relatively common-place.
The aim of this book is to present the theoretical and practical aspects of embedded robust control design and implementation with the aid of MATLAB® and SIMULINK®. It covers methods suitable for practical implementations, combining knowledge from control system design and computer engineering to describe the entire design cycle. Three extended case studies are developed in depth: embedded control of a tank physical model; robust control of a miniature helicopter; and robust control of two-wheeled robots.
These are taken from the area of motion control but the book may be also used by designers in other areas. Some knowledge of Linear Control Theory is assumed and knowledge of C programming is desirable but to make the book accessible to engineers new to the field and to students, the authors avoid complicated mathematical proofs and overwhelming computer architecture technical details. All programs used in the examples and case studies are freely downloadable to help with the assimilation of the book contents.
List of contents
- Chapter 1: Embedded control systems
- Chapter 2: System modeling
- Chapter 3: Performance requirements and design limitations
- Chapter 4: Controller design
- Chapter 5: Case study 1: embedded control of tank physical model
- Chapter 6: Case study 2: robust control of miniature helicopter
- Chapter 7: Case study 3: robust control of two-wheeled robot
- Appendix A: Elements of matrix analysis
- Appendix B: Elements of linear system theory
- Appendix C: Stochastic processes
- Appendix D: Identification of linear models
- Appendix E: Interfacing IMU with target microcontroller
- Appendix F: Measuring angular velocity with hall encoder
About the author
Petko Hristov Petkov has been a Professor of Control Theory in the Department of Systems and Control at the Technical University of Sofia, Bulgaria, since 1995. He has co-authored more than 150 scientific papers as well as several books. He is a member of the AMS and a corresponding member of the Bulgarian Academy of Sciences.
Summary
The aim of this book is to present the theoretical and practical aspects of embedded robust control design and implementation with the aid of MATLAB® and SIMULINK®. It covers methods suitable for practical implementations, combining knowledge from control system design and computer engineering to describe the entire design cycle.
