State Feedback Control and Kalman Filtering With Matlab;simulink - Tutorial

STATE FEEDBACK CONTROL AND KALMAN FILTERING WITH MATLAB/SIMULINK TUTORIALS
 
Discover the control engineering skills for state space control system design, simulation, and implementation
 
State space control system design is one of the core courses covered in engineering programs around the world. Applications of control engineering include things like autonomous vehicles, renewable energy, unmanned aerial vehicles, electrical machine control, and robotics, and as a result the field may be considered cutting-edge. The majority of textbooks on the subject, however, lack the key link between the theory and the applications of design methodology.
 
State Feedback Control and Kalman Filtering with MATLAB/Simulink Tutorials provides a unique perspective by linking state space control systems to engineering applications. The book comprehensively delivers introductory topics in state space control systems through to advanced topics like sensor fusion and repetitive control systems. More, it explores beyond traditional approaches in state space control by having a heavy focus on important issues associated with control systems like disturbance rejection, reference tracking, control signal constraint, sensor fusion and more. The text sequentially presents continuous-time and discrete-time state space control systems, Kalman filter and its applications in sensor fusion.
 
State Feedback Control and Kalman Filtering with MATLAB/Simulink Tutorials readers will also find:
* MATLAB and Simulink tutorials in a step-by-step manner that enable the reader to master the control engineering skills for state space control system design and Kalman filter, simulation, and implementation
* An accompanying website that includes MATLAB code
* High-end illustrations and tables throughout the text to illustrate important points
* Written by experts in the field of process control and state space control systems
 
State Feedback Control and Kalman Filtering with MATLAB/Simulink Tutorials is an ideal resource for students from advanced undergraduate students to postgraduates, as well as industrial researchers and engineers in electrical, mechanical, chemical, and aerospace engineering.

List of contents

Author Biography xiii
 
Preface xv
 
Acknowledgments xxi
 
List of Symbols and Acronyms xxiii
 
About the Companion Website xxv
 
Part I Continuous-time State Feedback Control 1
 
1 State Feedback Controller and Observer Design 3
 
1.1 Introduction 3
 
1.2 Motivation for Going Beyond PID Control 4
 
1.3 Basics in State Feedback Control 12
 
1.3.1 State Feedback Control 12
 
1.3.2 Controllability 18
 
1.3.3 Food for Thought 21
 
1.4 Pole-assignment Controller 21
 
1.4.1 The Design Method 21
 
1.4.2 Similarity Transformation for Controller Design 24
 
1.4.3 MATLAB Tutorial on Pole-assignment Controller 27
 
1.4.4 Food for Thought 29
 
1.5 Linear Quadratic Regulator (LQR) Design 29
 
1.5.1 Motivational Example 29
 
1.5.2 Linear Quadratic Regulator Design 32
 
1.5.3 Selection of Q and R Matrices 34
 
1.5.4 LQR with Prescribed Degree of Stability 39
 
1.5.5 Food for Thought 46
 
1.6 Observer Design 47
 
1.6.1 Motivational Example for Observer 47
 
1.6.2 Observer Design 50
 
1.6.3 Observability 53
 
1.6.4 Duality between Controller and Observer 55
 
1.6.5 Observer Implementation 56
 
1.6.6 Food for Thought 57
 
1.7 State Estimate Feedback Control System 58
 
1.7.1 State Estimate Feedback Control 58
 
1.7.2 Separation Principle 59
 
1.7.3 Food for Thought 60
 
1.8 Summary 61
 
1.9 Further Reading 62
 
Problems 63
 
2 Practical Multivariable Controllers in Continuous-time 67
 
2.1 Introduction 67
 
2.2 Practical Controller I: Integral Action via Controller Design 68
 
2.2.1 The Original Control Law 68
 
2.2.2 Integrator Windup Scenarios 69
 
2.2.3 Proposed Practical Multivariable Controller 71
 
2.2.4 Anti-windup Implementation 74
 
2.2.5 MATLAB Tutorial on Design and Implementation 77
 
2.2.6 Application to Drum Boiler Control 85
 
2.2.7 Food for Thought 91
 
2.3 Practical Controller II: Integral Action via Observer Design 92
 
2.3.1 Integral Control via Disturbance Estimation 92
 
2.3.2 Anti-windup Mechanism 95
 
2.3.3 MATLAB Tutorial on Design and Implementation 96
 
2.3.4 Application to Sugar Mill Control 102
 
2.3.5 Design for Systems with Known States 103
 
2.3.6 Food for Thought 106
 
2.4 Drive Train Control of aWind Turbine 107
 
2.4.1 Modelling of Wind Turbine's Drive Train 107
 
2.4.2 Configuration of The Control System 110
 
2.4.3 Design Method I 111
 
2.4.4 Design Method II 115
 
2.4.5 MATLAB Tutorial on Design Method II 116
 
2.4.6 Food for Thought 121
 
2.5 Summary 121
 
2.6 Further Reading 122
 
Problems 122
 
Part II Discrete-time State Feedback Control 127
 
3 Introduction to Discrete-time Systems 129
 
3.1 Introduction 129
 
3.2 Discretization of Continuous-time Models 130
 
3.2.1 Sampling of a Continuous-time Model 130
 
3.2.2 Stability of Discrete-time System 133
 
3.2.3 Examples of Discrete-time Models from Sampling 134
 
3.2.4 Food for Thoughts 141
 
3.3 Input and Output Discrete-time Models 142
 
3.3.1 Input and Output Models 142
 
3.3.2 Finite Impulse Response and Step Response Models 144
 
3.3.3 Non-minimal State Space Realization 148
 
3.3.4 Food for Thought 148
 
3.4 z-Transforms 149
 
3.4.1 z-Transforms for Commonly Used Signals 149
 
3.4.2 z-T

About the author

Liuping Wang, PhD, is a Professor of Control Engineering at RMIT University, Australia. She obtained her PhD from the Department of Control Engineering at the University of Sheffield, UK. Professor Wang gained substantial process control experience by working in the Chemical Engineering Department at the University of Toronto, Canada, and the Center for Integrated Dynamics at the University of Newcastle, Australia. She is the author of five books in systems and control. Robin Ping Guan, PhD, obtained his Masters in Electrical Engineering from the University of Melbourne, Australia, in 2014 and his PhD from RMIT University, Australia in 2019. He is currently a research fellow in RMIT University.

Summary

STATE FEEDBACK CONTROL AND KALMAN FILTERING WITH MATLAB/SIMULINK TUTORIALS

Discover the control engineering skills for state space control system design, simulation, and implementation

State space control system design is one of the core courses covered in engineering programs around the world. Applications of control engineering include things like autonomous vehicles, renewable energy, unmanned aerial vehicles, electrical machine control, and robotics, and as a result the field may be considered cutting-edge. The majority of textbooks on the subject, however, lack the key link between the theory and the applications of design methodology.

State Feedback Control and Kalman Filtering with MATLAB/Simulink Tutorials provides a unique perspective by linking state space control systems to engineering applications. The book comprehensively delivers introductory topics in state space control systems through to advanced topics like sensor fusion and repetitive control systems. More, it explores beyond traditional approaches in state space control by having a heavy focus on important issues associated with control systems like disturbance rejection, reference tracking, control signal constraint, sensor fusion and more. The text sequentially presents continuous-time and discrete-time state space control systems, Kalman filter and its applications in sensor fusion.

State Feedback Control and Kalman Filtering with MATLAB/Simulink Tutorials readers will also find:
* MATLAB and Simulink tutorials in a step-by-step manner that enable the reader to master the control engineering skills for state space control system design and Kalman filter, simulation, and implementation
* An accompanying website that includes MATLAB code
* High-end illustrations and tables throughout the text to illustrate important points
* Written by experts in the field of process control and state space control systems

State Feedback Control and Kalman Filtering with MATLAB/Simulink Tutorials is an ideal resource for students from advanced undergraduate students to postgraduates, as well as industrial researchers and engineers in electrical, mechanical, chemical, and aerospace engineering.

Product details

• Authors: Robin Ping Guan, L Wang, Liuping Wang, Liuping Guan Wang, Wang Liuping
• Publisher: Wiley, John and Sons Ltd
• Languages: English
• Product format: Hardback
• Released: 31.12.2020
• EAN: 9781119694632
• ISBN: 978-1-119-69463-2
• No. of pages: 448
• Series: Wiley - IEEE; IEEE Press
• Subjects: Natural sciences, medicine, IT, technology > Technology > Electronics, electrical engineering, communications engineering; Maschinenbau, MATLAB, Regelungstechnik, Mechanical Engineering, Electrical & Electronics Engineering, Elektrotechnik u. Elektronik, Numerische Methoden u. Algorithmen, Numerical Methods & Algorithms, Mess- u. Regeltechnik, Control Process & Measurements, Control Systems Technology