State Feedback Control and Kalman Filtering with MATLAB/Simulink Tutorials (IEEE Press)

451 Pages·2022·8.129 MB·English

by  Liuping Wang, Robin Ping Guan

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StateFeedbackControlandKalmanFiltering
withMATLAB/SimulinkTutorials
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State Feedback Control and Kalman Filtering
with MATLAB/Simulink Tutorials
Liuping Wang and Robin Ping Guan
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Thiseditionfirstpublished2023
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Setin9.5/12.5ptSTIXTwoTextbyStraive,Chennai,India
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To
Jianshe
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vii
Contents
AuthorBiography xiii
Preface xv
Acknowledgments xxi
ListofSymbolsandAcronyms xxiii
AbouttheCompanionWebsite xxv
PartI Continuous-timeStateFeedbackControl 1
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1 StateFeedbackControllerandObserverDesign 3
1.1 Introduction 3
1.2 MotivationforGoingBeyondPIDControl 4
1.3 BasicsinStateFeedbackControl 12
1.3.1 StateFeedbackControl 12
1.3.2 Controllability 18
1.3.3 FoodforThought 21
1.4 Pole-assignmentController 21
1.4.1 TheDesignMethod 21
1.4.2 SimilarityTransformationforControllerDesign 24
1.4.3 MATLABTutorialonPole-assignmentController 27
1.4.4 FoodforThought 29
1.5 LinearQuadraticRegulator(LQR)Design 29
1.5.1 MotivationalExample 29
1.5.2 LinearQuadraticRegulatorDesign 32
1.5.3 SelectionofQandRMatrices 34
1.5.4 LQRwithPrescribedDegreeofStability 39
1.5.5 FoodforThought 46
1.6 ObserverDesign 47
1.6.1 MotivationalExampleforObserver 47
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viii Contents
1.6.2 ObserverDesign 50
1.6.3 Observability 53
1.6.4 DualitybetweenControllerandObserver 55
1.6.5 ObserverImplementation 56
1.6.6 FoodforThought 57
1.7 StateEstimateFeedbackControlSystem 58
1.7.1 StateEstimateFeedbackControl 58
1.7.2 SeparationPrinciple 59
1.7.3 FoodforThought 60
1.8 Summary 61
1.9 FurtherReading 62
Problems 63
2 PracticalMultivariableControllersinContinuous-time 67
2.1 Introduction 67
2.2 PracticalControllerI:IntegralActionviaControllerDesign 68
2.2.1 TheOriginalControlLaw 68
2.2.2 IntegratorWindupScenarios 69
2.2.3 ProposedPracticalMultivariableController 71
2.2.4 Anti-windupImplementation 74
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2.2.5 MATLABTutorialonDesignandImplementation 77
2.2.6 ApplicationtoDrumBoilerControl 85
2.2.7 FoodforThought 91
2.3 PracticalControllerII:IntegralActionviaObserverDesign 92
2.3.1 IntegralControlviaDisturbanceEstimation 92
2.3.2 Anti-windupMechanism 95
2.3.3 MATLABTutorialonDesignandImplementation 96
2.3.4 ApplicationtoSugarMillControl 102
2.3.5 DesignforSystemswithKnownStates 103
2.3.6 FoodforThought 106
2.4 DriveTrainControlofaWindTurbine 107
2.4.1 ModellingofWindTurbine’sDriveTrain 107
2.4.2 ConfigurationofTheControlSystem 110
2.4.3 DesignMethodI 111
2.4.4 DesignMethodII 115
2.4.5 MATLABTutorialonDesignMethodII 116
2.4.6 FoodforThought 121
2.5 Summary 121
2.6 FurtherReading 122
Problems 122
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