Robust Control Design with Matlab By Da Wei Gu
The topics of control engineering and signal processing continue to flourish and develop. In common with general scientific investigation, new ideas, concepts and interpretations emerge quite spontaneously and these are then discussed, used, discarded or subsumed into the prevailing subject paradigm. Sometimes these innovative concepts coalesce into a new sub-discipline within the broad subject tapestry of control and signal processing. This preliminary battle between old and new usually takes place at conferences, through the Internet and in the journals of the discipline. After a little more maturity has been acquired by the new concepts then archival publication as a scientific or engineering monograph may occur.
A new concept in control and signal processing is known to have arrived when sufficient material has evolved for the topic to be taught as a specialised tutorial workshop or as a course to undergraduate, graduate or industrial engineers. Advanced Textbooks in Control and Signal Processing are designed as a vehicle for the systematic presentation of course material for both popular and innovative topics in the discipline. It is hoped that prospective authors will welcome the opportunity to publish a structured and systematic presentation of some of the newer emerging control and signal processing technologies in the textbook series.
It is always interesting to look back at how a particular field of control systems theory developed. The impetus for change and realization that a new era in a subject is dawning always seems to be associated with short, sharp papers that make the academic community think again about the prevalent theoretical paradigm. In the case of the evolution of robust control theory, the conference papers of Zames (circa. 1980) on robustness and the very short paper of Doyle on the robustness of linear quadratic Gaussian control systems seem to stand as landmarks intimating that control theory was going to change direction again. And the change did come; all through the 1980s came a steady stream of papers rewriting control theory, introducing system uncertainty, Hf robust control and µ- synthesis as part of a new control paradigm.
Change, however did not come easily to the industrial applications community because the new theories and methods were highly mathematical. In the early stages even the classical feedback diagram which so often opened control engineering courses was replaced by a less intuitively obvious diagram. Also it was difficult to see the benefits to be gained from the new development. Throughout the 1990s the robust control theory and methods consolidated and the first major textbooks and software toolboxes began to appear. Experience with some widely disseminated benchmark problems such as control design for distillation columns, the control design for hard-disk drives, and the invertedpendulum control problem helped the industrial community see how to apply the new method and the control benefits that accrued.
This advanced course textbook on robust control system design using MATLAB® by Da-Wei Gu, Petko Petkov and Mihail Konstantinov has arrived at a very opportune time. More than twenty years of academic activity in the robust control field forms the bedrock on which this course book and its set of insightful applications examples are developed. Part I of the volume presents the theory – a systematic presentation of: systems notation, uncertainty modelling, robust design specification, the Hf design method, Hf loop shaping, µ-analysis and synthesis and finally the algorithms for providing the low-order controllers that will be implemented. This is a valuable and concise presentation of all the necessary theoretical concepts prior to their application which is covered in Part II.
Inspired by the adage “practice makes perfect”, Part II of the volume comprises six fully worked-out extended examples. To learn how to apply the complex method of Hf design and µ-synthesis there can be no surer route than to work through a set of carefully scripted examples. In this volume, the examples range from the academic mass-damper-spring system through to the industrially relevant control of a distillation column and a flexible manipulator system. The benchmark example of the ubiquitous hard-disk drive control system is also among the examples described. The MATLAB® tools of the Robust Control Toolbox, the Control System Toolbox and Simulink® are used in these application examples. The CD-ROM contains all the necessary files and instructions together with a pdf containing colour reproductions of many of the figures in the book.
In summary, after academic development of twenty years or so, the robust control paradigm is now fully fledged and forms a vital component of advanced control engineering courses. This new volume in our series of advanced control and signal processing course textbooks on applying the methods of Hf and µ- synthesis control design will be welcomed by postgraduate students, lecturers and industrial control engineers alike.
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