Sliding Mode Control Theory And Applications 1st edition By Christopher Edwards, Sarah Spurgeon – Ebook PDF Instant Download/Delivery: 0748406012, 9780748406012
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ISBN 10: 0748406012
ISBN 13: 9780748406012
Author: Christopher Edwards, Sarah Spurgeon
In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Sliding mode control theory seeks to produce controllers to over some such mismatches. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of state-space methods. From this basis, more advanced theoretical results are developed. Two industrial case studies, which present the results of sliding mode controller implementations, are used to illustrate the successful practical application theory.
Sliding Mode Control Theory And Applications 1st Table of contents:
1 An Introduction to Sliding Mode Control
1.1 Introduction
1.2 Properties of the Sliding Motion
1.3 Different Controller Designs
1.4 Pseudo-Sliding with a Smooth Control Action
1.5 A State-Space Approach
1.6 Notes and References
2 Multivariable Systems Theory
2.1 Introduction
2.2 Stability of Dynamical Systems
2.2.1 Linear Time Invariant Systems
2.2.2 Quadratic Stability
2.3 Linear Systems Theory
2.3.1 Controllability and Observability
2.3.2 Invariant Zeros
2.3.3 State Feedback Control
2.3.4 Static Output Feedback Control
2.3.5 Observer-Based Control
2.4 Notes and References
3 Sliding Mode Control
3.1 Introduction
3.2 Problem Statement
3.3 Existence of Solution and Equivalent Control
3.4 Properties of the Sliding Motion
3.5 The Reachability Problem
3.5.1 The Single-Input Case
3.5.2 Single-Input Control Structures
3.5.3 An Example: The Normalised Pendulum Revisited
3.5.4 The Multivariable Case
3.6 The Unit Vector Approach
3.6.1 Existence of an Ideal Sliding Mode
3.6.2 Description of the Sliding Motion
3.6.3 Practical Considerations
3.6.4 Example: Control of a DC Motor
3.6.5 Concluding Remarks
3.7 Continuous Approximations
3.8 Summary
3.9 Notes and References
4 Sliding Mode Design Approaches
4.1 Introduction
4.2 A Regular Form Based Approach
4.2.1 Robust Eigenstructure Assignment
4.2.2 Quadratic Minimisation
4.3 A Direct Eigenstructure Assignment Approach
4.4 Incorporation of a Tracking Requirement
4.4.1 A Model-Reference Approach
4.4.2 An Integral Action Approach
4.5 Design Study: Pitch-Pointing Flight Controller
4.5.1 Model-Reference Design
4.5.2 Integral Action Based Design
4.6 Summary
4.7 Notes and References
5 Sliding Mode Controllers Using Output Information
5.1 Introduction
5.2 Problem Formulation
5.3 A Special Case: Square Plants
5.4 A General Framework
5.4.1 Hyperplane Design
5.4.2 Control Law Synthesis
5.4.3 Example 1
5.5 Dynamic Compensation
5.6 Dynamic Compensation (Observer Based)
5.6.1 Control Law Construction
5.6.2 Design Example 1
5.6.3 Design Example 2: Inverted Pendulum
5.7 A Model-Reference System Using Only Outputs
5.7.1 Aircraft Example
5.8 Summary
5.9 Notes and References
6 Sliding Mode Observers
6.1 Introduction
6.2 Sliding Mode Observers
6.2.1 An Utkin Observer
6.2.2 Example 1
6.2.3 A Modification to Include a Linear Term
6.2.4 A Walcott–Żak Observer
6.3 Synthesis of a Discontinuous Observer
6.3.1 A Canonical Form for Observer Design
6.3.2 Existence Conditions
6.4 The Walcott–Żak Observer Revisited
6.4.1 Example 2: Pendulum
6.4.2 Pendulum Simulation
6.5 Sliding Mode Observers for Fault Detection
6.5.1 Reconstruction of the Input Fault Signals
6.5.2 Detection of Faults at the Output
6.5.3 Example: Inverted Pendulum
6.5.4 Simulations of Different Fault Conditions
6.6 Summary
6.7 Notes and References
7 Observer-Based Output Tracking Controllers
7.1 Introduction
7.2 System Description and Observer Formulation
7.3 An Integral Action Controller
7.3.1 Nonlinear Observer Formulation (For Square Plants)
7.3.2 State Feedback Integral Action Control Law (Reprise)
7.3.3 Closed-Loop Analysis
7.3.4 Design and Implementation Issues
7.4 Example: A Temperature Control Scheme
7.4.1 Observer Design
7.4.2 Controller Design
7.4.3 Design of the Nonlinear Gain Function
7.4.4 Furnace Simulations
7.5 A Model-Reference Approach
7.5.1 Example: L-1011 Fixed-Wing Aircraft
7.6 Summary
7.7 Notes and References
8 Automotive Case Studies
8.1 Introduction
8.2 Automotive Actuator with Stiction
8.3 Robust Control of an Automotive Engine
8.3.1 Controller Design Issues
8.3.2 Engine Controller Design
8.3.3 Implementation Results
8.4 Summary
8.5 Notes and References
9 Furnace Control Case Study
9.1 Introduction
9.2 Observer Design
9.3 Controller Design
9.4 Implementation Results
9.5 Summary
9.6 Notes and References
Appendices
A Mathematical Preliminaries
A.1 Mathematical Notation
A.2 Linear Algebra
A.2.1 Vector Spaces and Linear Maps
A.2.2 Properties of Linear Maps (Matrices)
A.2.3 Rank and Determinant
A.2.4 Eigenvalues, Eigenvectors and Singular Values
A.2.5 QR Decomposition
A.2.6 Norms, Inner Products and Projections
A.2.7 Quadratic Forms
A.3 Notes and References
B Assorted mfiles
B.1 A Variation on the place Command
B.2 Eigenstructure Assignment: The Complex Case
B.3 World Wide Web Site
References
Index
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Tags: Christopher Edwards, Sarah Spurgeon, Sliding Mode, Control Theory