Non-Linear Control Based on Physical Models : Electrical, Hydraulic, and Mechanical Systems

By: Andreas Kugi

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192 Pages

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This book combines real problems of practical interest with an application of profound theory. The mathematical model is derived step by step on the basis of physical principles, and the physics behind the control problems serves as a basis for the controller design. The book demonstrates how the physics behind the mathematical models can help to successfully apply a certain control strategy. The book aims to show the practical relevance of the presented methods, methods which are often criticised as only of theoretical interest, through an examination of their industrial applications. Throughout, the book gives the unique mathematical formulation of the different disciplines involved, namely electrical, hydraulic and mechanical engineering. Yet it also points out the common mathematical structure of the different physical models. This makes it possible to transfer reliable control strategies between the disciplines.

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Fundamentals	p. 1
Stability of Equilibria	p. 1
Dissipativity, Passivity and Positive Realness	p. 6
Absolute Stability and the Popov Criterion	p. 19
PCH-systems of PCHD-systems	p. 23
Some Non-linear Control Design Strategies	p. 27
Non-linear State Feedback H[subscript 2]-design	p. 28
Non-linear State Feedback H[subscript 2]-design with Integral Term	p. 32
Non-linear State Feedback H[subscript [infinity]]-design	p. 35
Passivity-based Control (PBC)	p. 38
Electromagnetic Systems	p. 41
Basic Circuit Relations	p. 41
Energy Based Description	p. 44
Energy Based Description with Full Topological Information	p. 50
PWM-controlled Electrical Systems	p. 60
Application: Non-linear Control of a Cuk-converter	p. 67
Electromechanical System: The Energy/Co-energy Concept	p. 79
Mechanical PCH-systems	p. 85
Fundamentals of Lagrangian and Hamiltonian Systems	p. 86
Controller Design Strategies	p. 92
Application: Control of Smart Piezoelectric Beam Structures	p. 100
Hydraulic Drive Systems	p. 121
Valve-controlled Translational Piston Actuator	p. 121
Application: Hydraulic Gap Control (HGC) in Rolling Mills	p. 131
Rejection of Periodic Disturbances (Eccentricity Compensation)	p. 142
Pump-displacement-controlled Rotational Piston Actuator	p. 148
Discrete Open-loop Observer for the Swash-plate Angle	p. 156
References	p. 162
Index	p. 171
Table of Contents provided by Blackwell. All Rights Reserved.

Non-Linear Control Based on Physical Models : Electrical, Hydraulic, and Mechanical Systems

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