1.6 The main problems of robustness analysis and design

Kapitel in diesem Buch

1. Frontmatter I
2. CONTENTS V
3. Preface IX
4. Introduction 1
5. 1 The Problem of Robust Control
6. 1.1 The design problem 6
7. 1.2 The design of feedback controllers for completely known plants 9
8. 1.3 Model uncertainties 10
9. 1.4 Feedback systems in presence of model uncertainties 12
10. 1.5 Different properties describing a tolerance of model uncertainties 16
11. 1.6 The main problems of robustness analysis and design 18
12. 2 Fundamental Results from Feedback Theory
13. 2.1 Models of control systems 21
14. 2.2 Stability of feedback systems 27
15. 2.3 Fundamental limitations of the closed-loop properties 30
16. 2.4 LQ-regulation 34
17. Bibliographical notes 35
18. 3 Sensitivity of Feedback Systems
19. 3.1 The principle of sensitivity analysis 36
20. 3.2 Sensitivity of dynamical systems 38
21. 3.3 Sensitivity analysis of feedback systems 41
22. 3.4 Sensitivity design 44
23. 3.5 Summary 48
24. Bibliographical notes 49
25. 4 A Survey of the Methods for Analysing and Designing Uncertain Feedback Systems
26. 4.1 Classification according to the kind of robustness considered 51
27. 4.2 Survey of the design methods 55
28. 5 Models of Uncertain Systems
29. 5.1 The methodology of modelling uncertain systems 57
30. 5.2 Specimens of the original system 59
31. 5.3 Systems with unknown-but-bounded uncertainties 60
32. Bibliographical notes 76
33. 6 Qualitative Robustness Analysis and Design
34. 6.1 Stability margin 78
35. 6.2 Stability degree 84
36. 6.3 Bobustness of two-time scale systems 85
37. 6.4 High-gain feedback 90
38. 6.5 Algebraic aspects of robustness 96
39. Summary 99
40. Bibliographical notes 99
41. 7 Simultaneous Stabilisation and Pole Assignment
42. 7.1 Simultaneous stabilisability 102
43. 7.2 Simultaneous pole region assignment 107
44. Bibliographical notes 112
45. 8 Quantitative Robustness of Systems with Bounded Uncertainties
46. 8.1 The quantitative feedback design 113
47. 8.2 Description of the closed-loop original system 122
48. 8.3 Frequency domain stability criteria 128
49. 8.4 Time domain criteria for I/O-stability 142
50. 8.5 Analysis of the I/O-performance 146
51. 8.6 Design of robust multivariable controllers in presence of bounded uncertainties 152
52. 8.7 Robustness analysis using state-space models 154
53. Bibliographical notes 159
54. 9 Controller Design by Means of Appioximate Models
55. 9.1 The design of a Smith predictor controller 162
56. 9.2 Limiting the controller action to low-uncertainty frequencies 164
57. Bibliographical notes 168
58. 10 Robust Multivariable Pi-Controllers
59. Introduction 169
60. 10.1 Existence of robust multivariable Pi-controllers 170
61. 10.2 Robustness of Pi-controlled systems 176
62. 10.3 Tuning of multivariable Pi-controllers 184
63. Bibliographical notes 195
64. 11 Robust Decentralised Control
65. 11.1 Robustness issues of decentralised control 196
66. 11.2 Existence of robust decentralised Pi-controllers 197
67. 11.3 Design of robust decentralised controllers 202
68. Bibliographical notes 211
69. 12 Trends in Robust Feedback Control 212
70. Appendices
71. Appendix 1 Nonnegative and M-matrices 215
72. Appendix 2 Singular value decomposition 217
73. Appendix 3 The Nichols chart 219
74. References 222
75. Symbols 232
76. Subject Index 234