دانلود کتاب Multivariable Computer-Controlled Systems: A Transfer Function Approach (Communications and Control Engineering)

فهرست مطالب :

Contents......Page 12
Part I Algebraic Preliminaries......Page 17
1.1 Basic Concepts of Algebra......Page 18
1.2 Polynomials......Page 20
1.3 Matrices over Rings......Page 22
1.4 Polynomial Matrices......Page 25
1.5 Left and Right Equivalence of Polynomial Matrices......Page 27
1.6 Row and Column Reduced Matrices......Page 30
1.7 Equivalence of Polynomial Matrices......Page 35
1.8 Normal Rank of Polynomial Matrices......Page 36
1.9 Invariant Polynomials and Elementary Divisors......Page 38
1.10 Latent Equations and Latent Numbers......Page 41
1.11 Simple Matrices......Page 44
1.12 Pairs of Polynomial Matrices......Page 49
1.13 Polynomial Matrices of First Degree (Pencils)......Page 53
1.14 Cyclic Matrices......Page 59
1.15 Simple Realisations and Their Structural Stability......Page 64
2.1 Rational Fractions......Page 67
2.2 Rational Matrices......Page 73
2.3 McMillan Canonical Form......Page 74
2.4 Matrix Fraction Description (MFD)......Page 77
2.5 Double-sided MFD (DMFD)......Page 87
2.6 Index of Rational Matrices......Page 88
2.7 Strictly Proper Rational Matrices......Page 91
2.8 Separation of Rational Matrices......Page 96
2.9 Inverses of Square Polynomial Matrices......Page 99
2.10 Transfer Matrices of Polynomial Pairs......Page 101
2.11 Transfer Matrices of PMDs......Page 104
2.12 Subordination of Rational Matrices......Page 108
2.13 Dominance of Rational Matrices......Page 113
3.1 Normal Rational Matrices......Page 119
3.2 Algebraic Properties of Normal Matrices......Page 124
3.3 Normal Matrices and Simple Realisations......Page 128
3.4 Structural Stable Representation of Normal Matrices......Page 130
3.5 Inverses of Characteristic Matrices of Jordan and Frobenius Matrices......Page 136
3.6 Construction of Simple Jordan Realisations......Page 140
3.7 Construction of Simple Frobenius Realisations......Page 146
3.8 Construction of S-representations from Simple Realisations. General Case......Page 150
3.9 Construction of Complete MFDs for Normal Matrices......Page 152
3.10 Normalisation of Rational Matrices......Page 155
Part II General MIMO Control Problems......Page 160
4.1 Problem Statement......Page 161
4.2 Basic Controllers......Page 163
4.3 Recursive Construction of Basic Controllers......Page 166
4.4 Dual Models and Dual Bases......Page 173
4.5 Eigenvalue Assignment for Polynomial Pairs......Page 177
4.6 Eigenvalue Assignment by Transfer Matrices......Page 181
4.7 Structural Eigenvalue Assignment for Polynomial Pairs......Page 184
4.8 Eigenvalue and Eigenstructure Assignment for PMD Processes......Page 186
5.1 Finite-dimensional Discrete-time LTI Processes......Page 194
5.2 Transfer Matrices and Causality of LTI Processes......Page 200
5.3 Normal LTI Processes......Page 202
5.4 Anomalous LTI Processes......Page 208
5.5 Forward and Backward Models......Page 220
5.6 Stability of Discrete-time LTI Systems......Page 233
5.7 Closed-loop LTI Systems of Finite Dimension......Page 236
5.8 Stability and Stabilisation of the Closed Loop......Page 241
Part III Frequency Methods for MIMO SD Systems......Page 250
6.1 Response of Linear Continuous-time Processes to Exponential-periodic Signals......Page 251
6.2 Response of Open SD Systems to Exp.per. Inputs......Page 255
6.3 Functions of Matrices......Page 260
6.4 Matrix Exponential Function......Page 266
6.5 DPFR and DLT of Rational Matrices......Page 268
6.6 DPFR and DLT for Modulated Processes......Page 271
6.7 Parametric Discrete Models of Continuous Processes......Page 276
6.8 Parametric Discrete Models of Modulated Processes......Page 281
6.9 Reducibility of Parametric Discrete Models......Page 285
7.1 The Standard Sampled-data System......Page 288
7.2 Equation Discretisation for the Standard SD System......Page 289
7.3 Parametric Transfer Matrix (PTM)......Page 292
7.4 PTM as Function of the Argument s......Page 298
7.5 Internal Stability of the Standard SD System......Page 304
7.6 Polynomial Stabilisation of the Standard SD System......Page 307
7.7 Modal Controllability and the Set of Stabilising Controllers......Page 313
8.1 Quasi-stationary Stochastic Processes in the Standard SD System......Page 316
8.2 Mean Variance and H[sub(2)]-norm of the Standard SD System......Page 321
8.3 Representing the PTM in Terms of the System Function......Page 324
8.4 Representing the H[sub(2)]-norm in Terms of the System Function......Page 334
8.5 Wiener-Hopf Method......Page 340
8.6 Algorithm for Realisation of Wiener-Hopf Method......Page 341
8.7 Modified Optimisation Algorithm......Page 345
8.8 Transformation to Forward Model......Page 349
9.1 Single-loop Multivariable SD System......Page 356
9.2 General Properties......Page 357
9.3 Stabilisation......Page 362
9.4 Wiener-Hopf Method......Page 363
9.5 Factorisation of Quasi-polynomials of Type 1......Page 364
9.6 Factorisation of Quasi-polynomials of Type 2......Page 373
9.7 Characteristic Properties of Solution for Single-loop System......Page 382
9.8 Simplified Method for Elementary System......Page 383
10.1 Problem Statement......Page 390
10.2 Pseudo-rational Laplace Transforms......Page 392
10.3 Laplace Transforms of Standard SD System Output......Page 396
10.4 Investigation of Poles of the Image Z(s)......Page 401
10.5 Representing the Output Image in Terms of the System Function......Page 406
10.6 Representing the L[sub(2)]-norm in Terms of the System Function......Page 408
10.7 Wiener-Hopf Method......Page 411
10.8 General Properties of Optimal Systems......Page 416
10.9 Modified Optimisation Algorithm......Page 418
10.10 Single-loop Control System......Page 419
10.11 Wiener-Hopf Method for Single-loop Tracking System......Page 421
10.12 L[sub(2)] Redesign of Continuous-time LTI Systems under Persistent Excitation......Page 425
10.13 L[sub(2)] Redesign of a Single-loop LTI System......Page 435
Appendices......Page 438
A. Operator Transformations of Taylor Sequences......Page 439
B. Sums of Certain Series......Page 443
C.2 Data Structures......Page 445
C.3 Operations with Polynomial Matrices......Page 446
C.5 H[sub(2)]-optimal Controller......Page 448
C.6 L[sub(2)]-optimal Controller......Page 451
D.1 Introduction......Page 455
D.2 Design for Guaranteed Performance......Page 456
D.3 MATLAB®-Toolbox GarSD......Page 461
References......Page 468
C......Page 479
G......Page 480
M......Page 481
P......Page 482
R......Page 483
Z......Page 484