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Book•

Digital control and estimation : a unified approach

Richard H. Middleton, Graham C. Goodwin
01 Jan 1990-
About: The article was published on 1990-01-01 and is currently open access. It has received 936 citations till now. The article focuses on the topics: Digital control.
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Book•
Control System Design

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Graham C. Goodwin, Stefan F. Graebe, Mario E. Salgado
01 Sep 2000
TL;DR: A key aspect of the book is the frequent use of real world design examples drawn directly from the authors' industrial experience, represented by over 15 substantial case studies ranging from distillation columns to satellite tracking.
Abstract: From the Publisher: A key aspect of the book is the frequent use of real world design examples drawn directly from the authors' industrial experience. These are represented by over 15 substantial case studies ranging from distillation columns to satellite tracking. The book is also liberally supported by modern teaching aids available on both an accompanying CD-ROM and Companion Website. Resources to be found there include MATLAB® routines for all examples; extensive PowerPoint lecture notes based on the book; and a totally unique Java Applet-driven "virtual laboratory" that allows readers to interact with the real-world case studies.

1,701 citations

Book•
Optimization and Dynamical Systems

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Uwe Helmke, John B. Moore
01 Feb 1994
TL;DR: Details of Matrix Eigenvalue Methods, including Double Bracket Isospectral Flows, and Singular Value Decomposition are revealed.
Abstract: Contents: Matrix Eigenvalue Methods.- Double Bracket Isospectral Flows.- Singular Value Decomposition.- Linear Programming.- Approximation and Control.- Balanced Matrix Factorizations.- Invariant Theory and System Balancing.- Balancing via Gradient Flows.- Sensitivity Optimization.- Linear Algebra.- Dynamical Systems.- Global Analysis.

800 citations

Cites background from "Digital control and estimation : a ..."

  • ...The so called delta operator representations are clearly superior for fast sampled continuous-time systems, as are the more general delay representation direct forms, as discussed in Williamson (1991) and Middleton and Goodwin (1990). The challenge is to select appropriate sensitivity measures for which optimal co-ordinate basis selections can be calculated, and which translate to practical robust designs. A natural sensitivity measure to use for robust filter design is an L(2)-index as in Thiele (1986). Thus consider a discrete-time filter transfer function H (z) with the (minimal) state space representation H (z) = c (zI −A)−1 b (1....

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  • ...The so called delta operator representations are clearly superior for fast sampled continuous-time systems, as are the more general delay representation direct forms, as discussed in Williamson (1991) and Middleton and Goodwin (1990). The challenge is to select appropriate sensitivity measures for which optimal co-ordinate basis selections can be calculated, and which translate to practical robust designs....

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Journal Article•DOI•
Model-based current control of AC machines using the internal model control method

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Lennart Harnefors1, Hans-Peter Nee1•
Royal Institute of Technology1
08 Oct 1995
TL;DR: In this article, the internal model control (IMC) method is introduced and applied to AC machine current control, and it is shown that IMC is able to outperform PI control with and without decoupling with respect to dq variable interaction in the presence of parameter deviations.
Abstract: In the present paper, the internal model control (IMC) method is introduced and applied to AC machine current control. A permanent magnet synchronous machine is used as an example. It is shown that the IMC design is straightforward and the resulting controller is simple to implement. The controller parameters are expressed in the machine parameters and the desired closed-loop rise time. The extra cost of implementation compared to PI control is negligible. It is further shown that IMC is able to outperform PI control with as well as without decoupling with respect to dq variable interaction in the presence of parameter deviations.

623 citations

Cites background from "Digital control and estimation : a ..."

  • ...Selecting the angular sampling frequency as at least 10 times the closed-loop bandwidth is a good recommendation [ 15 ]:...

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  • ...Backward difference discretization [ 15 ] is suggested, which yields a simple algorithm:...

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Journal Article•DOI•
Disturbance propagation in vehicle strings

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Peter Seiler1, A. Pant2, Karl Hedrick3•
University of Illinois at Urbana–Champaign1, Tata Research Development and Design Centre2, University of California, Berkeley3
08 Oct 2004-IEEE Transactions on Automatic Control
TL;DR: It is shown that small disturbances acting on one vehicle can propagate and have a large effect on another vehicle and this limitation is due to a complementary sensitivity integral constraint.
Abstract: This note focuses on disturbance propagation in vehicle strings. It is known that using only relative spacing information to follow a constant distance behind the preceding vehicle leads to string instability. Specifically, small disturbances acting on one vehicle can propagate and have a large effect on another vehicle. We show that this limitation is due to a complementary sensitivity integral constraint. We also examine how the disturbance to error gain for an entire platoon scales with the number of vehicles. This analysis is done for the predecessor following strategy as well as a control structure where each vehicle looks at both neighbors.

603 citations

Cites methods from "Digital control and estimation : a ..."

  • ...This is a simplified version of a theorem by Middleton and Goodwin [15], [16]....

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  • ...[15] R. Middleton and G. Goodwin, Digital Control and Estimation: A Unified Approach....

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Journal Article•
Author's Reply to Comments on Feedback Stabilization Over Signal-to-Noise Ratio Constrained Channels

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Julio H. Braslavsky, Richard H. Middleton, James S. Freudenberg
01 Jan 2009-IEEE Transactions on Automatic Control
TL;DR: In this paper, the authors studied the problem of feedback stabilization over a signal-to-noise ratio (SNR) constrained channel and showed that for either state feedback, or for output feedback delay-free, minimum phase plants, there are limitations on the ability to stabilize an unstable plant over an SNR constrained channel.
Abstract: There has recently been significant interest in feedback stabilization problems over communication channels, including several with bit rate limited feedback. Motivated by considering one source of such bit rate limits, we study the problem of stabilization over a signal-to-noise ratio (SNR) constrained channel. We discuss both continuous and discrete time cases, and show that for either state feedback, or for output feedback delay-free, minimum phase plants, there are limitations on the ability to stabilize an unstable plant over an SNR constrained channel. These limitations in fact match precisely those that might have been inferred by considering the associated ideal Shannon capacity bit rate over the same channel.

379 citations

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