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Robust control design with MATLAB

TL;DR: Robust Control Design with MATLAB is for graduate students and practising engineers who want to learn how to deal with robust control design problems without spending a lot of time in researching complex theoretical developments.
Abstract: Robust Control Design with MATLAB (second edition) helps the student to learn how to use well-developed advanced robust control design methods in practical cases. To this end, several realistic control design examples from teaching-laboratory experiments, such as a two-wheeled, self-balancing robot, to complex systems like a flexible-link manipulator are given detailed presentation. All of these exercises are conducted using MATLAB Robust Control Toolbox 3, Control System Toolbox and Simulink. By sharing their experiences in industrial cases with minimum recourse to complicated theories and formulae, the authors convey essential ideas and useful insights into robust industrial control systems design using major H-infinity optimization and related methods allowing readers quickly to move on with their own challenges. The hands-on tutorial style of this text rests on an abundance of examples and features for the second edition: rewritten and simplified presentation of theoretical and methodological material including original coverage of linear matrix inequalities; new Part II forming a tutorial on Robust Control Toolbox 3; fresh design problems including the control of a two-rotor dynamic system; and end-of-chapter exercises. Electronic supplements to the written text that can be downloaded from extras.springer.com/isbn include: M-files developed with MATLAB help in understanding the essence of robust control system design portrayed in text-based examples; MDL-files for simulation of open- and closed-loop systems in Simulink; and a solutions manual available free of charge to those adopting Robust Control Design with MATLAB as a textbook for courses. Robust Control Design with MATLAB is for graduate students and practising engineers who want to learn how to deal with robust control design problems without spending a lot of time in researching complex theoretical developments.
Citations
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BookDOI
01 Jan 2014

1,602 citations


Cites methods from "Robust control design with MATLAB"

  • ...Others are more on design methodologies, application of such theories, and implementation software [2, 6]....

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Journal ArticleDOI
TL;DR: It is shown that the $ {\mu) -synthesis approach due to considering structured/parametric uncertainties provides better performance than the ${H} _{ {\infty }}$ control method.
Abstract: This paper addresses robust frequency control in an islanded ac microgrid (MG). In an islanded MG with renewable sources, load change, wind power fluctuation, and sun irradiation power disturbance as well as dynamical perturbation, such as damping coefficient and inertia constants, can significantly influence the system frequency, and hence the MG frequency control problem faces some new challenges. In response to these challenges, in this paper, ${H} _{ {\infty }}$ and $ {\mu }$ -synthesis robust control techniques are used to develop the secondary frequency control loop. In the proposed control scheme, some microsources (diesel engine generator, micro turbine, and fuel cell) are assumed to be responsible for balancing the load and power in the MG system. The synthesized ${H} _{ {\infty }}$ and $ {\mu }$ -controllers are examined on an MG test platform, and the controllers’ robustness and performance are evaluated in the presence of various disturbances and parametric uncertainties. The results are compared with an optimal control design. It is shown that the $ {\mu }$ -synthesis approach due to considering structured/parametric uncertainties provides better performance than the ${H} _{ {\infty }}$ control method.

309 citations


Cites methods from "Robust control design with MATLAB"

  • ...the Hankel-norm approximation [34] is applied to reduce the controller order....

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Journal ArticleDOI
TL;DR: Simulation results show the superior robustness and control effect of the proposed coordinated controllers over the compared controllers for robust LFC in the smart grid with large wind farms.
Abstract: In the smart grid, the large scale wind power penetration tends to expand vastly. Nevertheless, due to the intermittent power generation from wind, this may cause a problem of large frequency fluctuation when the load-frequency control (LFC) capacity is not enough to compensate the unbalance of generation and load demand. Also, in the future transport sector, the plug-in hybrid electric vehicle (PHEV) is widely expected for driving in the customer side. Generally, the power of PHEV is charged by plugging into the home outlets as the dispersed battery energy storages. Therefore, the vehicle-to-grid (V2G) power control can be applied to compensate for the inadequate LFC capacity. This paper focuses on the new coordinated V2G control and conventional frequency controller for robust LFC in the smart grid with large wind farms. The battery state-of-charge (SOC) is controlled by the optimized SOC deviation control. The structure of frequency controller is a proportional integral (PI) with a single input. To enhance the robust performance and robust stability against the system uncertainties, the PI controller parameters and the SOC deviation are optimized simultaneously by the particle swarm optimization based on the fixed structure mixed H2/H∞ control. Simulation results show the superior robustness and control effect of the proposed coordinated controllers over the compared controllers.

212 citations


Cites background or methods from "Robust control design with MATLAB"

  • ...To tune PI controllers of LFC in each area, the inverse output multiplicative perturbation is applied to model the system uncertainties [22]....

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  • ...System uncertainties are formulated by the multiplicative uncertainty [22]....

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Journal ArticleDOI
TL;DR: It is validated that the proposed proposed robust virtual inertia controller successfully provides desired robust frequency support to a low-inertia islanded microgrid against high RESs penetration.
Abstract: This paper presents robust virtual inertia control of an islanded microgrid considering high penetration of renewable energy sources (RESs). In such microgrids, the lack of system inertia due to the replacement of traditional generating units with a large amount of RESs causes undesirable influence to microgrid frequency stability, leading to weakening of the microgrid. In order to handle this challenge, the $H_{\mathbf {\infty }}$ robust control method is implemented to the virtual inertial control loop, taking into account the high penetration of RESs, thus enhancing the robust performance and stability of the microgrid during contingencies. The controller’s robustness and performance are determined along with numerous disturbances and parametric uncertainties. The comparative study between $H_{\mathbf {\infty }}$ and optimal proportional-integral (PI)-based virtual inertia controller is also presented. The results show the superior robustness and control effect of the proposed $H_{\mathbf {\infty }}$ controller in terms of precise reference frequency tracking and disturbance attenuation over the optimal PI controller. It is validated that the proposed $H_{\mathbf {\infty }}$ -based virtual inertia controller successfully provides desired robust frequency support to a low-inertia islanded microgrid against high RESs penetration.

179 citations


Cites background or methods from "Robust control design with MATLAB"

  • ...In this study, the Hankel optimal model order reduction [14] is implemented to reduce a high order of the H∞ controller, evaluating reasonable performance and stability....

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  • ...To avoid this difficulty, several techniques are proposed for order reduction [14], [28]–[30]....

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  • ...However, most robust control techniques utilize complex state-feedback controllers, of which the orders are not smaller than the order of the controlled systems [14], [15]....

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Journal ArticleDOI
TL;DR: Two kinds of observer-based sensorless predictive torque control methods are proposed, based on examining feasible voltage vectors in a prescribed cost function and a novel robust prediction model is presented.
Abstract: In this paper, two kinds of observer-based sensorless predictive torque control methods are proposed. The predictive method is based on examining feasible voltage vectors (VVs) in a prescribed cost function. The VV that minimizes the cost function is selected. A novel robust prediction model is presented. The prediction model includes sliding mode feedbacks. The feedback gains are assigned by the H-inf method. Two kinds of observers are applied for flux and speed estimation, i.e., sliding mode full order observer and reduced order observer. In order to verify the proposed method, simulation and experimental results are presented in wide speed range. A comparison of the two methods is performed based on the results.

177 citations

References
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Book
17 Aug 1995
TL;DR: This paper reviewed the history of the relationship between robust control and optimal control and H-infinity theory and concluded that robust control has become thoroughly mainstream, and robust control methods permeate robust control theory.
Abstract: This paper will very briefly review the history of the relationship between modern optimal control and robust control. The latter is commonly viewed as having arisen in reaction to certain perceived inadequacies of the former. More recently, the distinction has effectively disappeared. Once-controversial notions of robust control have become thoroughly mainstream, and optimal control methods permeate robust control theory. This has been especially true in H-infinity theory, the primary focus of this paper.

6,945 citations


"Robust control design with MATLAB" refers background in this paper

  • ...[175] Suppose P (s) satisfies the assumptions A1−A4....

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  • ...2) is not unique except in the scalar case ([175, 60])....

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  • ...Interested readers are referred to [23, 32, 121, 33, 120, 122, 175] for details....

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  • ...Many books have since been published on H∞ and related theories and methods [38, 26, 175, 166, 145, 142, 65, 137]....

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  • ...Despite of the mature theory ([38, 26, 175]) and availability of software packages, commercial or licensed freeware, many people have experienced difficulties in solving industrial control systems design problems with those H∞ and related methods, due to the complex mathematics of the advanced approaches and numerous presentations of formulae as well as adequate translations of industrial design into relevant configurations....

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Book
01 Jan 1996
TL;DR: This book presents a rigorous, yet easily readable, introduction to the analysis and design of robust multivariable control systems and provides the reader with insights into the opportunities and limitations of feedback control.
Abstract: From the Publisher: This is a book on practical feedback control and not on system theory in general. Feedback is used in control systems to change the dynamics of the system and to reduce the sensitivity of the system to both signal and model uncertainty. The book presents a rigorous, yet easily readable, introduction to the analysis and design of robust multivariable control systems. It provides the reader with insights into the opportunities and limitations of feedback control. Its objective is to enable the engineer to design real control systems. Important topics are: extensions and classical frequency-domain methods to multivariable systems, analysis of directions using the singular value decomposition, performance limitations and input-output controllability analysis, model uncertainty and robustness including the structured singular value, control structure design, and methods for controller synthesis and model reduction. Numerous worked examples, exercises and case studies, which make frequent use of MATLAB, are included. MATLAB files for examples and figures, solutions to selected exercises, extra problems and linear state-space models for the case studies are available on the Internet.

6,279 citations


"Robust control design with MATLAB" refers background in this paper

  • ...Many books have since been published on H∞ and related theories and methods [38, 26, 175, 166, 145, 142, 65, 137]....

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Book
01 Jan 1980
TL;DR: This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems and thoroughly integrates MATLAB statements and problems to offer readers a complete design picture.
Abstract: From the Publisher: This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude Both classical and modern control methods are described and applied to illustrative examples The strengths and limitations of each method are explored to help the reader develop solid designs with the least effort Two new chapters have been added to the third edition offering a review of feedback control systems and an overview of digital control systems Updated to be fully compatible with MATLAB versions 4 and 5, the text thoroughly integrates MATLAB statements and problems to offer readers a complete design picture The new edition contains up-to-date material on state-space design and twice as many end-of-chapter problems to give students more opportunities to practice the material

3,756 citations

Book
05 Oct 1997
TL;DR: In this article, the authors introduce linear algebraic Riccati Equations and linear systems with Ha spaces and balance model reduction, and Ha Loop Shaping, and Controller Reduction.
Abstract: 1. Introduction. 2. Linear Algebra. 3. Linear Systems. 4. H2 and Ha Spaces. 5. Internal Stability. 6. Performance Specifications and Limitations. 7. Balanced Model Reduction. 8. Uncertainty and Robustness. 9. Linear Fractional Transformation. 10. m and m- Synthesis. 11. Controller Parameterization. 12. Algebraic Riccati Equations. 13. H2 Optimal Control. 14. Ha Control. 15. Controller Reduction. 16. Ha Loop Shaping. 17. Gap Metric and ...u- Gap Metric. 18. Miscellaneous Topics. Bibliography. Index.

3,471 citations


"Robust control design with MATLAB" refers background in this paper

  • ...Many books have since been published on H∞ and related theories and methods [38, 26, 175, 166, 145, 142, 65, 137]....

    [...]

Journal ArticleDOI
TL;DR: In this paper, a complete characterization of all rational functions that minimize the Hankel-norm is derived, and the solution to the latter problem is via results on balanced realizations, all-pass functions and the inertia of matrices, all in terms of the solutions to Lyapunov equations.
Abstract: The problem of approximating a multivariable transfer function G(s) of McMillan degree n, by Ĝ(s) of McMillan degree k is considered. A complete characterization of all approximations that minimize the Hankel-norm is derived. The solution involves a characterization of all rational functions Ĝ(s) + F(s) that minimize where Ĝ(s) has McMillan degree k, and F(s) is anticavisal. The solution to the latter problem is via results on balanced realizations, all-pass functions and the inertia of matrices, all in terms of the solutions to Lyapunov equations. It is then shown that where σ k+1(G(s)) is the (k+l)st Hankel singular value of G(s) and for one class of optimal Hankel-norm approximations. The method is not computationally demanding and is applied to a 12-state model.

2,980 citations


"Robust control design with MATLAB" refers background or methods in this paper

  • ...This is a Hankel approximation problem and can be solved using an algorithm developed by Glover [46]....

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  • ...Glover shows in [46] that any stable, r-order approximation Gr of G(s) can never achieve ‖G(s)−Gr(s)‖∞ ≤ σr+1....

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  • ..., tr(Σ2) = σr+1+· · ·+σn, the sum of the last n− r Hankel singular values ([30, 46])....

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  • ...1, the largest Hankel singular value σ1 is defined as the Hankel-norm of G(s) ([46])....

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  • ...26) It is shown in [46] that the (n−l)th order Gh(s) is stable and is an optimal approximation of G(s) satisfying ‖G(s)−Gh(s)‖H = σ (7....

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