【内容简介】
Focusing on feedforward control techniques, this book lucidly covers the various algorithms for attenuating residual oscillations that are excited by reference inputs to dynamical systems. It provides a rigorous yet accessible presentation of the theory and numerical techniques used to shape control system inputs for achieving precise control when modeling uncertainties exist. Along with MATLAB^? code and a suite of real-world problems, the book includes up-to-date techniques for the design of command-shaped profiles for precise, robust, and rapid point-to-point control of underdamped systems.
【目次】
Introduction
Hard Disk Drives
High Speed Tape Drives
High Speed Elevator
Cranes
Slosh Modeling
Vehicle Platooning
Time-Delay Filter/Input Shaping
Time-Delay Filters
Proportional Plus User-Selected Multiple Delay Control
Time-Delay Control of Multi-Mode Systems
Jerk Limited Input Shapers
Robust Jerk Limited Time-Delay Filter
Jerk Limited Time-Delay Filters for Multi-Mode Systems
Filtered Input Shapers
Discrete-Time Time-Delay Filters
Optimal Control
Calculus of Variations
Hamiltonian Formulation
Minimum Power Control
Frequency Shaped LQR Controller
LQR Control with Noisy Input
Saturating Control
Benchmark Problem
Minimum Time Control
Fuel/Time Optimal Control
Fuel Limited Minimum Time Control
Jerk Limited Time Optimal Control
Minimax Control
Minimax Time-Delay Filters
Minimax Feedback Controllers
Friction Control
Time-Optimal Rest-to-Rest Maneuvers
Pulse-Width Pulse-Amplitude Control
Numerical Approach
Parameter Optimization
Linear Programming
Linear Matrix Inequality
Appendix A: Van Loan Exponential
Appendix B: Differential Lyapunov Equation
Appendix C: Parseval’s Theorem
Index