Robust control engineering: practical QFT solutions

Content: Note continued: 3.Unstable Systems and Control Solutions --
3.1.Introduction --
3.2.Understanding Gain and Phase Margins, and Ws Circles --
3.3.The NSC --
3.4.Nyquist Stability Criterion in the Nichols Chart --
3.5.Examples --
3.6.Guidelines to Design Controllers --
3.6.1.Parity Interlacing Property --
3.6.2.Fundamental Theorem of Feedback Control --
3.6.3.Examples --
3.7.Analysis of the First Case --
3.8.Summary --
3.9.Practice --
4.Time-Delay and Non-Minimum Phase Systems --
4.1.Time-Delay Systems --
4.2.Robust Design of the Smith Predictor --
4.2.1.First Algorithm --
4.2.2.Second Algorithm --
4.3.Non-Minimum Phase Systems --
4.3.1.Analysis --
4.3.2.Control Methodology --
4.4.Summary --
4.5.Practice --
5.Distributed Parameter Systems --
5.1.Introduction --
5.2.Modeling Approaches for PDE --
5.3.Generalized DPS Control System Structure --
5.4.Extension of QFT to DPS --
5.5.Summary --
5.6.Practice --
6.Gain Scheduling/Switching Control Solutions --
6.1.Introduction Note continued: 6.2.System Stability Under Switching --
6.3.Methodology --
6.4.Examples --
6.5.Summary --
6.6.Practice --
7.Nonlinear Dynamic Control --
7.1.Introduction --
7.2.The Circle Stability Criterion --
7.3.Nonlinear Dynamic Control: One Nonlinearity --
7.4.Anti-Windup Solution for PID Controllers --
7.5.Nonlinear Dynamic Control: Several Nonlinearities --
7.5.1.Describing Functions --
7.5.2.Isolines --
7.6.Summary --
7.7.Practice --
8.Multi-Input Multi-Output Systems: Analysis and Control --
8.1.Introduction --
8.2.Formulation for n x n Systems --
8.3.MIMO Systems --
Description and Characteristics --
8.3.1.Loop Coupling and Controller Structure --
8.3.2.Interaction Analysis --
8.3.3.Multivariable Poles and Zeros --
8.3.4.Directionality --
8.3.5.Gain and Phase --
8.3.6.Effect of Poles and Zeros --
8.3.7.Disturbance and Noise Signals --
8.3.8.Uncertainty --
8.3.9.Stability --
8.4.MIMO QFT Control --
Overview --
8.5.Non-Diagonal MIMO QFT --
Method 1 Note continued: 8.5.1.The Coupling Matrix --
8.5.2.Tracking --
8.5.3.Disturbance Rejection at Plant Input --
8.5.4.Disturbance Rejection at Plant Output --
8.5.5.The Coupling Elements --
8.5.6.The Optimal Non-Diagonal Compensator --
8.5.6.1.Tracking --
8.5.6.2.Disturbance Rejection at Plant Input --
8.5.6.3.Disturbance Rejection at Plant Output --
8.5.7.The Coupling Effects --
8.5.7.1.Tracking --
8.5.7.2.Disturbance Rejection at Plant Input --
8.5.7.3.Disturbance Rejection at Plant Output --
8.5.8.Quality Function of the Designed Compensator --
8.5.9.Design Methodology --
8.5.10.Some Practical Issues --
8.6.Non-Diagonal MIMO QFT --
Method 2 --
8.6.1.Non-Diagonal MIMO QFT Reformulation --
8.6.2.Case 1: Reference Tracking and Disturbance Rejection at Plant Output --
8.6.2.1.Methodology --
8.6.3.Case 2: Disturbance Rejection at Plant Input --
8.6.4.Stability Conditions and Final Implementation --
8.6.5.Translating Matrix Performance Specifications --
8.6.5.1.Case n x n Note continued: 8.6.5.2.Case 2 x 2 --
8.7.Comparison of Methods 1 and 2 --
8.8.Heat Exchanger, Example 8.1 --
MIMO QFT Method 1 --
8.9.Heat Exchanger, Example 8.1 --
MIMO QFT Method 2 --
8.10.Summary --
8.11.Practice --
9.Control Topologies --
9.1.Introduction --
9.2.Cascade Control Systems --
9.2.1.Challenged --
9.2.2.Solution 9.1: Cascade Control --
9.3.Feedforward Control Systems --
9.3.1.Challenged --
9.3.2.Solution 9.2a: For Disturbance Rejection --
9.3.3.Solution 9.2b: For Reference Tracking. Model Matching --
9.3.4.Solution 9.2c: For Disturbance Rejection and Reference Tracking --
9.4.Override Control Systems --
9.4.1.Challenged --
9.4.2.Solution 9.3: Override Control --
9.5.Ratio Control Systems --
9.5.1.Challenged --
9.5.2.Solution 9.4: Ratio Control --
9.6.Mid-Range Control Systems --
9.6.1.Challenged --
9.6.2.Solution 9.5: Mid-Range Control --
9.7.Load-Sharing Control Systems --
9.7.1.Challenged --
9.7.2.Solution 9.6: Load-Sharing Control Note continued: 9.8.Split-Range Control Systems --
9.8.1.Challenged --
9.8.2.Solution 9.7 Split-Range Control --
9.9.Inferential Control Systems --
9.9.1.Challenge 9.8 --
9.9.2.Solution 9.8: Inferential Control --
9.10.Auctioneering Control Systems --
9.10.1.Challenged --
9.10.2.Solution 9.9: Auctioneering Control --
9.11.Summary --
9.12.Practice --
10.Controller Implementation --
10.1.Introduction --
10.2.Analog Implementation --
10.3.Digital Implementation --
10.3.1.Sample and Hold --
10.3.2.Computer Control Algorithms --
10.3.3.Positional and Velocity Algorithms --
10.3.3.1.Positional Algorithm --
10.3.3.2.Velocity Algorithm --
10.3.4.Switching and Bumpless Algorithms --
10.3.5.Pulse Width Modulation --
10.4.Fragility Analysis with QFT --
10.5.Summary --
10.6.Practice --
Case Study 1 Satellite Control --
Case Study 2 Wind Turbine Control --
Case Study 3 Wastewater Treatment Plant Control --
Case Study 4 Radio-Telescope Control