THEORY OF AUTOMATIC CONTROL
CONTENTS INTRODUCTION TO MULTIVARIABLE CONTROL INTRODUCTION PROCESS AND INSTRUMENTATION PROCESS VARIABLES THE PROCESS BEHAVIOUR CONTROL AIMS MODES OF OPERATION THE NEED FOR FEEDBACK MODEL-FREE VS MODEL-BASED CONTROL THE IMPORTANCE OF CONSIDERING MODELLING ERRORS 1 10 MULTIVARIABLE SYSTEMS 1 11 IMPLEMENTATION AND STRUCTURAL ISSUES 1 12 SUMMARY OF THE CHAPTERS LINEAR SYSTEM REPRESENTATION: MODELS AND EQUIVALENCE INTRODUCTION: OBJECTIVES OF MODELLING TYPES OF MODELS FIRST-PRINCIPLE MODELS: COMPONENTS INTERNAL REPRESENTATION: STATE VARIABLES LINEAR MODELS AND LINEARISATION INPUT/OUTPUT REPRESENTATIONS POLYNOMIAL REPRESENTATION TRANSFER MATRIX SYSTEMS AND SUBSYSTEMS: INTERCONNECTION SERIES, PARALLEL AND FEEDBACK CONNECTION GENERALISED INTERCONNECTION DISCRETISED MODELS EQUIVALENCE OF REPRESENTATIONS 2 10 DISTURBANCE MODELS 2 10 1 DETERMINISTIC SIGNALS 2 10 2 RANDOMNESS IN THE SIGNALS 2 10 3 DISCRETE STOCHASTIC PROCESSES 2 11 KEY ISSUES IN MODELLING 2 12 CASE STUDY: THE PAPER MACHINE HEADBOX 2 12 1 SIMPLI?ED MODELS 2 12 2 ELABORATED MODELS LINEAR SYSTEMS ANALYSIS LINEAR SYSTEM TIME-RESPONSE STABILITY CONDITIONS RELATIVE DEGREE OF STABILITY DISCRETISATION GAIN STATIC GAIN INSTANTANEOUS GAIN DIRECTIONAL GAIN FREQUENCY RESPONSE SYSTEM INTERNAL STRUCTURE REACHABILITY (STATE CONTROLLABILITY) OBSERVABILITY OUTPUT REACHABILITY REMARKS ON REACHABILITY AND OBSERVABILITY CANONICAL FORMS BLOCK SYSTEM STRUCTURE (KALMAN FORM) MINIMAL REALISATION BALANCED REALISATION POLES AND ZEROS INPUT/OUTPUT PROPERTIES INPUT/OUTPUT CONTROLLABILITY 3 10 MODEL REDUCTION 3 10 1 TIME SCALE DECOMPOSITION 3 10 2 BALANCED REDUCTION 3 11 KEY ISSUES IN MIMO SYSTEMS ANALYSIS 3 12 CASE STUDY: SIMPLE DISTILLATION COLUMN SOLUTIONS TO THE CONTROL PROBLEM THE CONTROL DESIGN PROBLEM CONTROL GOALS VARIABLES SELECTION CONTROL STRUCTURES FEEDBACK CONTROL CLOSED-LOOP STABILITY ANALYSIS INTERACTIONS GENERALISED PLANT PERFORMANCE ANALYSIS FEEDFORWARD CONTROL MANUAL CONTROL OPEN-LOOP INVERSION AND TRAJECTORY TRACKING FEEDFORWARD REJECTION OF MEASURABLE DISTURBANCES TWO DEGREE OF FREEDOM CONTROLLER HIERARCHICAL CONTROL KEY ISSUES IN CONTROL DESIGN 4 10 CASE STUDY: CERAMIC KILN DECENTRALISED AND DECOUPLED CONTROL PLANT DECOMPOSITION, GROUPING OF VARIABLES MULTI-LOOP CONTROL, PAIRING SELECTION THE RELATIVE GAIN ARRAY METHODOLOGY INTEGRITY (FAULT TOLERANCE) DIAGONAL DOMINANCE (STABILITY ANALYSIS) DECOUPLING FEEDFORWARD DECOUPLING FEEDBACK DECOUPLING SVD DECOUPLING ENHANCING SISO LOOPS WITH MIMO TECHNIQUES: CASCADE CONTROL CASE I: EXTRA MEASUREMENTS CASE II: EXTRA ACTUATORS OTHER POSSIBILITIES INDIRECT AND INFERENTIAL CONTROL OVERRIDE, SELECTORS SPLIT-RANGE CONTROL GRADUAL CONTROL, LOCAL FEEDBACK SEQUENTIAL–HIERARCHICAL DESIGN AND TUNING COMBINED STRATEGIES FOR COMPLEX PLANTS KEY CONCLUSIONS CASE STUDIES STEAM BOILER MIXING PROCESS FUNDAMENTALS OF CENTRALISED CLOSED-LOOP CONTROL STATE FEEDBACK STABILISATION AND POLE-PLACEMENT STATE FEEDBACK PI CONTROL OUTPUT FEEDBACK MODEL-BASED RECURRENT OBSERVER CURRENT OBSERVER REDUCED-ORDER OBSERVER SEPARATION PRINCIPLE REJECTION OF DETERMINISTIC UNMEASURABLE DISTURBANCES AUGMENTED PLANTS: PROCESS AND DISTURBANCE MODELS DISTURBANCE REJECTION SUMMARY AND KEY ISSUES CASE STUDY: MAGNETIC SUSPENSION OPTIMISATION-BASED CONTROL OPTIMAL STATE FEEDBACK LINEAR REGULATORS OPTIMAL OUTPUT FEEDBACK KALMAN OBSERVER LINEAR QUADRATIC GAUSSIAN CONTROL PREDICTIVE CONTROL CALCULATING PREDICTIONS OBJECTIVE FUNCTION CONSTRAINTS A GENERALISED OPTIMAL DISTURBANCE-REJECTION PROBLEM DESIGN GUIDELINES: FREQUENCY WEIGHTS CASE STUDY: DISTILLATION COLUMN DESIGNING FOR ROBUSTNESS THE DOWNSIDE OF MODEL-BASED CONTROL SOURCES OF UNCERTAINTY IN CONTROL OBJECTIVES OF ROBUST CONTROL METHODOLOGIES UNCERTAINTY AND FEEDBACK MODEL VALIDITY RANGE HIGH GAIN LIMITATIONS LIMITATIONS IN ACHIEVABLE PERFORMANCE DUE TO UNCERTAINTY AMPLITUDE AND FREQUENCY OF ACTUATOR COMMANDS UNSTABLE AND NON-MINIMUM-PHASE SYSTEMS TRADE-O?S AND DESIGN GUIDELINES SELECTION OF DESIGN PARAMETERS IN CONTROLLER SYNTHESIS ITERATIVE IDENTI?CATION AND CONTROL GENERALISED 2-DOF CONTROL STRUCTURE ROBUSTNESS ANALYSIS METHODOLOGIES SOURCES AND TYPES OF UNCERTAINTY DETERMINATION OF UNCERTAINTY BOUNDS UNSTRUCTURED ROBUST STABILITY ANALYSIS STRUCTURED UNCERTAINTY CONTROLLER SYNTHESIS MIXED SENSITIVITY CONCLUSIONS AND KEY ISSUES CASCADE CONTROL DISTILLATION COLUMN IMPLEMENTATION AND OTHER ISSUES CONTROL IMPLEMENTATION: CENTRALISED VS DECENTRALISED IMPLEMENTATION TECHNOLOGIES ANALOG IMPLEMENTATION DIGITAL IMPLEMENTATION USER INTERFACE BUMPLESS TRANSFER AND ANTI-WINDUP NON-CONVENTIONAL SAMPLING COPING WITH NON-LINEARITY BASIC TECHNIQUES GAIN-SCHEDULING GLOBAL LINEARISATION OTHER APPROACHES RELIABILITY AND FAULT DETECTION SUPERVISION, INTEGRATED AUTOMATION, PLANT-WIDE CONTROL