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- John Wiley & Sons Inc
- Garcia Retuerta, Carlos / Cortes Romero, John
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Algebraic Identification and Estimation Methods in Feedback Control Systems
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H. Sira-Ramirez obtained an Electrical Engineer s degree from the Universidad de Los Andes in Merida (Venezuela) in 1970; an MSc in Electrical Engineering and an Electrical Engineer s degree in 1974, and a PhD in Electrical Engineering in 1977, all from the Massachusetts Institute of Technology (Cambridge, MA). Dr. Sira-Ramirez worked for 28 years at the Universidad de Los Andes, becoming an Emeritus Professor. Currently, he is a Titular Researcher in the Centro de Investigacion y Estudios Avanzados del Instituto Politecnico Nacional (Cinvestav-IPN) in Mexico City, Mexico. He is a co-author of five books on automatic control, and the author of over 460 technical articles in book chapters, credited journals, and international conferences. Dr. Sira-Ramirez is interested in the theoretical and practical aspects of feedback regulation of nonlinear systems, with special emphasis on variable structure feedback control, algebraic methods in automatic control, power electronics, and active disturbance rejection control. C. Garcia-Rodriguez received a B.Eng. degree from the Technological Institute of Veracruz, Veracruz, Mexico in 2002, and Master s and Doctor of Science degrees from the Center for Research and Advanced Studies of the National Polytechnic Institute, Cinvestav-IPN, Mexico in 2005 and 2011, respectively, all in Electrical Engineering. He was with the Technological Institute for Higher Studies of Ecatepec, Edo. de Mexico, in 2005. Since 2010, he has been a Professor at the Electronic and Mechatronic Institute, Technological University of Mixteca, Oaxaca, Mexico. He is currently also Coordinator of the Master s Program in Electronics with Option in Applied Intelligent Systems of this university. Dr. Garcia-Rodriguez is a candidate member of the National System of Researchers and a member of the CONACYT Registry of Accredited Evaluators. His current research and teaching interests include control of electrical machines, power converters for variable-speed systems, power electronics, robust control, and algebraic identification. A. Luviano Juarez received a BS degree in Mechatronics Engineering from the National Polytechnic Institute (Mexico), an MSc in Automatic Control from the Department of Automatic Control at the Center of Research and Advanced Studies of the National Polytechnic Institute (Cinvestav-IPN), and a PhD in Electrical Engineering from the Electrical Engineering Department at Cinvestav -IPN. Currently, he is a Professor at the National Polytechnic Institute UPIITA in the Research and Postgraduate Section. His teaching and research interests include control of mechatronic systems, algebraic methods in estimation, identification and control, robotics, and related subjects. John Cortes-Romero, PhD is a Research Associate Professor in the Department of Electrical and Electronic Engineering at the National University of Colombia. During his tenure at the NationalUniversity, Professor Cortes-Romero served as the coordinator of the Industrial Automation Master s program. Professor Cortes-Romero received his BS in Electrical Engineering, MSc in Industrial Automation, and MSc in Mathematics from the National University of Colombia in 1995, 1999, and 2007, respectively. In 2007, he was selected for the prestigious OAS fellowship program and earned his PhD in Electrical Engineering from the Centro de Investigacion y de Estudios Avanzados del Instituto Politecnico Nacional (CINVESTAV-IPN), Mexico City, Mexico in 2011. He is the author of over 40 technical papers in journals and international conference proceedings. His main research areas include nonlinear control applications, active disturbance rejection control, algebraic identification and estimation methods in feedback control systems, and supervisory control of industrial processes.
Series Preface xiii Preface xv 1 Introduction 1 1.1 Feedback Control of Dynamic Systems 2 1.1.1 Feedback 2 1.1.2 Why Do We Need Feedback? 3 1.2 The Parameter Identification Problem 3 1.2.1 Identifying a System 4 1.3 A Brief Survey on Parameter Identification 4 1.4 The State Estimation Problem 5 1.4.1 Observers 6 1.4.2 Reconstructing the State via Time Derivative Estimation 7 1.5 Algebraic Methods in Control Theory: Differences from Existing Methodologies 8 1.6 Outline of the Book 9 References 12 2 Algebraic Parameter Identification in Linear Systems 15 2.1 Introduction 15 2.1.1 The Parameter-Estimation Problem in Linear Systems 16 2.2 Introductory Examples 17 2.2.1 Dragging an Unknown Mass in Open Loop 17 2.2.2 A Perturbed First-Order System 24 2.2.3 The Visual Servoing Problem 30 2.2.4 Balancing of the Plane Rotor 35 2.2.5 On the Control of the Linear Motor 38 2.2.6 Double-Bridge Buck Converter 42 2.2.7 Closed-Loop Behavior 43 2.2.8 Control of an unknown variable gain motor 47 2.2.9 Identifying Classical Controller Parameters 50 2.3 A Case Study Introducing a Sentinel Criterion 53 2.3.1 A Suspension System Model 54 2.4 Remarks 67 References 68 3 Algebraic Parameter Identification in Nonlinear Systems 71 3.1 Introduction 71 3.2 Algebraic Parameter Identification for Nonlinear Systems 72 3.2.1 Controlling an Uncertain Pendulum 74 3.2.2 A Block-Driving Problem 80 3.2.3 The Fully Actuated Rigid Body 84 3.2.4 Parameter Identification Under Sliding Motions 90 3.2.5 Control of an Uncertain Inverted Pendulum Driven by a DC Motor 92 3.2.6 Identification and Control of a Convey Crane 96 3.2.7 Identification of a Magnetic Levitation System 103 3.3 An Alternative Construction of the System of Linear Equations 105 3.3.1 Genesio Tesi Chaotic System 107 3.3.2 The Ueda Oscillator 108 3.3.3 Identification and Control of an Uncertain Brushless DC Motor 112 3.3.4 Parameter Identification and Self-tuned Control for the Inertia Wheel Pendulum 119 3.3.5 Algebraic Parameter Identification for Induction Motors 128 3.3.6 A Criterion to Determine the Estimator Convergence: The Error Index 136 3.4 Remarks 141 References 141 4 Algebraic Parameter Identification in Discrete-Time Systems 145 4.1 Introduction 145 4.2 Algebraic Parameter Identification in Discrete-Time Systems 145 4.2.1 Main Purpose of the Chapter 146 4.2.2 Problem Formulation and Assumptions 147 4.2.3 An Introductory Example 148 4.2.4 Samuelson s Model of the National Economy 150 4.2.5 Heating of a Slab from Two Boundary Points 155 4.2.6 An Exact Backward Shift Reconstructor 157 4.3 A Nonlinear Filtering Scheme 160 4.3.1 Henon System 161 4.3.2 A Hard Disk Drive 164 4.3.3 The Visual Servo Tracking Problem 166 4.3.4 A Shape Control Problem in a Rolling Mill 170 4.3.5 Algebraic Frequency Identification of a Sinusoidal Signal by Means of Exact Discretization 175 4.4 Algebraic Identification in Fast-Sampled Linear Systems 178 4.4.1 The Delta-Operator Approach: A Theoretical Framework 179 4.4.2 Delta-Transform Properties 181 4.4.3 A DC Motor Example 181 4.5 Remarks 188 References 188 5 State and Parameter Estimation in Linear Systems 191 5.1 Introduction 191 5.1.1 Signal Time Derivation Through the Algebraic Derivative Method 192 5.1.2 Observability of Nonlinear Systems 192 5.2 Fast State Estimation 193 5.2.1 An Elementary Second-Order Example 193 5.2.2 An Elementary Third-Order Example 194 5.2.3 A Control System Example 198 5.2.4 Control of a Perturbed Third-Order System 201 5.2.5 A Sinusoid Estimation Problem 203 5.2.6 Identification of Gravitational Wave Parameters 205 5.2.7 A Power Electronics Example 210 5.2.8 A Hydraulic Press 213 5.2.9 Iden