Control, Robotics and Sensors – serie

This book presents the established fundamentals in the area of active sound and vibration control (ASVC) as well as exploring the new and emerging technologies and techniques. There has been a considerable amount of effort devoted to the development and realisation of methodologies for the control of sound and vibration, and this book covers the latest theoretical, algorithmic and practical applications including: noise control in 3D propagation, adaptive algorithms, prediction, processing and tuning, neuro-active control, control of microvibrations, and noise reduction in locomotives and vehicles. Topics discussed include multichannel active noise control, adaptive harmonic control, model-free iterative tuning, model-based control design for active vibration control (AVC), ASVC using neural networks, genetic algorithms for ASVC systems, and active noise control (ANC) around the human head. The authors also discuss active control of microvibrations, vibration control of manipulators, and techniques of real-time processing. This book will be essential reading for electrical, mechanical and control engineers, designers and researchers, interested in noise and vibration control.

Stepping motor technology is well established and used for motion control, most notably for computer peripherals but also wherever digital control is employed. This book provides an introductory text which will enable the reader to both appreciate the essential characteristics of stepping motor systems and understand how these characteristics are being exploited in the continuing development of new motors, drives and controllers. A basic theoretical approach relating to the more significant aspects of performance is presented, although it is assumed throughout that the reader has no previous experience of electrical machines and is primarily interested in the applications of stepping motors. Paul Acarnley's outstanding reference book is widely known and used, and this, the 4th edition, has been significantly updated to include many new applications that have emerged since the previous edition was published. Coverage includes: drive circuits, accurate load positioning, static torque characteristics, multi-step operation, torque/ speed characteristics, high-speed operation, open-loop control, closed-loop control and microprocessor-based stepping motor systems.

This book provides a practical and comprehensive analysis of control systems for boilers and HRSGs (heat-recovery steam generators) in a variety of applications from waste-to-energy plants through to combined-cycle gas-turbine power stations (CCGTs).It describes process transmitters, advanced DCS configurations and final elements such as control valves and dampers. Basics such as methods of connecting instruments to the process are explained while more advanced discussions of the design features of distributed control systems are also included. At every stage, emphasis is given to the complex, multivariable, interactive nature of steam-raising plant and to the importance of dealing with the problems that result.Chapters are devoted to the application of modern nomenclature systems and to the documentation required to ensure that the equipment and systems meet all the requirements of performance, accuracy, safety and maintainability.This book will provide invaluable practical guidance for systems engineers, operators, maintenance staff and specifiers of power plant control and instrumentation (C&I) systems.

A complete reference on modern flight control methods for fixed-wing aircraft, this authoritative book includes contributions from an international group of experts in their respective specialised fields, largely from industry. Split into two parts, the first section of the book deals with the fundamentals of flight control systems design, while the second concentrates on genuine applications based on the modern control methods used in the latest aircraft.It is assumed that the reader will have some knowledge of classical control. The book builds upon the foundations laid by standard texts on flight control so that the reader will gain a good background in current industrial practice and be in a position to benefit from more specialised reading. Its prime aim is to bridge the gap between academic research and real-world applications in the area and its emphasis on practical approaches will make it particularly suitable for: practising engineers who are relatively new to the aviation industry and require a consolidated approach to the different aspects of flight controlpostgraduate students in strategic or applied researchfinal stage undergraduates.

Neural networks are an exciting technology of growing importance in real industrial situations, particularly in control and systems. This book aims to give a detailed appreciation of the use of neural nets in these applications; it is aimed particularly at those with a control or systems background who wish to gain an insight into the technology in the context of real applications.The book introduces a wide variety of network types, including Kohenen nets, n-tuple nets and radial basis function networks, as well as the more usual multi-layer perception back-propagation networks. It begins by describing the basic principles and some essential design features, then goes on to examine in depth several application studies illustrating a range of advanced approaches to the topic.

The term 'advanced robotics' came in the 1980s to describe the application of advanced sensors and new developments in cognitive science and artificial intelligence to the traditional robot. Today, advanced robots have come far beyond the limitations of the crude 'pick-and-place' machines of the 1980s assembly line, and have a vast range of applications in manufacturing, construction and health care, as well as hostile environments such as space, underwater and nuclear applications.This book provides an essential overview of developments in the basic technologies, looking at recent applications and highlighting a number of advanced concepts and procedures that may influence future developments. The emphasis is on developments in Europe, although the book is also relevant to activities in the USA, Japan and elsewhere. With such a wide and dynamic field, it does not attempt to provide a comprehensive guide; rather, it addresses many key elements of the technology to furnish a complete introduction for both postgraduate students and practising engineers attracted to the challenges of the domain.

This book comprises ten invited expert contributions on the theory and applications of genetic algorithms in a variety of engineering systems. In addition to addressing the simple formulation of GAs, the chapters include original material on the design of evolutionary algorithms for particular engineering applications. Chosen for their experience in the field, the authors are drawn from both academia and industry worldwide, and provide extensive insight into their respective fields. The volume is suitable for researchers and postgraduates who need to be up-to-date with developments in this important subject, as well as practitioners in industry who are eager to find out how to solve their particular real-life problems.

Symbolic computing has made a significant impact in the field of control engineering. This book, which brings together contributions from leading international experts in the field, provides an up-to-date treatment of various issues in system modelling, analysis, design and synthesis methods.Coverage includes: the application of multidimensional Laplace transforms to the modelling of nonlinear elementsa survey of customised computer algebra modelling programs for multibody dynamical systemscentral results for the analysis and robust control of single-input single-output linear systems using a new linear programming approachdifferential and real algebra for dealing with systems of polynomial equations and inequalities for nonlinear systems, and the computational aspects of algebraic and geometric invariants for both certain and uncertain systemsthe dynamic sliding mode approach to the robust control of both linear and nonlinear systems, and robust pole assignment for parametric uncertain linear systemsthe development and testing of a new branch-and-bound algorithm for global optimisation, using symbolic algebra techniquesan overview and assessment of the use of symbolic computation programs in the analysis and design of control systems.The book will be of interest to postgraduate students and researchers in control engineering.

IEC 1131-3 is the international standard for the design of software for industrial control systems. It defines a set of related graphical and textual languages that bring significant benefits throughout the control system life-cycle - benefits for system integrators, control system engineers and end-users alike. The standard marks the beginning for wellstructured, re-usable and maintainable software for industrial control systems.This new edition has been revised and updated to include all IEC proposed amendments and corrections for the planned 1999 edition of IEC 1131-3, agreed by the IEC working group in spring 1998. The book now includes IEC 1131-3 'frequently asked questions' and a summary of future developments influencing the next generation of PLC languages, plus an overview of IEC 1499 standard on function blocks.Although primarily for programmable logic controllers (PLCs), IEC 1131-3 concepts will also influence the design of software for fieldbus devices.This book introduces all the concepts of the IEC 1131-3 standard and provides examples of the languages related typical industrial control problems. It will be of interest to everyone involved in specifying or developing software for industrial or manufacturing applications. The text will also be of value to students and engineers with a general interest in new techniques for industrial or manufacturing applications. The text will also be of value to students and engineers with a general interest in new techniques for industrial control systems.

As industrial processes have become more automated, there is increasing concern about the performance of the people who control these systems. Human error is increasingly cited as the cause of accidents across many sectors of industry.This book provides state-of-the-art information on various aspects of human-machine interaction and human-centred issues encountered in the control room setting. Subject coverage includes vigilance and human error in control room situations, analysis and training of control room activities, and control room design including alarm systems.Based on a successful multi-disciplinary IEE conference and illustrated with useful casestudies, this book is essential reading for all students, engineering professionals and managers interested in human-machine interaction and human performance and ergonomics within the control room setting.

Model-based predictive control (MPC) has proved to be a fertile area of research. It has gained enormous success within industry, especially in the context of process control. Nonlinear model-based predictive control (NMPC) is of particular interest as this best represents the dynamics of most real plant. This book collects together the important results which have emerged in this field, illustrating examples by means of simulations on industrial models. In particular there are contributions on feedback linearisation, differential flatness, control Lyapunov functions, output feedback, and neural networks. The international contributors to the book are all respected leaders within the field, which makes for essential reading for advanced students, researchers and industrialists in the field of control of complex systems.

Feedback is a crucial concept of modern engineering, whose use has spilled over into many other disciplines.Dr Bennett traces the growing awareness of the importance and the significance of the concept of feedback in engineering and treats in detail the technical developments that contributed to his awareness. Beginning by studying the history of the control of prime movers, he examines in detail the 19th-century work on the stability problem.There follows an account of the development of steam and hydraulic servomechanisms and their application to the control of ships and aircraft.In the latter part of the book the development of electrical control systems from the arc lamp to the feedback amplifier is considered. The book ends with a brief outline of the theoretical work on circuit analysis which was to provide the background for the development that took place in the 1930s of techniques for the analysis of feedback systems.

To serve its purpose, an industrial robot must be harnessed to a manufacturing task, be it welding, assembly, adjustment or the inspection of food products. Complex tasks are likely to require offline programming, both for economy of equipment use and to permit computer simulations for collision avoidance. Vision and other sensory systems are helping to extend the capabilities of robots, while advanced programming techniques are making their use more accessible to the shop floor.The authors have addressed these and many other subjects in a volume which will be of value to industry and to robotic researchers alike.

The temperature on earth varies over a wide range whereas man can only work comfortably in a quite narrow temperature range that has to be artificially maintained. In addition, many industries have extensive requirements for temperature control. Thus control engineers are called upon very frequently to design temperature control loops.A general knowledge of control engineering is of course useful in designing temperature control loops.However, temperature control has some special features: (i) asymmetries caused by the usually differing mechanisms of heating and cooling(ii) complex nonlinear heat-transfer effects(iii) highly application-dependent measurement problems.The intention of this book is to treat the theory and practice of temperature measurement and control, and important related topics such as energy management and air pollution, at a level suitable for engineering and science undergraduate and postgraduate students, and in a manner designed to make the book valuable to practising engineers. There are no specific prerequisites for the book although a knowledge of elementary control theory could be useful.The philosophy of the book is a compromise between fundamentals and practical guidelines. It is the author's firm belief that it is highly desirable to obtain a good insight into theoretical fundamentals (deeper than can be justified on grounds of immediate utility) before embarking on practical applications. The aim has been to produce a practically oriented text within a firm theoretical outline.The first half of the book is an application oriented survey of temperature measurement techniques and devices. The second half is concerned mainly with temperature control in both simple and complex situations. There are chapters on heat sources, commercially available controllers, temperature control in buildings and energy conservation. The book ends with an appendix that rapidly surveys the underpinning thermodynamic theory.

This text is an extremely useful guide for those wishing to investigate the application of self-tuning control systems. The contents have been chosen in order to restrict the amount of theoretical detail to that necessary for explanation purposes, whilst application examples and programming suggestions are highlighted. The overall text is suitable for those wishing to gain the flavour of adaptive control, although those already familiar with selftuning techniques will find the problem solutions discussed to be most attractive. Parameter estimation, numerical solutions and software aspects are all considered at length, while simplified procedures and predictive self-tuning schemes are shown in terms of fundamental concepts.The level of the book is such that practising control engineers and postgraduate or final year control, engineering or cybernetics students would find it most suitable. A certain amount of basic digital/sampled data control systems terminology is assumed, although this does not mean that the reader needs to be familiar with more mathematical ideas, such as discrete transform methods or statistical theory. The text could be used as the foundation of a Masters course module, particularly if an emphasis is placed on the practical aspects of self-tuning control.The book is an ideal source for those interested in self-tuning and adaptive control, and contains many useful suggestions for future trends, research directions and implementation/ application possibilities.

This book provides an introduction to the techniques employed in the design and implementation of digital control systems. The text has arisen out of a highly successful IEE Vacation School held annually at Oxford University and the contents have been tailored to a digestible level and breadth by means of the feedback provided from previous School participants. As well as a tutorial approach to the description of basic concepts and general ideas used, most chapters include numerous worked examples and details of particular applications in order to enhance the theory introduced. The importance of putting over a technique by making use of practical examples is highlighted by the inclusion of several chapters in which selected case studies are presented detailing applications of both the more conventional and the more modern digital control ideas.The book is aimed at engineers, managers and engineering students who wish to become more widely informed about how they may employ the latest advances in digital control technology. To this end, earlier chapters concentrate on the theoretical framework of digital control, whereas later chapters concentrate on its implementation. This results in an up-to-date overview of digital control schemes which is an excellent reference text for industrialists and academics alike. This substantially revised 2nd edition (more than a third of the book is completely new) represents a distinct improvement on the extremely successful 1st edition, and bears witness to the constant modernisation required in such a rapidly changing area.

This book covers theoretical methods for the design of continuous time controllers for linear multivariate systems. It is intended for use by those wishing to build on a first course in control systems, either to expand their knowledge as practising engineers or as postgraduate students doing higher degrees in control engineering.Based on material used in graduate courses taught by Professor Balasubramanian at the University of New Brunswick, this book brings together state space and frequency domain design methods for linear multivariable systems. It compares their similarities and highlights the advantages or disadvantages of the various approaches for particular applications. Divided into eleven chapters this book covers in some depth: state space design methods, frequency domain methods for multivariable systems, characteristic locus desiqn methods and stochastic control problems.

One of the main fields of study in the control of dynamical systems has been the effective control of time-varying systems with uncertain parameters and external disturbances. In contrast to stochastic adaptive controllers with identification algorithms, the deterministic control of uncertain time-varying systems has a fixed nonlinear feedback controller, which operates effectively over a specified magnitude range of a class of system variations. If the variations satisfy certain matching conditions, complete insensitivity to system uncertainties can be achieved. The two main approaches are Variables Structure and Lyapunov control. The contents of this book reflect the research output of many authors. The chapters include material of an introductory nature as well as some of the latest research results. Attention has also been focussed upon some of the main areas of application, which include electric motor drives, robotics and flight control systems. The book should prove useful to control designers, theoreticians and graduate students.

Control often follows predictions: predictive control has been highly successful in producing robust and practical solutions in many real-life, real-time applications. Adaptive prediction covers a variety of ways of adding 'intelligence' to predictive control techniques. Many different groups, with widely varying disciplinary backgrounds and approaches, are tackling the same problem from different angles; these groups are sometimes unaware of alternative approaches from other disciplines.This book attempts to give a unified and comprehensive coverage of the principles and methods that these groups have developed. It avoids basing its descriptions on very complex mathematical formulations but still gives a rigorous exposure to the subject, and illustrates the theory with many practical examples. It is chiefly aimed at students, researchers and practitioners, but will also be accessible to the non-specialist.

Recent progress in the design and production of digital signal processing (DSP) devices has provided significant new opportunities to workers in the already extensive field of signal processing. It is now possible to contemplate the use of DSP techniques in cost-sensitive wide bandwidth applications, thereby making more effective use of the large body of available signal processing knowledge. Digital signal processing, long the province of telecommunications is, in both research and applications contexts, of growing importance in fields of medical signal analysis, industrial control (particularly robotics), in the analysis and synthesis of speech and in both audio and video entertainment systems. The growing demand for engineering skills in these areas has led to the writing of this book and the presentation of the material of the book at an lEE-sponsored Vacation School at the University of Leicester.This book is different from others in the field in that it not only presents the fundamentals of DSP ranging from data conversion to z-transforms and spectral analysis, extending this into the areas of digital filtering and control, but also gives significant detail of the new devices themselves and how to use them. In addition to presenting the basic theory and describing the devices and how to design with them, the material is consolidated by extensive use of real examples in specific case studies.The book is directed at readers with first degree level training in engineering, physical sciences or mathematics and with some understanding of electronics, and is appropriate for design engineers in industry, users of DSP devices in scientific research and in all technical development areas associated with the processing of signals for display, storage, transmission or control.

This book provides an introduction to many aspects of computer control. It covers techniques or control algorithm design and tuning of controllers; computer communications; parallel processing; and software design and implementation. The theoretical material is supported by case studies covering power systems control, robot manipulators, liquid natural as vaporisers, batch control of chemical processes; and active control of aircraft.The book is suitable for practising engineers, postgraduate students and third year undergraduates specialising in control systems. It assumes some knowledge of control systems theory and computer hardware.

Expert and knowledge-based systems have great potential for industrial control systems, particularly in the process industries. Recognising the importance of this emerging area, the Institution of Electrical Engineers organised a Vacation School on the subject, for engineers from industry and academia, at the University of Strathclyde in September 1990.The course and this resulting text cover four main issues: the background of knowledge-based control, artificial intelligence, applications of knowledge expertise, and deductive control.The background material presents knowledge based control from the perspective of Systems Engineering and Information Technology. When combined with an introduction to both artificial intelligence and fuzzy logic, a firm foundation is laid for consolidation of the later material of the book.The importance of fuzzy control is considered and the use of expert systems in self-tuning control is discussed. The use of real-time knowledged based systems in Fermentation supervisory control is described and the impact of neural networks in process modelling is also considered. The development of COGSYS which is an environment for building expert systems and its applications is described, together with its application to a gas processing plant.Case studies in condition monitoring are presented. The development of qualitative models for physical systems which is currently attracting considerable interest from the Al community is considered. The design of multivariable control systems and other aspects of process control are also covered.

This book aims to demonstrate the power and breadth of polynomial methods in control and filtering. Direct polynomial methods have previously received little attention compared with the alternative Wiener-Hopf transfer-function method and the statespace methods which rely on Riccati equations.The book provides a broad coverage of the polynomial equation approach in a range of linear control and filtering problems. The principal feature of the approach is the description of systems in fractional form using transfer functions. This representation leads quite naturally and directly to the parameterisation of all 'acceptable' feedback controllers for a given problem in the form of a Diophantine equation over polynomials. In the polynomial equation approach, this direct parameterisation is explicitly carried through to the synthesis of controllers and filters and, further, to the computer implementation of numerical algorithms.The book is likely to be of interest to students, researchers and engineers with some control and systems theory or signal processing background. It could be used as the basis of a graduate-level course in optimal control and filtering. The book proceeds from the necessary background material presented at a tutorial level, through recent theoretical and practical developments, to a detailed presentation of numerical algorithms.

This book introduces the reader to the subject of Human Factors and provides practical and pragmatic advice to assist engineers in designing interactive systems that are safer, more secure and easier to use - thereby reducing accidents due to human error, increasing system integrity and enabling more efficient process operations. The book discusses human factors integration methodology and reviews the issues that underpin consideration of key topics such as human error, automation and human reliability assessment. The book also examines design considerations, including control room and interface design, and acceptance and verification considerations.

Variable structure systems, or sliding mode control systems, are non-linear automatic control systems whose structures are deliberately allowed to change, so that robust performance is obtained. It allows the design of high performance control systems that can be reliably and easily implemented at low cost. Although the basic theory is mature, the theory and the associated control system design methodologies are less well known to many control engineers. This new text seeks to redress the gap, and is split into three parts: the basics of sliding mode control, new trends in sliding mode control and applications of sliding mode control.The book will be of interest to all engineers working with control systems. Mathematical and engineering concepts are discussed thoroughly and many numerical design examples are included so that readers can quickly understand the design methodologies and their application to practical problems.

Parameter estimation is the process of using observations from a system to develop mathematical models that adequately represent the system dynamics. The assumed model consists of a finite set of parameters, the values of which are calculated using estimation techniques. Most of the techniques that exist are based on least-square minimisation of error between the model response and actual system response. However, with the proliferation of highspeed digital computers, elegant and innovative techniques like filter error method, genetic algorithms and artificial neural networks are finding more and more use in parameter estimation problems. Modelling and Parameter Estimation of Dynamic Systems presents a detailed examination of many estimation techniques and modelling problems.

This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.

Unmanned marine vehicles (UMVs) is a collective term used to describe autonomous underwater vehicles, remotely operated vehicles, semi-submersibles, and unmanned surface craft. Considerable interest has been shown in UMVs by the military, civilian and scientific communities due to their ability to undertake designated missions whilst either operating autonomously and/or on co-operation with other types of vehicle. Increasing importance is also being placed on the design and development of such vehicles as they are capable of providing cost effective solutions to a number of littoral, coastal and offshore problems. This book draws attention to the advanced technology which is evolving to meet the challenges being posed in this exciting and growing field of study.

Segmenting the environment surrounding an autonomous vehicle into coherently moving regions is a vital first step towards intelligent autonomous navigation. Without this temporal information, navigation becomes a simple obstacle avoidance scheme that is inappropriate in highly dynamic environments such as roadways and places where many people congregate.The book begins by looking at the problem of motion estimation from biological, algorithmic and digital perspectives. It goes on to describe an algorithm that fits with the motion processing model, and hardware and software constraints. This algorithm is based on the optical flow constraint equation and introduces range information to resolve the depth-velocity ambiguity, which is critical for autonomous navigation. Finally, implementation of the algorithm in digital hardware is described in detail, covering both the initial motion processing model and the chosen hardware platforms, and the global functional structure of the system.