Iterative identification and control : advances in theory and applications
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Bibliographic Information
Iterative identification and control : advances in theory and applications
Springer, c2002
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Includes bibliographical references (p. [297]-305) and index
Description and Table of Contents
Description
An exposition of the interplay between the modelling of dynamic systems and the design of feedback controllers based on these models. The authors of individual chapters are some of the most renowned and authoritative figures in the fields of system identification and control design.
Table of Contents
I. Fundamentals and Theory.- 1 Modelling, Identification and Control.- 1.1 A not-so-brief Historical Perspective.- 1.2 A Typical Scenario and its Major Players.- 1.3 Some Important New Insights.- 2 System Identification. Performance and Closed-loop Issues.- 2.1 Chapter Outline.- 2.2 Modelling, Estimation and Identification.- 2.3 Model Structures.- 2.4 Implementation of the Model Structures: Predictors.- 2.5 Open-loop Identification. What can be Achieved?.- 2.6 Open-loop Identification Algorithms.- 2.7 Closed-loop Identification.- 3 Data Preparation for Identification.- 3.1 Introduction.- 3.2 Design Variables for Identification.- 3.3 Data Preparation: Detrending and Filtering.- 3.4 System Identification with an H? Criterion.- 3.5 Conclusions.- 4 Model Uncertainty and Feedback.- 4.1 Introduction.- 4.2 Classical Control Theory.- 4.3 State-space Theory.- 4.4 Fundamental Limitations.- 4.5 H? Loop Shaping.- 4.6 Summary.- 5 Open-loop Iterative Learning Control.- 5.1 Introduction.- 5.2 Control with Two Degrees of Freedom.- 5.3 The Iterative Learning Paradigm.- 5.4 The Learning Algorithms.- 5.5 Examples.- 5.6 Conclusions.- 6 Model-based Iterative Control Design.- 6.1 Introduction.- 6.2 Iterative Control Design.- 6.3 Application 1: Single Control Loop.- 6.4 Application 2: GPC Control Approach.- 6.5 Conclusions.- 7 Windsurfing Approach to Iterative Control Design.- 7.1 Introduction.- 7.2 Fundamental Problems in Adaptive Control.- 7.3 High-level Overview of the Windsurfer Approach to Adaptive Control.- 7.4 More Detailed Description of the Algorithm.- 7.5 Examples.- 7.6 Unstable Plants.- 7.7 Coping with the "Fundamental Problems".- 7.8 Some Further Quantitative Directions.- 8 Iterative Optimal Control Design.- 8.1 Introduction.- 8.2 Controller Tuning with Data.- 8.3 Iterative Identification and Control Design.- 8.4 Introducing Caution into Iterative Design.- 8.5 Embellishments and Conclusion.- 9 Identification and Validation for Robust Control.- 9.1 Introduction.- 9.2 The Identification/Control Setup and some Basic Formulae.- 9.3 A Control-oriented Nominal Model.- 9.4 Caution in Iterative Design.- 9.5 Model Validation for Robust Control Design.- 9.6 Conclusions.- II. Applications.- 10 Helicopter Vibration Control.- 10.1 Helicopter Vibration Control Example.- 10.2 A Glimpse of the Solution.- 10.3 Modelling Requirements.- 10.4 Identification Experiments.- 10.5 Data Analysis and Sanitizing.- 10.6 Parametric System Identification.- 10.7 Conclusions.- 11 Control-relevant Identification and Servo Design for a Compact Disc Player.- 11.1 Introduction.- 11.2 The Compact Disc Mechanism.- 11.3 Control-relevant Modelling of Radial Actuator.- 11.4 Preliminaries and Notations.- 11.5 Common Objectives in Identification and Control.- 11.6 Estimation of Coprime Factorisations.- 11.7 Application to CD Radial Actuator.- 11.8 Control Design and Stability Robustness.- 11.9 Summary.- 12 Control-relevant Identification and Robust Motion Control of a Wafer Stage.- 12.1 Introduction.- 12.2 The Wafer Stepper Positioning Mechanism.- 12.3 Iterative Model Set Estimation and Control Design.- 12.4 Elements of the Iterative Scheme.- 12.5 Estimation of Model Set for the Wafer Stage.- 12.6 Model Set-based Robust Control Design.- 12.7 Summary.- 13 Iterative Identification and Control: a Sugar Cane Crushing Mill.- 13.1 Introduction.- 13.2 The Sugar Cane Crushing Process.- 13.3 Identification Procedure.- 13.4 Controller Design.- 13.5 Iterative Approach.- 13.6 Conclusions.
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