Table of Contents

QFT STANDARD SYMBOLS & TERMINOLOGY

INTRODUCTION
Introduction
The Engineering Control Problem
Quantitative Feedback Theory (QFT)
Control Theory Background
Definitions and Symbols
QFT Applications
Outline of Text

INTRODUCTION TO QFT
Quantitative Feedback Theory
Why Feedback?
QFT Overview
Insight to the QFT Technique
Benefits of QFT
Summary

THE MISO ANALOG CONTROL SYSTEM
Introduction
The QFT Method (Single-Loop MISO System)
Design Procedure Outline
Minimum-phase System Performance Specifications
J LTI Plant Models
Plant Templates of P?(s), IP(j?i)
Nominal Plant
U-Contour (Stability Bound)
Tracking Bounds BR(j?i) on the NC
Disturbance Bounds BD(j?i): Case 1
Disturbance Bounds BD(j?i): Case 2
The Composite Boundary Bo(j?i)
Shaping of Lo(j?)
Guidelines for Shaping Lo(j?)
Design of the Pre-filter
Basic Design Procedure for a MISO System
Design Example 1
Design Example 2
Template Generation for Unstable Plants
Summary

DISCRETE QUANTITATIVE FEEDBACK TECHNIQUE
Introduction
Bilinear Transformation
Non-Minimum Phase Analog Plant
Discrete MISO Module with Plant Uncertainty
QFT w-Domain DIG Design
Simulation
Basic Design Procedure for a MISO Sampled-Data Control System
QFT Technique Applied to the Pseudo-Continuous-Time (PCT) System
Applicability of Design Technique to Other Plants
Designing L(w) Directly
Summary

MULTIPLE-INPUT MULTIPLE-OUTPUT (MIMO) PLANTS: STRUCTURED PLANT PARAMETER UNCERTAINTY
Introduction
The MIMO Plant
Introduction to MIMO Compensation
MIMO Compensation
Introduction to MISO Equivalents
Effective MISO Loops of the MIMO System
Constraints on the Plant Matrix
Basically Non-Interacting (BNIC) Loops
Summary

DESIGN METHOD 1: THE SINGLE-LOOP (MISO) EQUIVALENTS
Introduction
Design Example
High Frequency Range Analysis
Stability Analysis
Equilibrium and Trade-Offs
Templates: Special Case
Summary

MIMO SYSTEM DESIGN METHOD 2: MODIFIED SINGLE-LOOP EQUIVALENTS
Introduction
Design Equations for the 2x2 System
Design Guidelines
Reduced Over-Design
3x3 Design Equations
Example: 3x3 System Design Equations
mxm System: m > 3
Conditions for Existence of a Solution
Non-Diagonal G
Achievability of a m.p. Effective Plant det Pe
Summary

MIMO SYSTEM WITH EXTERNAL DISTURBANCE INPUTS
Introduction
MIMO QFT with External (Input) Disturbance
An External Disturbance Problem
Air-to-Air Refueling FCS Design Concept
Plant and Disturbance Matrices
Control Problem Approach
The QFT Design
Air-to-Air Refueling Simulations
Tracking/Regulator MIMO System
Summary

NOW THE "PRACTICING ENGINEER TAKES OVER"
Introduction
Transparency of QFT
Body of Engineering QFT Knowledge
Nonlinearities - The Engineering Approach
Plant Inversion
Invertibility
Pseudo-Continuous-Time (PCT) System
Bode's Theorem
The Control Design Process
Summary

QUANTITATIVE NON-DIAGONAL COMPENSATOR DESIGN FOR MIMO SYSTEMS
Introduction
The Coupling Matrix
The Coupling Elements
The Optimum Non-Diagonal Compensator
The Coupling Effects
Quality Function of the Designed Compensator
Design Methodology
Some Practical Issues
Example: Non-Diagonal MIMO QFT Compensator Design for Tracking Specifications in a SCARA Robot
Other Methods
Summary

THE DESIGN AND IMPLEMENTATION PROCESS FOR A ROBUST CONTROL SYSTEM
Introduction
Control System Design Process
Design Process Example
Selection of Design Envelope
Control System Implementation Issues
Hardware/Software Consideration
Bending Modes
Summary

TIME DELAY SYSTEMS WITH UNCERTAINTY: QFT DESIGN INVOLVING SMITH PREDICTOR
Introduction
Methodology of Design
A Synthesis Example
Application to a HTST Pasteurization Plant
Summary

QFT DESIGN TECHNIQUES APPLIED TO REAL-WORLD INDUSTRIAL SYSTEMS
Introduction
QFT Based Control of a Biological Wastewater Treatment Plant
QFT Based Control of a Variable-Speed Direct-Drive Multi-Pole Synchronous Wind Turbine: TWT1650
Summary

WEIGHTING MATRICES AND CONTROL AUTHORITY
Introduction
Fixed Weighting Matrices
Variable Weighting Matrices
Summary

APPENDICES
Appendix A: Template Generation
Appendix B: Inequalities Bounds Expressions
Appendix C: MIMO QFT CAD Package
Appendix D: TOTAL-PC CAD Package
Appendix E: TOTAL-PC: Discrete QFT Design Process
Appendix F: MISO Design Example
Appendix G: Diagonal MIMO Design Example
Appendix H: Non-Diagonal MIMO QFT Tracking Design Example
Appendix I: Non-Diagonal QFT Disturbance Rejection Design Example
Appendix J: Elements for Loop Shaping
REFERENCES
PROBLEMS
ANSWERS TO SELECTED PROBLEMS
INDEX