1st Edition

Oracls a Design System for Linear Multivariable Control

By Armstrong Copyright 1980

    This book describes a computational system for designing linear feedback control laws and filters for linear time-variant multivariable differential or difference equation state vector models. It presents numerical examples to illustrate the use of ORACLS to solve selected design problems.

    Preface
    One/The Oracles System
    I/ Overview of Oracles
    References
    Two/Programs for Input/Output
    I/ Introduction
    II/ Subroutine Descriptions
    A/ Input Hollerith Data; define COMMON Block Data (RDTITL)
    B/ Accumulate Line Count; Page Output (LNCNT)
    C/ Input Numerical Data (READ)
    D/ Output Numerical Data (PRNT)
    References
    Three/ Programs for Vector/Matrix Operation
    I/ Introduction
    II/ Subroutine Descriptions
    A/ Equation (Equate)
    B/ Matrix Transpose (TRANP)
    C/ Scalar Multiplication (SCALE)
    D/ Form Identity Matrix (UNITY)
    E/ Form Null Matrix (NULL)
    F/ Trace of Matrix (TRCE)
    G/ Matrix Addition (ADD)
    H/ Matrix Subtraction (SUBT)
    I/ Matrix Multiplication (MULT)
    J/ Maximum of Matrix Elements (MAXEL)
    K/ Selected Matrix Norms (MAXEL)
    L/ Matrix Juxtaposition by Columns (JUXTC)
    M/ Matrix Juxtaposition by Rows (JUXTR)
    References
    Four/ Programs for Analysis of Constant Linear Systems
    I/ Introduction
    II/ Subroutine Descriptions
    A/ Factor Nonnegative Definite Matrix (FACTOR)
    B/ Eigensystem Computation (EIGEN)
    C/ Solve AX =B, A Positive Definite (SYMPDS)
    D/ Solve AX=B, A Nonsingular (GELIM)
    E/ Singular value Decomposition (SNVDEC)
    F/ Solve Discrete Liapunov Equation (SUM)
    G/ Solve Continuous Liapunov Equation (BILIN)
    H/ Solve General Equation AX + XB = C (BARSTW)
    I/ Examine Matrix for Relative stability (TESTSTA)
    J/ Matrix Exponential by Series Method (EXPSER)
    K/ Matrix Exponential by Pade Method (EXPADE)
    L/ Matrix Exponential and Integral (EXPINT)
    M/ Steady-State Variance (VARANCE)
    N/ Controllability (CTROL)
    O/ Transient Response (TRANSIT)
    P/ Transfer Matrix (LEVIER)
    References
    Five/ Programs for Control Law Design
    I/ Introduction
    II/ Subroutine Descriptions
    A/ Evaluate Sampled-Data Regulator Coefficients (SAMPL)
    B/ Eliminate Performance Index Cross-Products (PREFIL)
    C/ Stabilize Continuous System (CSTAB)
    D/ Stabilize Discrete System (DSTAB)
    E/ Digital Transient Quadratic Regulator (DISCREG)
    F/ Continuous Transient Quadratic Regulator (CNTNREG)
    G/ Riccati Solution by Newton’s Method (RICTNWT)
    H/ Asymptotic Quadratic Regulator (ASYMREG)
    I/ Asymptotic Kalman-Bucy Filter (ASYMFIL)
    J/ Explicit Model Following (EXPMDFL)
    K/ Implicit Model Following (IMPMDFL)
    L/ Eigenvalue Placement (POLE)
    References
    Six/ Supporting Programs
    I/ Introduction
    II/ Subroutine Descriptions
    A/ Input Numerical Data (READL)
    B/ Balance Square Matrix (BALANC)
    C/ Upper Hessenberg Form (ELMHES)
    D/ Eigenvalues (HQR)
    E/ Eigenvectors (INVIT)
    F/ Eigenvectors (ELMBAK)
    G/ Eigenvectors (BALBAK)
    H/ LU Factorization (DETFAC)
    I/ Solve AX + XB = C (AVPXB)
    J/ Solve AX + XB =C (AXPXB)
    K/ Solve A’X +XA =C (ATXPXA)
    L/ Solve A’X =XA =C (SYMSLV)
    M/ Upper Hessenberg Form (HSHLDR)
    N/ Upper Hessenberg Form (BCKMLT)
    O/ Real Schur Form (SCHUR)
    P/ Solve Ax = b (SYSSLV)
    Q/ Solve AX = B (GAISEL)
    Seven/ Design Problems
    I/ Introduction
    II/ Optimal Transient Regulator
    A/ Problem Statement
    B/ Executive Program
    C/ Output from Oracls
    III. Optimal Sampled-Data Regulator
    A/ Problem Statement
    B/ Executive Program
    C/ Output from Oracles
    IV/ Model Following
    A/ Problem Statement
    B/ Executive Program
    C/ Output from ORACLS
    V/ Kalman-Bucy Filter
    A/ Problem Statement
    B/ Executive Program
    C/ Output from Oracls
    VI/ Eigenvalue Placement
    A/ Problem Statement
    B/ Executive Program
    C/ Output from Oracls
    VII/ Transfer Matrix
    A/ Problem statement
    B/ Executive Program
    C/ Output from Oracls
    VII/ Transfer Matrix
    A/ Problem Statement
    B/ Executive Program
    C/ Output from Oracles
    References

    Biography

    Ernest S. Armstrong