This book thoroughly covers the fundamentals of the QFT robust control, as well as practical control solutions, for unstable, time-delay, non-minimum phase or distributed parameter systems, plants with large model uncertainty, high-performance specifications, nonlinear components, multi-input multi-output characteristics or asymmetric topologies. The reader will discover practical applications through a collection of fifty successful, real world case studies and projects, in which the author has been involved during the last twenty-five years, including commercial wind turbines, wastewater treatment plants, power systems, satellites with flexible appendages, spacecraft, large radio telescopes, and industrial manufacturing systems. Furthermore, the book presents problems and projects with the popular QFT Control Toolbox (QFTCT) for MATLAB, which was developed by the author.
Preface
Chapter 1. INTRODUCTION
1-1. The control engineer’s leadership
1-2. QFT robust control engineering
1-3. Book’s outline
1-4. Courses and modules
Chapter 2. QFT ROBUST CONTROL
2-1. Introduction
2-2. Plant modeling –Step 1
2-3. The nominal plant –Step 2
2-4. QFT-templates –Step 3
2-5. Stability specifications –Step 4
2-6. Performance specifications –Step 5
2-7. QFT-bounds –Steps 6 to 8
2-8. Controller design, G(s). Loop-shaping –Step 9
2-9. Prefilter design, F(s) –Step 10
2-10. Analysis and validation –Steps 11 to 13
2-11. Model matching
2-12. Feedforward control
2-13. P.I.D. control: design and tuning with QFT
2-14. Practical tips
2-15. Summary
2-16. Practice
Chapter 3. UNSTABLE SYSTEMS AND CONTROL SOLUTIONS
3-1. Introduction
3-2. Understanding gain/phase margins and Ws circles
3-3. The Nyquist stability criterion
3-4. Nyquist stability criterion in the Nichols chart
3-5. Examples
3-6. Guidelines to design controllers
3-7. Analysis of the first case
3-8. Summary
3-9. Practice
Chapter 4. TIME-DELAY AND NON-MINIMUM PHASE SYSTEMS
4-1. Time-delay systems
4-2. Robust design of the Smith Predictor
4-3. Continuing with Example 4.1
4-4. Non-minimum phase systems
4-5. Summary
4-6. Practice
Chapter 5. DISTRIBUTED PARAMETER SYSTEMS
5-1. Introduction
5-2. Modeling approaches for PDE
5-3. Generalized DPS control system structure
5-4. Extension of Quantitative Feedback Theory to DPS
5-5. Example 5.1: Heat conduction with distributed temperature
5-5. Summary
5-6. Practice
Chapter 6. GAIN SCHEDULING / SWITCHING CONTROL SOLUTIONS
6-1. Introduction
6-2. System stability under switching
6-3. Methodology
6-4. Examples
6-5. Summary
6-6. Practice
Chapter 7. NONLINEAR DYNAMIC CONTROL
7-1. Introduction
7-2. The circle stability criterion
7-3. Nonlinear dynamic control. One nonlinearity
7-4. Anti wind-up solution for PID controllers
7-5. Nonlinear dynamic control. Several nonlinearities
7-6. Summary
7-7. Practice
Chapter 8. MULTI-INPUT MULTI-OUTPUT SYSTEMS: ANALYSIS & CONTROL
8-1. Introduction
8-2. Formulation for n×n systems
8-3. MIMO systems – description and characteristics
8-4. MIMO QFT control –overview
8-5. Non-diagonal MIMO QFT. Method 1
8-6. Non-diagonal MIMO QFT. Method 2
8-7. Comparison of Methods 1 and 2
8-8. Heat exchanger, Example 8.1. MIMO QFT Method 1
8-9. Heat exchanger, Example 8.1. MIMO QFT Method 2
8-10. Summary
8-11. Practice
Chapter 9. CONTROL TOPOLOGIES
9-1. Introduction
9-2. Cascade control systems
9-3. Feedforward control systems
9-4. Override control systems
9-5. Ratio control systems
9-6. Mid-range control systems
9-7. Load-sharing control systems
9-8. Split-range control systems
9-9. Inferential control systems
9-10. Auctioneering control systems
9-11. Summary
9-12. Practice
Chapter 10. CONTROLLER IMPLEMENTATION
10-1. Introduction
10-2. Analog implementation
10-3. Digital implementation
10-4. Fragility analysis with QFT
10-5. Summary
10-6. Practice
Case study CS1. Satellite control
CS1-1. Description
CS1-2. Plant model
CS1-3. Preliminary analysis
CS1-4. Control specifications
CS1-5. Controller design
CS1-6. Analysis and validation
CS1-7. Summary
Case study CS2. Wind turbine control
CS2-1. Description
CS2-2. Plant model
CS2-3. Preliminary analysis
CS2-4. Control specifications
CS2-5. Controller design
CS2-6. Analysis and validation
CS2-7. Extension to higher wind velocities
CS2-8. Summary
Case study CS3. Wastewater treatment plant control
CS3-1. Description
CS3-2. Plant model
CS3-3. Preliminary analysis
CS3-4. Control specifications
CS3-5. Controller design
CS3-6. Analysis and validation
CS3-7. Summary
Case study CS4. Radio-telescope control
CS4-1. Description
CS4-2. Plant model
CS4-3. Preliminary analysis
CS4-4. Azimuth axis. Velocity control
CS4-5. Azimuth axis. Position control
CS4-6. Simulation: Position and velocity loops
CS4-7. Improving with Nonlinear Dynamic Control
CS4-8. Summary
Case study CS5. Attitude and position control of spacecraft telescopes with flexible appendages
CS5-1. Introduction
CS5-2. System description and modeling
CS5-3. Control specifications
CS5-4. Control system design
CS5-5. Simulation and validation
CS5-6. Summary
Appendix 1. PROJECTS AND PROBLEMS
A1-1. PROJECTS
Project P1. Vehicle active suspension control
Project P2. DVD Head control
Project P3. Inverted pendulum control
Project P4. Interconnected micro-grids control
Project P5. Distillation column control
Project P6. Central heating system control
Project P7. Multi-tank hydraulic control system
Project P8. Attitude control of a satellite with fuel tanks partially filled
A1-2. QUICK PROBLEMS
Problem Q1. Definition of uncertainty
Problem Q2. Control of first-order system with uncertainty
Problem Q3. Control of third-order State space system with uncertainty
Problem Q4. Field-controlled DC motor
Problem Q5. Formation flying spacecraft control. Deep space
Problem Q6. Helicopter control
Problem Q7. Two cart problem
Problem Q8. Two flow problem
Problem Q9. 2×2 MIMO system
Problem Q10. 2×2 MIMO system
Problem Q11. Spacecraft flying in formation in Low Earth Orbit
Problem Q12. 3×3 MIMO system
Appendix 2. QFT CONTROL TOOLBOX (QFTCT). USER’S GUIDE
Appendix 3. ALGORITHM. NYQUIST STABILITY CRITERION IN NICHOLS CHART
Appendix 4. ALGORITHMS. SMITH PREDICTOR ROBUST CONTROL
Appendix 5. ALGORITHMS. DPS ROBUST CONTROL
Appendix 6. ALGORITHMS. GAIN SCHEDULING / SWITCHING CONTROL
Appendix 7. ALGORITHMS. NONLINEAR DYNAMIC CONTROL
Appendix 8. ALGORITHMS. MIMO ROBUST CONTROL
Appendix 9. CONVERSION OF UNITS
References
Biography
Prof. Mario García-Sanz is one of the pioneers in the QFT robust control arena. Over the last 30 years, he has developed new QFT control theory for multi-input multi-output plants, distributed parameter systems, time-delay processes, nonlinear switching and feedforward control, including also methods to apply the Nyquist stability criterion in the Nichols chart, and to calculate QFT templates and bounds. In addition, he has designed many commercial control solutions for industry and space agencies. Customers include NASA-JPL, ESA-ESTEC, US-AFIT, NRAO-GBT, GMRT, Gamesa, Acciona, MTorres, IngeTeam, CENER, Eaton Corporation, Enercon, Siemens, Iberdrola, REE, Sener, EEQ, etc.
With over 20 industrial patents and 200 research papers, Dr. García-Sanz is one of the inventors of the TWT direct-drive variable-speed pitch-control multi-megawatt wind turbine, of the EAGLE airborne wind energy system, of the TWT variable-speed hydro-wind turbine, of the DeltaGrids optimal planning algorithms for electrical distribution networks, and of numerous advanced industrial controllers. In addition, he has been the Principal Investigator of over 50 funded research projects for industry, and worked as an international expert on wind turbine design and control in patent litigation at the British Court in London. As a Full Professor at the Public University of Navarra (Spain) and Senior Advisor for European wind energy companies, he played a central role in the design and field experimentation of multi-megawatt wind turbines for industry, including the advice of many PhD students and engineers in the field.
Dr. García-Sanz is currently a Professor and Founding Director of the Control and Energy Systems Center, and the inaugural Milton and Tamar Maltz Endowed Chair in Energy Innovation at Case Western Reserve University (http://cesc.case.edu). He also has been NATO/RTO Lecture Series Director for Advanced Controls, Visiting Professor at the Control Systems Centre, UMIST (UK); at Oxford University (UK); at the Jet Propulsion Laboratory NASA-JPL (California); and at the European Space Agency ESA-ESTEC (The Netherlands), and has given invited seminars in over 20 countries. He founded CoDyPower LLC, a consulting firm specialized on control systems, energy innovation and optimum planning of electrical distribution networks (http://codypower.com). Professor García-Sanz's CRC-Press three books "Quantitative Feedback Theory: Theory and Applications" (2006), "Wind Energy Systems: Control Engineering Design" (2012), and "Robust Control Engineering: Practical QFT Solutions" (2017) are among the best-selling books in QFT robust control and Wind turbine control. His QFT Control Toolbox for Matlab is considered as the top tool for designing QFT robust control systems. Dr. García-Sanz is Subject Editor of the International Journal of Robust and Nonlinear Control and was awarded the IEE Heaviside Prize (UK) in 1995, the BBVA research award (Spain) in 2001 and the CWRU Diekhoff Teaching Award (USA) in 2012 among other prizes.
"There had been a big vacuum as far as textbooks on QFT is concerned. The books in market are either outdated and not easily available or do not discuss examples with MATLAB extensively as your book does. Your book completely fills in that gap with more updated information and relevant MATLAB based examples. The book is complete and self-contained with a wide variety of examples as ranging from Satellite control to Wind Turbine control – all using QFT techniques. Further, from a student point of view, many projects have been discussed with QFT MATLAB toolbox which is a highlight of this book and hence a definite must have for anyone interested, doing research and working in this field. The author has blended his practical experience also into this book which makes it unique and the favourite of any QFT designer."
— Rajesh Joseph Abraham, Indian Institute of Space Science & Technology, India"Professor Garcia-Sanz is one of the leading exponents of the robust control design method, which is referred to as quantitative feedback theory (QFT). This excellent text introduces the fundamentals of QFT and provides control solutions for a range of systems including unstable, transport delay, non-minimum phase and distributed parameter systems.
The QFT design method provides real robustness to uncertainties of various types. The method originated from the work of Professor Isaac Horowitz but this book extends his original work in many ways. It is particularly valuable for the range of applications considered including wind turbines, wastewater treatment plants, power systems, satellites, radio telescopes and manufacturing systems.
A feature of such design texts is that they often contain MATLAB toolboxes to enable the design methods to be assessed. In this case the book includes problems where the MATLAB QFT control toolbox can be applied. This was developed by the author.
The book is written in a style that should be very accessible to engineers, particularly those that have a classical control engineering background. In fact, it provides access to modern multivariable control design methods but it is based upon frequency response ideas that should be very familiar to most engineers.
The layout of the text is excellent and it includes numerous examples and problems. It should be valuable to experienced engineers working on real control design applications but it is also suitable for undergraduate and graduate students pursuing courses on control engineering. It is recommended for the bookshelves of engineers or the more economical eBook version can be convenient."
— Applied Control Technology Consortium E-News, 2017 Issue
"This book covers the fundamentals of robust control using quantitative feedback theory (QFT). Practical control solutions are provided for unstable, time-delay, nonminimum phase, or distributed parameter systems. Moreover, plants with large model uncertainty and/or high-performance specifications, nonlinear components, and multi-input, multi- output characteristics or asymmetric topologies are also considered. The reader will discover practical applications through a collection of 50 real-world case studies and projects, in which the author has been involved over the last 25 years. These applications include commercial wind turbines, wastewater treatment plants, power systems, spacecraft with flexible appendages, large radio telescopes, and industrial manufacturing systems. The book presents problems and projects using the QFT Control Toolbox for MATLAB, which was developed by the author."
—IEEE Control Systems Magazine, December 2017 Issue
