Shankar P. Bhattacharyya

This rigorous yet accessible textbook provides broad and systematic coverage of linear multivariable control systems, including several new approaches to design. In addition to standard state space theory, it provides a new measurement-based approach to linear systems, including a generalization of Thevenin's Theorem, a new single-input single-output approach to multivariable control, and analytical design of PID controllers developed by the authors. Each result is rigorously proved and combined with specific control systems applications, such as the servomechanism problem, the fragility of high order controllers, multivariable control, and PID controllers. Illustrative examples solved using MATLAB and SIMULINK, with easily reusable programming scripts, are included throughout. Numerous end-of-chapter homework problems enhance understanding. Based on course-tested material, this textbook is ideal for a single or two-semester graduate course on linear multivariable control systems in aerospace, chemical, electrical and mechanical engineering.

This monograph presents a new analytical approach to the design of proportional-integral-derivative (PID) controllers for linear time-invariant plants. The authors develop a computer-aided procedure, to synthesize PID controllers that satisfy multiple design specifications. A geometric approach, which can be used to determine such designs methodically using 2- and 3-D computer graphics is the result.The text expands on the computation of the complete stabilizing set previously developed by the authors and presented here. This set is then systematically exploited to achieve multiple design specifications simultaneously. These specifications include classical gain and phase margins, time-delay tolerance, settling time and H-infinity norm bounds. The results are developed for continuous- and discrete-time systems. An extension to multivariable systems is also included.Analytical Design of PID Controllers provides a novel method of designing PID controllers, which makes it ideal for both researchers and professionals working in traditional industries as well as those connected with unmanned aerial vehicles, driverless cars and autonomous robots.

This monograph presents a new analytical approach to the design of proportional-integral-derivative (PID) controllers for linear time-invariant plants. The authors develop a computer-aided procedure, to synthesize PID controllers that satisfy multiple design specifications. A geometric approach, which can be used to determine such designs methodically using 2- and 3-D computer graphics is the result.The text expands on the computation of the complete stabilizing set previously developed by the authors and presented here. This set is then systematically exploited to achieve multiple design specifications simultaneously. These specifications include classical gain and phase margins, time-delay tolerance, settling time and H-infinity norm bounds. The results are developed for continuous- and discrete-time systems. An extension to multivariable systems is also included.Analytical Design of PID Controllers provides a novel method of designing PID controllers, which makes it ideal for both researchers and professionals working in traditional industries as well as those connected with unmanned aerial vehicles, driverless cars and autonomous robots.

In many industrial applications, the existing constraints mandate the use of controllers of low and fixed order while typically, modern methods of optimal control produce high-order controllers. The authors seek to start to bridge the resultant gap and present a novel methodology for the design of low-order controllers such as those of the P, PI and PID types. Written in a self-contained and tutorial fashion, this book first develops a fundamental result, generalizing a classical stability theorem – the Hermite–Biehler Theorem – and then applies it to designing controllers that are widely used in industry. It contains material on: • current techniques for PID controller design; • stabilization of linear time-invariant plants using PID controllers; • optimal design with PID controllers; • robust and non-fragile PID controller design; • stabilization of first-order systems with time delay; • constant-gain stabilization with desired damping • constant-gain stabilization of discrete-time plants.

Successfully classroom-tested at the graduate level, Linear Control Theory: Structure, Robustness, and Optimization covers three major areas of control engineering (PID control, robust control, and optimal control). It provides balanced coverage of elegant mathematical theory and useful engineering-oriented results.The first part of the book develops results relating to the design of PID and first-order controllers for continuous and discrete-time linear systems with possible delays. The second section deals with the robust stability and performance of systems under parametric and unstructured uncertainty. This section describes several elegant and sharp results, such as Kharitonov’s theorem and its extensions, the edge theorem, and the mapping theorem. Focusing on the optimal control of linear systems, the third part discusses the standard theories of the linear quadratic regulator, Hinfinity and l1 optimal control, and associated results. Written by recognized leaders in the field, this book explains how control theory can be applied to the design of real-world systems. It shows that the techniques of three term controllers, along with the results on robust and optimal control, are invaluable to developing and solving research problems in many areas of engineering.

This monograph presents our recent results on the proportional-integr- derivative (PID) controller and its design, analysis, and synthesis. The fo­ cus is on linear time-invariant plants that may contain a time delay in the feedback loop. This setting captures many real-world practical and in­ dustrial situations. The results given here include and complement those published in Structure and Synthesis of PID Controllers by Datta, Ho, and Bhattacharyya [10]. In [10] we mainly dealt with the delay-free case. The main contribution described here is the efficient computation of the entire set of PID controllers achieving stability and various performance specifications. The performance specifications that can be handled within our machinery are classical ones such as gain and phase margin as well as modern ones such as Hoo norms of closed-loop transfer functions. Finding the entire set is the key enabling step to realistic design with several design criteria. The computation is efficient because it reduces most often to lin­ ear programming with a sweeping parameter, which is typically the propor­ tional gain. This is achieved by developing some preliminary results on root counting, which generalize the classical Hermite-Biehler Theorem, and also by exploiting some fundamental results of Pontryagin on quasi-polynomials to extract useful information for controller synthesis. The efficiency is im­ portant for developing software design packages, which we are sure will be forthcoming in the near future, as well as the development of further capabilities such as adaptive PID design and online implementation.

In many industrial applications, the existing constraints mandate the use of controllers of low and fixed order while typically, modern methods of optimal control produce high-order controllers. The authors seek to start to bridge the resultant gap and present a novel methodology for the design of low-order controllers such as those of the P, PI and PID types. Written in a self-contained and tutorial fashion, this book first develops a fundamental result, generalizing a classical stability theorem – the Hermite–Biehler Theorem – and then applies it to designing controllers that are widely used in industry. It contains material on: • current techniques for PID controller design; • stabilization of linear time-invariant plants using PID controllers; • optimal design with PID controllers; • robust and non-fragile PID controller design; • stabilization of first-order systems with time delay; • constant-gain stabilization with desired damping • constant-gain stabilization of discrete-time plants.

This book is a collection of 34 papers presented by leading researchers at the International Workshop on Robust Control held in San Antonio, Texas in March 1991. The common theme tying these papers together is the analysis, synthesis, and design of control systems subject to various uncertainties. The papers describe the latest results in parametric understanding, H8 uncertainty, l1 optical control, and Quantitative Feedback Theory (QFT). The book is the first to bring together all the diverse points of view addressing the robust control problem and should strongly influence development in the robust control field for years to come. For this reason, control theorists, engineers, and applied mathematicians should consider it a crucial acquisition for their libraries.

This book is a research monograph describing results obtained by the author and his co-workers of the last two years. It deals with the feedback stabilization of linear time invariant systems containing a real parameter vector subject to perturbation. The results described include methods for designing low order regulators for the nominal plant, the calculation of stability regions and stability margins in the parameter space, and procedures to design stabilizing controllers that tolerate prescribed ranges of parameter perturbations. Each of these problems is treated in the transfer function and state space domains. Results are presented at the theoretical level and at the algorithmic computational level. The purpose of this monograph is to present - at an elementary level - some promising preliminary results and to draw the attention of researchers to this class of problems. The book is intended for control theorists, applied mathematicians and engineers involved in control systems research and development.