New Trends in Observer-Based Control: An Introduction to Design Approaches and Engineering Applications

Description

New Trends in Observer-Based Control: An Introduction to Design Approaches and Engineering Applications, Volume One presents a clear-and-concise introduction to the latest advances in observer-based control design. It provides a comprehensive tutorial on new trends in the design of observer-based controllers for which the separation principle is well established. In addition, since the theoretical developments remain more advanced than the engineering applications, more experimental results are still needed. A wide range of applications are covered, and the book contains worked examples which make it ideal for both advanced courses and researchers starting in the field. 0 Front-Matter_2019_New-Trends-in-Observer-Based-Control Front Matter Copyright_2019_New-Trends-in-Observer-Based-Control Copyright Contributors_2019_New-Trends-in-Observer-Based-Control Contributors Foreword_2019_New-Trends-in-Observer-Based-Control Foreword 1 On Dynamic Observers Design for Descriptor Systems Introduction Basic Theory of Descriptor Systems Definition of Descriptor Systems Some Properties of Descriptor Systems Regularity of Descriptor Systems Stability of Descriptor Systems Impulse-Free Behavior Admissibility C-Observability R-Observability Impulse Observability Detectability Stabilizability Practical Examples Hydraulic System Mechanical System Electric System Observers for Descriptor Systems Descriptor State Observer Proportional Observers Proportional-Integral Observers Generalized Dynamic Observer Generalized Dynamic Observer Design Determination of the Observer Parameters GDO Stability Analysis Particular Cases of the GDO Proportional Observer Proportional-Integral Observer Simulation Example Generalized Dynamic Observer Proportional Observer Proportional-Integral Observer Simulation Results H∞ Generalized Observer Design Parameterization for the Robust Case H∞ GDO Stability Analysis Particular Cases of the H∞ GDO Proportional Observer Proportional-Integral Observer Simulation Example H∞ Generalized Dynamic Observer H∞ Proportional Observer H∞ Proportional-Integral Observer Simulation Results Concluding Remarks References 2 Adaptive Observer Design for Nonlinear Interconnected Systems With Applications Introduction Interconnected Systems Adaptive Observer Contribution Notation System Description and Problem Formulation Adaptive Observer Design With Parameters Estimation Stability of the Error Dynamical Systems Case Study Examples A Coupled Inverted Pendulum A Quarter-Car Suspension Conclusion Acknowledgments References 3 On the Observability and Observer Design in Switched Linear Systems Introduction Switched Linear Systems and Basic Behavior Observability Analysis for Switched Linear Systems Under Disturbance Geometrical Analysis Distinguishability Conditions for Perturbed SISO Switched Affine Systems Under Bounded Disturbances Observer Design for SLS Under Disturbances Observer Design for SAS Under Bounded Disturbances With Nonautonomous Chaotic Modulation References 4 On Unknown Input Observer Design for Linear Systems With Delays in States and Inputs Introduction Problems Statement and Preliminaries Design of the Delay-Dependent Observer Design of the Delay-Independent Observer Simulation Results The Delay-Dependent UIO The Delay-Independent UIO Results Conclusion References 5 Observer-Based Control Design: Basics, Progress, and Outlook Introduction Notations Historical Development Standard Types of Observers Luenberger Observer Building Observer-Based Controllers An Extension Kalman Filter Observer-Based Fault-Tolerant Control System Description Basis for Fault Estimation Observer Design Control Design Robust Control of NCS With Partially Known Transition Matrix Problem Formulation Analytical Results Robust H2 Control Robust Mixed H2/H∞ Control Analysis With Partially Known Transition Probability Matrices Numerical Example Switched Discrete-Time Systems Switched Dynamic Output-Feedback Disturbance Observer-Based Control for Nonlinear Systems Nonlinear Disturbance Observer Composite Controller NCS With Quantization and Nonstationary Random Delays Problem Setup Design Results Numerical Simulation Outlook of Observer-Based Control Conclusions Acknowledgments References 6 Observer-Based Stabilization of Switched Discrete-Time Linear Systems With Parameter Uncertainties Introduction Notation Problem Formulation Main Results: New LMI Design Algorithms Case When Fi11 Is Invertible and i Is Diagonal Linearization With Respect to Ki Linearization With Respect to Li Linearization of the Term i11j11(i11)T Linearization With Respect to the Uncertainties Case When Fi11 = 0 and i Is Nondiagonal Case When Fi=0 and Gi Nondiagonal First Step: Linearization With Respect to Ki Second Step: Linearization of Eq. (6.26) With Respect to Li Third Step: Linearization With Respect to the Uncertainties Case When Fi≠0 and Fi22≠0 Case When Fi≠0 and Fi22= 0 Case When Fi=0 and Gi Diagonal Numerical Examples and Comparisons Conclusion References 7 Practical Study of Derivative-Free Observer-Based Nonlinear Adaptive Predictive Control Introduction Predictive Control Model Predictive Control Principle Predictive Control Based on the State-Space Model Linear Model Predictive Control Nonlinear Model Predictive Control Model Predictive Control-Based State Observer State Observers: State of the Art Second-Order Divided Difference Filter Practical Study of NMPC-Based DDF2 System Description and Modeling NMPC Implementation-Based Model Linearization NMPC Implementation-Based Nonlinear Model Conclusion References 8 A Robust Decentralized Observer-Based Stabilization Method for Interconnected Nonlinear Systems: Improved LMI Con Introduction Notation and Preliminary Useful Lemmas Notation Preliminary Useful Lemmas Problem Formulation The Global System The Structure of the Observer Handling the Nonlinearity Stability Analysis of the Closed-Loop System Handing the Interconnections The BMI Problem: Motivation and Formulation New LMI Synthesis Condition Illustrative Examples Example 1 Example 2 Conclusion References 9 Polytopic Models for Observer and Fault-Tolerant Control Designs Polytopic Model-Based Modeling Polytopic Model Structure How to Get a PM Using Nonlinear Sector Transformation? A Modeling Example Partial Conclusion and Discussion Polytopic Model Stability Analyzing the PM Asymptotic Stability Analyzing the PM Exponential Stability Analyzing the PM Stability With L2-Gain Performance Stability Analysis Example Partial Conclusion and Discussion State Feedback Design Based on Polytopic Models Classic State Feedback Design Robust State Feedback Design With L2-Gain Performance Robust State Feedback Control Design: LMI Problem Programming and Simulation Partial Conclusion and Discussion Observer State Design Based on polytopic models Classic Proportional State Observer Design Simultaneous Robust State and UI Estimation PIO Design and Simulation Partial Conclusion and Discussion Active Fault-Tolerant Control FTC Applied to Vehicle Lateral Dynamics Partial Conclusion and Discussion Overall Conclusion References 10 Disturbance Observer-Based Fault-Tolerant Control for a Class of Additive Faults Introduction Problem Statement Strong Observability, Strong Detectability, and Some of Their Properties Strong Observability and Strong Detectability in Terms of the Existence of the Weakly Unobservable Subspace Observer Design Estimation Error Stabilization Observer Design for a Strongly Observable System Observer Design for a Strongly Detectable System Fault Estimation Fault-Tolerant Control Fault-Tolerant Control for a Roll Autopilot Design Linear Quadratic Regulator Fault-Tolerant Control Design Conclusions References 11 Robust State and Fault Estimation for Linear Descriptor and Nonlinear Stochastic Systems With Disturbances Introduction The Robust Two-Stage Kalman Filter Robust State and Fault Estimator for Linear Stochastic Systems Restricted System Reformation Robust State and Fault Estimator Existence Condition The RSFE Design Robust State and Fault Estimation for Linear Descriptor Stochastic Systems Equivalent Standard Augmented State System With Unknown Inputs Full-Rank Descriptor System Reformation Optimal Robust State and Fault Estimator Existence Condition The ORSFE Design Robust State and Fault Estimation for Nonlinear Descriptor Stochastic Systems With Disturbances Equivalent Nonlinear System System Reformation Using SDC Form Nonlinear Robust State and Fault Estimator Existence Condition NRSFE Design Numerical Simulation Results Application to State and Fault Estimation of Linear Stochastic System With Unknown Disturbances Continuous-Time Model of DC Motor Model of DC Motor With Actuator and Sensor Faults Simulation Results Application to State and Fault Estimation for Linear Descriptor Stochastic System With Unknown Disturbances Descriptor Model of DC Motor With Actuator and Sensor Faults Application to State and Fault Estimation for Nonlinear Descriptor Stochastic Systems With Unknown Disturbances Mathematical Model of Single-Link Robotic Manipulator Conclusions References 12 13 14 Index A B C D E F G H I K L M N O P Q R S T U V W Y