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MULTIVARIABLE FEEDBACK CONTROL Analysis and design

Feedback

control,

Robust

control

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MULTIVARIABLE FEEDBACK CONTROL 多变量反馈控制，鲁棒控制的经典教材。

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MULTIVARIABLE

FEEDBACK CONTROL

Analysis and design

Sigurd Skogestad

Norwegian University of Science and Technology

Ian Postlethwaite

University of Leicester

Second Edition

This version: August 29, 2001

JOHN WILEY & SONS

Chichester

New York

Brisbane

Toronto

Singapore

ii MULTIVARIABLE FEEDBACK CONTROL

BORGHEIM, an engineer:

Herregud, en kan da ikke gjøre noe bedre enn leke i denne

velsignede verden. Jeg synes hele livet er som en lek, jeg!

Good heavens, one can’t do anything better than play in this

blessed world. The whole of life seems like playing to me!

Act one, LITTLE EYOLF, Henrik Ibsen.

iv MULTIVARIABLE FEEDBACK CONTROL

CONTENTS

.......................................... iii

CONTENTS .................................. v

PREFACE ................................... ix

1 INTRODUCTION ............................. 1

1.1 The process of control system design . ................ 1

1.2 The control problem . ........................ 2

1.3 Transfer functions . . . ........................ 3

1.4 Scaling . ............................... 5

1.5 Deriving linear models ........................ 8

1.6 Notation . ............................... 11

2 CLASSICAL FEEDBACK CONTROL ................. 15

2.1 Frequency response . . ........................ 15

2.2 Feedback control . . . ........................ 21

2.3 Closed-loop stability . ........................ 24

2.4 Evaluating closed-loop performance . ................ 27

2.5 Controller design . . . ........................ 39

2.6 Loop shaping . . . . . ........................ 40

2.7 Shaping closed-loop transfer functions ................ 55

2.8 Conclusion . . . . . . ........................ 62

3 INTRODUCTION TO MULTIVARIABLE CONTROL ........ 63

3.1 Introduction . . . . . . ........................ 63

3.2 Transfer functions for MIMO systems ................ 64

3.3 Multivariable frequency response analysis . . . . . ......... 68

3.4 Control of multivariable plants .................... 79

3.5 Introduction to multivariable RHP-zeros . . . . . . ......... 84

3.6 Condition number and RGA . .................... 87

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