Bibliography :: Tuning Fixed Control Architectures (Robust Control Toolbox™)

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Contents

Index

• Getting Started

• Introduction

Example: ACC Benchmark Problem

Example: ACC Two-Cart Benchmark Problem

Example: Designing a Controller with LOOPSYN

Example: NASA HiMAT Controller Order Reduction

• Multivariable Loop Shaping

Norms and Singular Values

Singular Values

Guaranteed Gain/Phase Margins in MIMO Systems

Example: NASA HiMAT Loop Shaping

Design Specifications

MATLAB Commands for a LOOPSYN Design

Example: NASA HiMAT Design Using MIXSYN

• Model Reduction for Robust Control

Hankel Singular Values

Rigid Body Dynamics

• Robustness Analysis

Creating Uncertain Models of Dynamic Systems

Creating Uncertain Parameters

Quantifying Unmodeled Dynamics

Adding Independent Input Uncertainty toEachChannel

Closed-Loop Robustness Analysis

Nominal Stability Margins

Robustness of Stability Model Uncertainty

• H-Infinity and Mu Synthesis

Norms of Signals and Systems

Using Weighted Norms to Characterize Performance

Performance as Generalized Disturbance Rejection

Robustness in the H-Infinity Framework

Quarter Car Suspension Model

Linear H-Infinity Controller Design

H-Infinity Control Design 1

H-Infinity Control Design 2

Control Design via Mu Synthesis

• Tuning Fixed Control Architectures

• Tuning Fixed-Structure Control Systems

What is a Fixed-Structure Control System?

Choosing an Approach to Fixed Control Structure Tuning

Difference Between Fixed-Structure Tuning and Traditional H-Infinity Synthesis

• Tuning a Control System with looptune

How looptune Sees Your Control System

Setting Up Your Control System in MATLAB

Setting Up Your Control System in Simulink

Performance and Robustness Specifications

Tune a MIMO Control System for a Specified Bandwidth

Tune a Two-Loop Control System to Meet Specific Design Requirements

Tune a MIMO Control System in Simulink

• H-Infinity Tuning with hinfstruct

What is hinfstruct?

Structured H-Infinity Synthesis Workflow

Formulating Design Requirements as H-Infinity Constraints

Building a Tunable Closed-Loop Model

Tuning the Controller Parameters

Interpreting the Outputs of hinfstruct

Validating the Controller Design

Application Examples

• Supported Blocks for Tuning in Simulink

Tuning Unsupported Blocks

Speed Up Tuning with Parallel Computing Toolbox Software

• User's Guide

• Release Notes

Bibliography

[1] P. Apkarian and D. Noll, "Nonsmooth H-infinity Synthesis," IEEE Transactions on Automatic Control, Vol. 51, Number 1, 2006, pp. 71-86.

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Speed Up Tuning with Parallel Computing Toolbox Software

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