Seite - (000112) - in Control Theory Tutorial - Basic Concepts Illustrated by Software Examples

110 Index Feedbackrobustness,2,3,12,20,31,36,37, 41,92,94,103–105 Feedforwardcontrol system,21, 26, 27, 30, 31,34,94 Feedforwardfilter, 26,30,31,34,35 Filter, highpass, 25 Filter, lowpass, 15–17,20,33 Filtering input frequencies, 16, 26, 39, 64, 69 Fluctuating input, 33 Frequency response,69,98 Future timehorizon,30,31 G Gainamplificationof signal, 37 Guaranteedstabilitymargin,59,72 H High frequencynoise, 17,66,73 Highgaincontroller, 37 High-passfilter, 25 Hill equation,80 H∞ optimization,61 H∞ norm,4155–57,59,61 H2 norm,39,40,61–63,71 H2 normandenergy,40 H2 optimization,61 I Impulse function,46,82 Impulseperturbation,72,80,81 Impulse response,50 Integral control, 24,79 Internal states, 69 L Laplace transform,9 Lineardifferential equation,9,11 Linearquadratic control, 72,73 Linear time-invariant system,71 Linearizationofnonlinear systems,83 Loaddisturbance,23,25,26,34,35,48,51, 52 Low-passfilter, 15–17,20,51 M Magnitude,15,17,22,26,27,38–40,50,52, 59 Mathematica, 1, 16, 30, 47, 48, 52, 57, 66, 67,71,74,81 Misspecifiedprocessmodel, 57,91 MixedH2 andH∞ optimization,81 Modelpredictivecontrol, 4, 91,92,104 Model referenceadaptivecontrol, 85,86 N Neuralnetwork,104,105 Noisefilter,17,22,24–26,31,32,46,51,57 Nonlinear system,12,69,79–83,85 O Open-loopcontrol system,2,21 Optimalcontroller, 45,47–49,51,61 Optimaldesign,4,37,55 Optimalgainmatrix, 71 Optimal state feedback,73,74,81 Optimal trajectory,91,93 Optimizationalgorithm,47 Optimizationmethods,37 Oscillators, 19–21 Overshootingand instability, 2, 25,40,64 P Parameterestimationbyfeedback,4,20,92 Parameteruncertainty,57 Peakgain,41,55 Phaseangle, 17 Phase lagand lead,18,20,34,98 Phaseplot, 15,33 PIDcontrol, 3, 25,30,31,33–35,37 Piecewise linearapproximation,82 Poleofa transfer function,10 Processdelay,96,97,99 Processdisturbance,31,32 Proportional control, 23 Proportional-Integral-Derivative (PID) con- trol, 3, 25,30,32–35,37 R Reference input signal, 26,30,46,74 Referencemodel, 88 Regulation,3,45,46,52,59,61,69,70,79, 80,83 Rejectinghigh frequencynoise, 17,65 Resonantpeak frequency,21,34,98,104 Riccati equation,71 Robust control, 58,95,101,103 RobustH∞ design,104