Sliding Mode Control of Uncertain Parameter-Switching Hybrid Systems

This book presents correct-by-design control techniques for switching systems, using different methods of stability analysis. Switching systems are increasingly used in the electronics and mechanical industries; in power electronics and the automotive industry, for example. This is due to their flexibility and simplicity in accurately controlling industrial mechanisms. By adopting appropriate control rules, we can steer a switching system to a region centered at a desired equilibrium point, while avoiding “unsafe” regions of parameter saturation. The authors explain various correct-by-design methods for control synthesis, using different methods of stability and invariance analysis. They also provide several applications of these methods to industrial examples of power electronics. Contents 1. Control Theory: Basic Concepts. 2. Sampled Switched Systems. 3. Safety Controllers. 4. Stability Controllers. 5. Application to Multilevel Converters. 6. Other Issues: Reachability, Sensitivity, Robustness and Nonlinearity. About the Authors Laurent Fribourg is head of the LSV (Laboratoire Sp?cification et V?rification) and Scientific Coordinator of the Institut Farman, Institut F?d?ratif de Recherche CNRS, which brings together the expertise of five laboratories from ENS Cachan, in France, in the fields of modeling, simulation and validation of complex systems. He has published over 70 articles in international journals and reviewed proceedings of international conferences, in the domain of the theory of formal methods and their industrial applications. Romain Soulat is in the third year of his doctorate at the LSV at ENS Cachan in France, under the supervision of Laurent Fribourg. He is working on the modeling and verification of hybrid systems. In particular, his interests concern robustness in scheduling problems – especially as part of a collaborative project with EADS Astrium on the verification of a component in the launcher for the future Ariane 6 rocket. He has published 5 articles in reviewed proceedings of international conferences.

A practical methodology for designing integrated automation control for systems and processes Implementing digital control within mechanical-electronic (mechatronic) systems is essential to respond to the growing demand for high-efficiency machines and processes. In practice, the most efficient digital control often integrates time-driven and event-driven characteristics within a single control scheme. However, most of the current engineering literature on the design of digital control systems presents discrete-time systems and discrete-event systems separately.  Control Of Mechatronic Systems: Model-Driven Design And Implementation Guidelines  unites the two systems, revisiting the concept of automated control by presenting a unique practical methodology for whole-system integration. With its innovative hybrid approach to the modeling, analysis, and design of control systems, this text provides material for mechatronic engineering and process automation courses, as well as for self-study across engineering disciplines. Real-life design problems and automation case studies help readers transfer theory to practice, whether they are building single machines or large-scale industrial systems.  Presents a novel approach to the integration of discrete-time and discrete-event systems within mechatronic systems and industrial processes Offers user-friendly self-study units, with worked examples and numerous real-world exercises in each chapter Covers a range of engineering disciplines and applies to small- and large-scale systems, for broad appeal in research and practice Provides a firm theoretical foundation allowing readers to comprehend the underlying technologies of mechatronic systems and processes  Control Of Mechatronic Systems  is an important text for advanced students and professionals of all levels engaged in a broad range of engineering disciplines.

This book contains more than 150 problems and solutions on the control of linear continuous systems. The main definitions and theoretical tools are summarized at the beginning of each chapter, after which the reader is guided through the problems and how to solve them. The author provides coverage of the ideas behind the developments of the main PID tuning techniques, as well as presenting the proof of the Routh–Hurwitz stability criterion and giving some new results dealing with the design of root locus.

A comprehensive review of the principles and dynamics of robotic systems Dynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authors—noted experts in the field—highlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines. The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics’ principles and theory. Dynamics and Control of Robotic Systems contains an extensive collection of examples and problems and: Puts the focus on the fundamentals of kinematics and dynamics as applied to robotic systems Presents the techniques of analytical mechanics of robotics Includes a review of advanced topics such as the recursive order N formulation Contains a wide array of design and analysis problems for robotic systems Written for students of robotics, Dynamics and Control of Robotic Systems offers a comprehensive review of the underlying principles and methods of the science of robotics.

In the current climate of increasing complexity and functional integration in all areas of engineering and technology, stability and control are becoming essential ingredients of engineering knowledge. Many of today’s products contain multiple engineering technologies, and what were once simple mechanical, hydraulic or pneumatic products now contain integrated electronics and sensors. Control theory reduces these widely varied technical components into their important dynamic characteristics, expressed as transfer functions, from which the subtleties of dynamic behaviours can be analyzed and understood. Stability and Control of Aircraft Systems is an easy-to-read and understand text that describes control theory using minimal mathematics. It focuses on simple rules, tools and methods for the analysis and testing of feedback control systems using real systems engineering design and development examples. Clarifies the design and development of feedback control systems Communicates the theory in an accessible manner that does not require the reader to have a strong mathematical background Illustrated throughout with figures and tables Stability and Control of Aircraft Systems provides both the seasoned engineer and the graduate with the know-how necessary to minimize problems with fielded systems in the area of operational performance.

A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice – illustrated within the context of highly-realistic scenarios of high-level missions – without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.

Shows the newest developments in the field of multi-parametric model predictive control and optimization and their application for drug delivery systems This book is based on the Modelling, Control and Optimization of Biomedical Systems (MOBILE) project, which was created to derive intelligent computer model-based systems for optimization of biomedical drug delivery systems in the cases of diabetes, anaesthesia, and blood cancer. These systems can ensure reliable and fast calculation of the optimal drug dosage without the need for an online computer—while taking into account the specifics and constraints of the patient model, flexibility to adapt to changing patient characteristics and incorporation of the physician’s performance criteria, and maintaining the safety of the patients. Modelling Optimization and Control of Biomedical Systems covers: mathematical modelling of drug delivery systems; model analysis, parameter estimation, and approximation; optimization and control; sensitivity analysis & model reduction; multi-parametric programming and model predictive control; estimation techniques; physiologically-based patient model; control design for volatile anaesthesia; multiparametric model based approach to intravenous anaesthesia; hybrid model predictive control strategies; Type I Diabetes Mellitus; in vitro and in silico block of the integrated platform for the study of leukaemia; chemotherapy treatment as a process systems application; and more. Introduces readers to the Modelling, Control and Optimization of Biomedical Systems (MOBILE) project Presents in detail the theoretical background, computational tools, and methods that are used in all the different biomedical systems Teaches the theory for multi-parametric mixed-integer programming and explicit optimal control of volatile anaesthesia Provides an overview of the framework for modelling, optimization, and control of biomedical systems This book will appeal to students, researchers, and scientists working on the modelling, control, and optimization of biomedical systems and to those involved in cancer treatment, anaesthsia, and drug delivery systems.

The aim of this book is the study of signals and deterministic systems, linear, time-invariant, finite dimensions and causal. A set of useful tools is selected for the automatic and signal processing and methods of representation of dynamic linear systems are exposed, and analysis of their behavior. Finally we discuss the estimation, identification and synthesis of control laws for the purpose of stabilization and regulation. The study of signal characteristics and properties systems and knowledge of mathematical tools and treatment methods and analysis, are lately more and more importance and continue to evolve. The reason is that the current state of technology, particularly electronics and computing, enables the production of very advanced processing systems, effective and less expensive despite the complexity.

Switching in Electrical Transmission and Distribution Systems presents the issues and technological solutions associated with switching in power systems, from medium to ultra-high voltage. The book systematically discusses the electrical aspects of switching, details the way load and fault currents are interrupted, the impact of fault currents, and compares switching equipment in particular circuit-breakers. The authors also explain all examples of practical switching phenomena by examining real measurements from switching tests. Other highlights include: up to date commentary on new developments in transmission and distribution technology such as ultra-high voltage systems, vacuum switchgear for high-voltage, generator circuit-breakers, distributed generation, DC-interruption, aspects of cable systems, disconnector switching, very fast transients, and circuit-breaker reliability studies. Key features: Summarises the issues and technological solutions associated with the switching of currents in transmission and distribution systems. Introduces and explains recent developments such as vacuum switchgear for transmission systems, SF6 environmental consequences and alternatives, and circuit-breaker testing. Provides practical guidance on how to deal with unacceptable switching transients. Details the worldwide IEC (International Electrotechnical Commission) standards on switching equipment, illustrating current circuit-breaker applications. Features many figures and tables originating from full-power tests and established training courses, or from measurements in real networks. Focuses on practical and application issues relevant to practicing engineers. Essential reading for electrical engineers, utility engineers, power system application engineers, consultants and power systems asset managers, postgraduates and final year power system undergraduates.