Classical Design Methods
In this chapter, it will be shown how the Nyquist stability criterion can be used to synthesize a PID controller so that the feedback system is in a certain sense robustly stable and fulfills also some specified performance requirements. These properties
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Springer-Verlag Berlin Heidelberg GmbH
Uwe Mackenroth
Robust Control Systems Theory and Case Studies
With 221 Figures
Springer
Professor Dr. Uwe Mackenroth Fachhochschule Lübeck University of Applied Sciences FB Maschinenbau und Wirtschaftsingenieurwesen Mönkhofer Weg 136-140 23562 Lübeck Germany
ISBN 978-3-642-05891-2 ISBN 978-3-662-09775-5 (eBook) DOI 10.1007/978-3-662-09775-5
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F or my family: Gabriela, Gisela and Julia
Preface
Control engineering is an exciting and challenging field within the engineering sciences, because by its very nature it is a multidisciplinary subject and because it plays a critical role in many practical technical applications. To be more specific: control theory brings together such different fields as electrical, mechanical and chemical engineering and applied mathematics. It plays a major role in engineering applications of all kinds of complexity. This may be a dc motor, a robot arm, an aircraft, a satellite, a power plant or aplant for the chemical industries such as a distillation column. On the other hand, the developments in the last two or three decades have shown that control engineering requires very solid skills in applied mathematics and therefore has become highly attractive for applied mathematicians, too. The most fundamental idea of control theory is to change the dynamical behavior of a technical system (the "plant") by a device called the "controller" such that the dynamics gets certain desired properties. In almost all cases, the controller design is done by building a mathematical model, which can be emulated on a computer and serves as the basis for controller synthesis. It is obvious that the model represents the real system only up to a certain degree of accuracy. Despite this, the controller has to work for the real system as weIl as for the model;
