Robust Control Systems with Uncertain Physical Parameters
New results, fresh ideas and new applications in automotive and flight control systems are presented in this second edition of Robust Control. The book presents parametric methods and tools for the simultaneous design of several representative operating c
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Communications and Control Engineering Series Editors: B.W. Dickinson' A. Fettweis' J.L. Massey' J.W. Modestino E.D. Sontag' M. Thoma
CCES published titles include: Sampled-Data Control Systems I. Ackennann Interactive System Identification T. Bohlin The Riccatti Equation S. Bittanti, A.I. Laub and J.C. Willems (Eds.) Nonlinear Control Systems A. Isidori Analysis and Design of Stream Ciphers R.A. Rueppel Sliding Modes in Control Optimization V.I. Utkin Fundamentals of Robotics M. Vukobratovic Parametrizations in Control, Estimation and Filtering Problems: Accuracy Aspects M. Gevers and G. Li Parallel Algorithms for Optimal Control of Large Scale Linear Systems Zoran Gajic and Xuemin Shen Loop Transfer Recovery: Analysis and Design A. Saberi, B.M. Chen and P. Sannuti Markov Chains and Stochastic Stability S.P. Meyn and R.L. Tweedie
Jiirgen Ackermann in co-operation with Andrew Bartlett, Dieter Kaesbauer, Wolfgang Sienel and Reinhold Steinhauser
Robust Control
Systems with Uncertain Physical Parameters
With 222 Figures
Springer-Verlag London Berlin Heidelberg New York Paris Tokyo Hong Kong Barcelona Budapest
Jiirgen Ackermann, Prof. Dr.-Ing. Dieter Kaesbauer, Dr.techn. Wolfgang Sienel, Dipl.-Ing. Reinhold Steinhauser, Dr.-Ing.
Deutsche Forschungsanstalt fuer Luft- und Raumfahrt (DLR), Institute for Robotics and System Dynamics Oberpfaffenhofen, 82230 Wessling/Obb, Germany Andrew Bartlett, PhD Electrical and Computer Engineering Department, University of Michigan-Dearborn, MI 48121, USA
ISBN-13:978-1-447 1-3367-4 DOl: 10.1007/978-1-4471-3365-0
e-ISBN-13:978-1-4471-3365-0
British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. ~ Springer-Verlag London Limited 1993 Soflcover reprint of the hardcover 1st edition 1993
The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Typesetting: Camera ready by authors
69/3830-543210 Printed on acid-free paper
Preface
This book is organized in four parts.
Part I: Introduction to Some Practical Problems of Robust Control
In the first part, consisting of Chapters 1 through 3, some control engineering examples are introduced that illustrate the origin of the problems dealt with in the further parts. The first example that we consider is a crane. It has an uncertain load mass, for which only the lower bound (empty
