[PYTHON] The world of control engineering books

Hello.

watawatavoltage. In this article, I would like to write about the world of control engineering books. This article is a type of article that is updated from time to time rather than being posted in a completed state. In "Introduction", I will explain why you write such an article. If you write a book you would like us to introduce in the comment section, we will reflect it as needed. Thank you for your cooperation.

Introduction

Do you not have such an experience?

――I don't know the book of this control! !! ――Why is this formula like this! !! ――The professor said, "Look for XX control," but where do you write it? !! ――Where was that ceremony written? ?? ――Is there a recommended book for journals? ?? ――I want to understand from the program ~~ ――Can I buy this book ~

I don't think it's exhausted (I'll add bullet points as needed. I'll also accept comments).

I have always experienced the above.

Therefore, the following desire is born.

"If you have any questions, how many pages of this textbook should I look at?"

I think there are things like "it's important to look up", "the idea that you don't have that ability", "actually that teacher has that ability", and "don't buy books, think for yourself".

However, it was rejected because it was difficult. Rather, I think it is necessary to write a map (the world of control engineering books) that accurately classifies and organizes many control engineering textbooks for each field and what is written and what is not written.

From my experience, I think that many people in the control engineering area are quite smart.

Therefore, I think there are opinions that such a map is not necessary, but on the other hand, I think it is important to lower the threshold for control beginners and control casual people.

First of all, I would like to prepare a map around classical control and modern control.

The world of books related to "classical control / modern control"

First of all, I would like to start with this book, which is a hot topic these days.

Introduction to Control Engineering with Python

** Book contents **

It is written gently and comprehensively from classical control to the basics of modern control. Recommended for control beginners. It also handles advanced controls such as robust control and digital control. Many control textbooks so far can be learned together with the MATLAB source code. On the other hand, in this book, as the title suggests, you can study control engineering with Python, which is one of the programming languages. Also, I explain the control while interweaving cute girl characters. Such control engineering books have never existed and are fresh.

** Impressions of watawata voltage **

--Python is one of the many artificial programming languages used in fields centered on machine learning. People who are always using machine learning can use control engineering immediately. Python is free to use, so you can quickly try out control engineering samples without having to buy paid software like MATLAB. --I have never seen an explanation of control engineering using girl characters or Moe characters. This is a device to lower the hurdle of control engineering. ――On the other hand, as a result of using many explanations of Moe characters and visual bases, the content of control engineering is thinner than other books (many parts are omitted). However, the main points are explained firmly, which is sufficient for understanding control engineering. In addition, Minami-sensei's site clearly states the omitted parts and guides you to learn immediately with other books. You can also learn about control engineering videos as Mr. Minami's own control system Youtuber. --Watawatavoltage thinks that the possibilities of Python x Moe Chara x Control Engineering are endless. It is also a turning point in the control industry, and if we make good use of this trend, it is a great opportunity to spread control engineering to young people all over Japan. watawatavoltage also wants to actively follow this trend.

** Table of contents of this book ** Chapter 1 What is control? 1.1 Control around you 1.2 Feedback control 1.3 Role of control engineering 1.4 Outline of this manual

Chapter 2 Python Basics 2.1 Construction of Python environment 2.2 How to use Jupyter Notebook 2.3 Basics of Python 2.4 Modules used in this manual

Chapter 3 Model for control 3.1 Representation of dynamic system 3.2 Transfer function model 3.3 State space model 3.4 Block diagram

Chapter 4 Behavior of controlled objects 4.1 Time response 4.2 Time response of state space model 4.3 Stability 4.4 Relationship between poles and behavior 4.5 Frequency response

Chapter 5 Control system design focusing on closed loop system 5.1 Closed loop system design specifications 5.2 PID control 5.3 2 degrees of freedom control 5.4 Gain tuning by the limit sensitivity method 5.5 Gain tuning by model matching method 5.6 State feedback control

Chapter 6 Control system design focusing on open-loop system 6.1 Open-loop system design specifications 6.2 PID control 6.3 Phase lead / lag compensation

Chapter 7 Advanced control system design 7.1 Output feedback control using an observer 7.2 Robust control 7.3 Digital mounting

Appendix math supplement A.1 Complex number A.2 Laplace transform A.3 Matrix eigenvalues and eigenvectors

Next is this book

Introduction to Feedback Control

** Book contents **

This book is the royal road bible of classical control. It is recommended for those who are new to control and who study control, and those who use PID control in a company. It explains what control is and explains the importance of feedback control. In addition, there are mathematical formulas for various dynamic systems, and it is easy to get an idea of what control engineering can be applied to. Also, there are more advanced controls such as robust control and 2-degree of freedom control, which is a very helpful book. It also covers the gain tuning method used for PID control.

** Impressions of watawata voltage **

――I think that feedback control is famous when it comes to control, but in this book it is good to explain why feedback control should be used and why feedforward control alone is not enough. I felt that I was very close to the control beginners. --The explanation of the transfer function, which is the basis of control, how to draw a block diagram, and the equivalent conversion are clearly written. --It is good to explain robust stability using an example. --In many cases, the problem can be solved immediately by referring to this book rather than hitting a poor control engineering site or book. --One of the authors Mr. Fujita's site has a summary of each chapter of this book and a detailed explanation of the exercises. ing. If you combine this, you can explode your study speed.

** Table of contents of this book **

1. Introduction 1.1 What is control? 1.2 Standard configuration and control purpose of control system 1.3 Advantages and challenges of feedback control 1.4 Structure of this manual

2. Expression of dynamic system 2.1 Dynamic system 2.1.1 Linear dynamic system 2.1.2 System linearization 2.2 Transfer function 2.3 Block diagram Practice problem

3. Transient response and stability of the dynamic system 3.1 Impulse response and step response 3.2 Response of the primary system 3.3 Secondary response 3.4 Pole / zero and transient response 3.4.1 Pole and impulse response 3.4.2 Representative pole 3.4.3 When there is a zero point 3.5 Stability of dynamic system 3.5.1 Stability 3.5.2 Routh stability determination method 3.5.3 Special case of the Routh method 3.5.4 Full Bits stability determination method Practice problem

4. Characteristics of feedback control system 4.1 Sensitivity characteristics 4.1.1 Sensitivity to changes in parameters 4.1.2 Sensitivity to disturbance 4.2 Steady-state characteristics 4.2.1 Steady-state deviation from the target value 4.2.2 Steady-state deviation against disturbance 4.3 Root locus 4.3.1 What is a root locus? 4.3.2 Nature of root locus Practice problem

5. Frequency response 5.1 Frequency response and transfer function 5.2 Vector locus 5.2.1 Integral system 5.2.2 Primary system 5.2.3 Secondary system 5.3 Bode plot 5.3.1 Integral system 5.3.2 Primary system 5.3.3 Secondary system 5.4 Properties of Bode plot 5.4.1 Gain and phase in the minimum phase system 5.4.2 Advantages of Bode plot Practice problem

6. Stability of feedback control system 6.1 Internal stability of feedback system 6.2 Nyquist stability determination method 6.3 Gain margin, phase margin Practice problem

7. Robustness analysis of feedback control system 7.1 Uncertainty and robustness 7.1.1 Model uncertainty 7.1.2 Description of uncertainty 7.2 Robust stability 7.3 Robustness of control performance 7.3.1 Nominal performance 7.3.2 Robust performance Practice problem

8. Feedback control system design method 8.1 Design procedure and performance evaluation 8.1.1 Control system design procedure 8.1.2 Performance evaluation of control system based on frequency response 8.2 Control system design by PID compensation 8.2.1 PI compensation 8.2.2 PD compensation 8.2.3 PID compensation 8.2.4 PID tuning 8.3 Control system design by phase lead-delay compensation 8.3.1 Loop shaping 8.3.2 Phase delay compensation 8.3.3 Phase lead compensation 8.3.4 Phase lead-delay compensation Practice problem

9. 2 degrees of freedom control system 9.1 Role of feedforward and feedback 9.2 2 Degree of freedom control system structure and design method 9.3 Parameter representation of stabilization controller 9.4 Free parameter selection by H∞ control 9.4.1 H∞ norm and design specifications 9.4.2 Determining parameters Practice problem

appendix A.1 Complex number A.2 Laplace transform A.2.1 Definition and basic properties of Laplace transform A.2.2 Laplace transform of basic functions A.3 Reverse Laplace transform

Citations / references Answers to exercises index

Easy-to-understand control engineering with MATLAB / SIMULINK

** Book contents ** This book focuses on classical control. This is a completed book by the author, Professor Kawada, who reorganized the contents of his lectures and the materials he made when he conducted student experiments. There is always a set of control theory and MATLAB / SIMULINK exercises in the chapter. In other words, you can first learn control theory through classroom lectures (paper and pencil), and then you can actually experience control through programming exercises. In particular, Chapter 5 explains PID control using the vertical drive arm as an example, so you can learn the theory and practical application of control engineering at the same time. In addition, Chapter 8 includes a little explanation of modern control.

** Impressions of watawata voltage ** ――I think it is a pioneer of books where you can learn both theory and programs that have become popular in recent years (please let us know in the comments if they are different). ――Since the control theory part and the programming part are written separately, I think it is easy to study for each part. ――In addition, he gave a lecture on how to use SIMULINK from the basics, so I think it will be nice for users who use control with SIMULINK. --The modern control in Chapter 8 has a small number of pages, but it covers everything from the state space representation to the design of the servo system using the optimum regulator. ――It is good to put the basic usage of MATLAB in the appendix and write the explanation of the graph output (I have experience wondering how to use the graph). ――This book is recommended for beginners.

** Table of contents of this book ** Chapter 1 Introduction Chapter 2 Dynamic System Model Chapter 3 Transient and Steady-State Characteristics of Transfer Functions Chapter 4 Control system analysis / design in the s area Chapter 5 Control system design in s area (PID control) Chapter 6 Frequency characteristics of transfer function Chapter 7 Control system analysis / design in the frequency domain Chapter 8 For those who further learn control engineering

Introduction to Modern Control with MATLAB / Simulink

** Book contents ** This book was written by Professor Kawada. This book is a sequel to the easy-to-understand control engineering by MATLAB / SIMULINK explained above. The explanation of modern control was written in Chapter 8 of the book, but since it was only one chapter, it was only a rough explanation of the utility of modern control. In this book, eight chapters are explained from the state space representation of the system to the control using the optimum regulator. In addition, learning that combines control theory and programming exercises using MATLAB is alive and well, and the same flow as in the previous book can be studied. Furthermore, Chapter 9 describes the control system design using the Linear Matrix Inquality (LMI).

** Impressions of watawata voltage ** --Since the programming part is colored, it is easier to see than the previous book. ――There are few books to program and learn modern control in MATLAB, so I think it will come in handy (maybe I just don't know). ――I am glad that Chapter 9 describes the control system design using LMI. It may be a device that explains advanced control in the final chapter to make students interested in control (total speculation). ――In addition to the above speculation, since the author is the same, it is actually a three-part structure of "easy-to-understand control engineering with MATLAB / SIMULINK-> introduction to modern control with MATLAB / SIMULIK-> control engineering with an inverted pendulum". I'm thrilled to have these books in my hands (what a hell).

** Table of contents of this book ** Chapter 1 From Classical Control Theory to Modern Control Theory Chapter 2 System state space representation Chapter 3 Time Response of Linear System Chapter 4 Control by state feedback Chapter 5 Servo system design Chapter 6 Observer and Output Feedback Chapter 7 Lyapunov Stability Theory Chapter 8 Optimal Regulator Chapter 9 Controller design based on LMI

Linear system control theory

** Book contents ** This book is a textbook focusing on modern control. First, the history of control is introduced, and then the mathematical model of the system is explained. After suppressing the basics of mathematics, the contents of modern control theory are explained. Compared to other books, the meaning of mathematical formulas and the expansion of mathematical formulas are explained more carefully, which is very helpful. Also, at the beginning of the chapter, the quotes of great people who were active in the field of science and great people in the field of control are introduced. Furthermore, when a person's name appears in the text, a portrait of that person is posted, so there are many supplementary explanations, "Is this the method that this person thought?" It is a nice book for me.

** Impressions of watawata voltage ** ――I like technical books that have a lot of supplementary explanations and feature great people. --The calculation is written properly. --The meaning and positioning of the formula are written properly. On the other hand, the explanation of this book seems difficult, so it may be good to study in combination with other books.

** Table of contents of this book ** Chapter 1 Introduction Chapter 2 Mathematical Models of Dynamic Systems Chapter 3 Vector and Matrix Operations Chapter 4 Solving the System Equation of State Chapter 5 System Stability Chapter 6 Controllability and Observability Chapter 7 Regulators and Observers Chapter 8 Optimal Control

Modern Control Theory

** Book contents ** This book is written with a focus on modern control. It is also characteristic that it contains a chapter that explains robust control. The Control Engineering textbook is recommended for those who want to study hard.

** Impressions of watawata voltage ** ――Since the explanation is precise, it is a recommended book for those who seek mathematical rigor. ――In the chapter explaining robust control, the explanation of the significance of robust control and model error is simplified, so it seems better to read another book on that point. --If you are a beginner in control, you should refer to another easy-to-write book.

** Table of contents of this book **

1. Introduction to modern control theory

2. Equation of state 2.1 State variables and system state equation representation 2.2 Solution of equation of state 2.3 Calculation of transition matrix 2.4 Transfer function and equation of state 2.5 Non-linear system, time-varying system, and discrete-time system Practice problem Appendix A: Mathematical Preparation

3. Controllability and observability 3.1 Controllability 3.2 Observability 3.3 Equivalence conversion 3.4 Canonical decomposition 3.5 Time-varying system Practice problem

4. Transfer function matrix and equation of state representation 4.1 Transfer function matrix 4.2 Realization problem 4.3 Minimum realization 4.4 Minimum realization algorithm Practice problem

5. Stability 5.1 Stability of linear system 5.2 Full Bits stability conditions 5.3 Lyapunov stability theory 5.4 Lyapunov's stability theorem for linear systems 5.5 Stability and observability Practice problem Appendix B: Proof of Flubitz Stability Conditions

6. Full state howling 6.1 Polar placement problem due to state feedback 6.2 Pole arrangement of 1 input system by state feedback 6.3 Pole arrangement of multi-input system by state feedback Practice problem

7. Observer 7.1 Definition of state observer 7.2 Same-dimensional state observer 7.3 Minimum dimensional state observer 7.4 Linear function observer 7.5 Combination of state feedback law and observer Practice problem

8. Optimal control 8.1 Optimal control problem 8.2 Dynamic programming 8.3 Optimal regulator 8.4 Principle of least principle Practice problem

9. H∞ optimum control 9.1 Definition of H∞ norm 9.2 H∞ standard problem 9.3 H∞ norm and Ricatch algebra equation 9.4 Solving the H∞ control problem by state feedback 9.5 Solving the H∞ control problem with output feedback Practice problem Appendix C: Small Gain Theorem and Lemma 9.3, Proof of Theorem 9.2

References Exercise summary index

System Control Engineering Exercise

** Book contents ** As the title suggests, this book contains exercises in control engineering. You can learn both classical control and modern control. It is a good idea to pick up this book after learning the basics of control in "Introduction to Feedback Control" and "Introduction to Linear System Control".

** Impressions of watawata voltage ** ――You can see how much you understand control in the exercises. It's a good idea to spend a day solving the exercises in this book from start to finish. ――Since classical control and modern control are dealt with together, you can learn a lot with this one book. --In some places, MATLAB programs are writing. ――It is very convenient to find control examples.

** Table of contents of this book ** [Part I Classical Control]

1. Preparations for classical control 1.1 Complex numbers 1.2 Laplace transform 1.2.1 Definition and basic properties of the Laplace transform 1.2.2 Laplace transform of basic functions 1.3 Inverse Laplace transform 1.4 Functions for Numerical Calculations in MATLAB

2. Transfer function and block diagram 2.1 Representation of dynamic system 2.2 Simplification of block diagram

3. Time response 3.1 Transfer function and time response 3.1.1 Primary response 3.1.2 Secondary response 3.1.3 Response in the presence of higher order systems and zeros 3.2 Stability discrimination of dynamic system 3.2.1 Routh stability determination method 3.2.2 Full Bits stability determination method

4. Feedback characteristics 4.1 Sensitivity and steady-state characteristics 4.2 Root locus

5. Frequency response 5.1 Frequency response and transfer function 5.2 Bode plot

6. Feedback control system stability 6.1 Internal stability 6.2 Nyquist stability determination method 6.2.1 Basic concept and discrimination method 6.2.2 What to do if there is a pole on the imaginary axis 6.2.3 Simplified Nyquist stability determination method 6.3 Gain margin and phase margin

7. Feedback control system design method 7.1 Control system design with PID compensation 7.1.1 PI compensation 7.1.2 PD compensation 7.1.3 PID compensation 7.2 Phase lead-delay compensation 7.2.1 Phase lag compensation 7.2.2 Phase lead compensation 7.2.3 Phase lead-delay compensation 7.3 Improved target value response 7.3.1 Double feedback compensation 7.3.2 Addition of feedforward compensation

[Part II Modern Control] 8. State space representation 8.1 Derivation of state space representation and block diagram 8.2 Coordinate transformation and serial connection of state-space representation

9. Stability and time response 9.1 Proximity stability 9.2 Time response

10. State feedback and controllability 10.1 State feedback 10.2 Controllability and stability

11. State observer and observability 11.1 State Observer 11.2 Observability and Detectability 11.3 Lower dimension state observer.

12. LQG control 12.1 Optimal design for state feedback 12.2 Optimal design of observer-based controller

13. LQI control 13.1 Fixed value disturbance removal and fixed value target tracking 13.2 Optimal design of state feedback with integral behavior.

14. Linear control of nonlinear system 14.1 Example of modeling a nonlinear system 14.2 Applying linear control to nonlinear systems

15. Minimal realization problem 15.1 Realization problem 15.2 Minimal realization

Answers to exercises

Modern control theory learned through exercises

** Book contents ** This book is a book where you can learn modern control theory through exercises. So there is almost no proof of mathematical formula. There is no classical control. In the controller design part, you can learn how to arrange poles by the Ackermann method and the method of Arimoto and Potter through exercises.

** Impressions of watawata voltage ** -Compared to other books, it is packed with basic exercises. It is important to learn the theory (from concrete content to abstract content) through exercises, so it is useful in that sense. -Compared to other control engineering books, this book is quite thin, so I think you can feel free to get involved. -Since a review of linear algebra is included here and there, you can learn both control engineering and linear algebra. -It is interesting that you can learn various design methods in modern control through exercises. In other books, there are many patterns that are introduced a little or not introduced in the first place, but this book is different. In addition, it is good to adopt the comparison of these design methods as an exercise. It is also recommended for active learning.

** Table of contents of this book ** Chapter 1 Describe the system with equations of state Chapter 2 System Response and Stability Chapter 3 Controllability Chapter 4 Observability Chapter 5 Howling Method Chapter 6 Optimal Regulator Chapter 7 Folding Method Chapter 8 Servo System Chapter 9 State Observer

The world of books related to "advanced control"

In this section, I would like to introduce more advanced control books.

Practical robust control

** Book contents ** As the title suggests, this book is a book where you can practically learn robust control. First, I will briefly explain the positioning of robust control. In the field of control, you will first learn classical control. In classical control, the controller is determined by trial and error based on the frequency response of the system such as Bode diagram and Nyquist diagram. Classical control is difficult to deal with when the order of the controlled object becomes large or when it becomes a multi-input / output system, so modern control theory solves these problems. However, modern control theory requires an accurate model of the controlled object. There is a model error between the actual controlled object and the model, and a controller designed based on the model adversely affects the control result. The controlled object may become unstable. In robust control, the controlled object is expressed as a nominal model (rough model) + model error, and a controller is designed for those systems. Therefore, it can be stabilized even if there is a model error. This book explains the concept of robust control, the expression method of controlled objects with model errors, and the problem of robust stabilization. After that, the actual design procedure is learned through programming using MATLAB with actual application examples. It also explains the limits of robust control and the implementation of controllers (digital controllers) on actual machines.

** Impressions of watawata voltage ** ――I think you can learn most of robust control with this book. --If you just want to try it, programming the controls in Chapter 4 in MATLAB is sufficient. You can practice that robust control is powerful only in Chapter 4. --The theory and practice part of robust control (programming by MATLAB) are arranged in a well-balanced manner, which is exactly "practical robust control". --It is good to have a hard disk drive control example. Watawata voltage thinks that the robust control scenario is a well-understood example. --Since the MATLAB program is included, I think it is easy for beginners to learn. In addition, the sample code can be downloaded from the homepage of this manual. ――I think there are more, but I will write it when I come up with it.

** Table of contents of this book **

1. Robust control scenario 1.1 What is robust control? 1.2 Feedback control system 1.3 Modeling error and robustness 1.4 Types of perturbations and typical methods of robust control 1.4.1 Structural perturbations and non-structural perturbations 1.4.2 H∞ control and μ design method 1.5 Software for robust control system design Practice problem

2. H∞ control theory 2.1 Problem setting and formulation 2.2 Generalized plant 2.3 Standard H∞ control problem 2.4 Solving the H∞ control problem 2.5 H∞ controller design by MATLAB Practice problem

3. Expression of uncertainty and robust stabilization 3.1 Multiplicative perturbation and additive perturbation 3.1.1 Multiplicative perturbation 3.1.2 Additive perturbation 3.1.3 Estimates of multiplicative and additive perturbations 3.2 Robust stabilization problem 3.2.1 Small gain theorem 3.2.2 Robust stabilization against multiplicative perturbation 3.2.3 Robust stabilization against additive perturbations 3.2.4 Meaning of robust stabilization conditions Practice problem

4. H∞ control system design 4.1 Mixing sensitivity problem 4.2 Design example for 2 degree of freedom vibration system 4.2.1 Definition of controlled object with perturbation 4.2.2 Multiplicative perturbation estimation and weight function 4.2.3 Weight for sensitivity function and calculation of H∞ controller 4.2.4 Evaluation of closed loop characteristics 4.3 Corrected mixed sensitivity problem 4.3.1 Problems and solutions to the mixing sensitivity problem 4.3.2 Generalized plant configuration 4.4 Improvement of target value response by 2 degrees of freedom control Practice problem

5. H∞ control of hard disk drive 5.1 Control target 5.2 Designed due to modified mixed sensitivity problem 5.2.1 Design I 5.2.2 Design II (change of WPS) 5.2.3 Design III (change of WT) 5.3 Designed with stability margin in mind 5.3.1 Introduction 5.3.2 Stable margin and yen conditions 5.3.3 Design IV (design example) 5.4 Implementation of controller 5.4.1 Optimal and semi-optimal solutions 5.4.2 Discretization of controls 5.4.3 Control mounting and reduction of calculation amount Practice problem

6. μ design method 6.1 Structured singular value μ 6.2 LFT representation of parameter perturbation 6.3 Robust stabilization against structural perturbations 6.4 Robust performance and μ 6.5 μ design by D-K iteration 6.6 Design example 6.6.1 Introduction 6.6.2 3 Inertial frame benchmark problem 6.6.3 Problem setting 6.6.4 Design I (non-structural perturbation + robust performance) 6.6.5 Design II (Structural Perturbation + Robust Performance) 6.6.6 Design III (real structural perturbation + robust performance)

Appendix A. Basics of linear system A.1 System expression A.1.1 Linear time-invariant system A.1.2 Transfer function A.1.3 State space realization A.1.4 Relationship between transfer function and state space realization A.2 System analysis A.2.1 Stability A.2.2 Controllability A.2.3 Observability A.2.4 Zero point of multi-input / output system A.3 Basic feedback control system A.3.1 Appropriateness of feedback control system A.3.2 Internal stability

Appendix B. Linear fractional transformation B.1 Preparation B.2 Upper linear fractional transformation (upperLFT) B.3 Lower linear fractional transformation (lowerLFT) B.4 Freedom of expression for LFT

Citations / references Answers to exercises Afterword index

System Control II

** Book contents ** This book mainly explains modern control theory. So why not enter the world of modern control theory books? This is because it has advanced controls such as optimal control and robust stability. Other books dealing with modern control theory do not cover such topics (not all have been confirmed). It is characteristic that the theorem proving is written carefully.

** Impressions of watawata voltage ** ――It is interesting to read the Note part of the author. You may be surprised. ――The story of optimal control and robust stability is quite enthusiastic, and I would like to say that the title is too summarized. ――Since this book is B5 size, it is larger than other books. It means that the content is so substantial. ――I want to read the optimal control part firmly. ――I was impressed because I had never seen a book in which robust control and optimal control coexist.

** Table of contents of this book ** Chapter 1 Introduction Chapter 2 Equation of State Chapter 3 Controllability and Observability Chapter 4 Realization of linear system Chapter 5 Stability Chapter 6 Howling Chapter 7 Observer Chapter 8 Optimal control Chapter 9 Robust control Chapter 10 implementation Appendix Matrix and vector operations Shortcut of the exercise

The world of books related to "control learned from actual application examples"

In this section, I would like to introduce a book that features practical application examples and allows you to learn control engineering from them.

Control engineering learned with an inverted pendulum

** Book contents **

As the title suggests, you can learn control engineering using an inverted pendulum. The reason why we focused on the inverted pendulum among the many practical application examples is that, as mentioned in this book, it is an unstable system and the utility of feedback control can be confirmed. Also, you can easily create an actual machine. Inverted pendulum is also excellent as a subject for applying classical control and modern control. In the contents of this book, the mechanical parts, sensors, amplifiers, etc. required when constructing an inverted pendulum are first introduced, and you can see what kind of configuration it is. From there, it's all about control. In the control part, you can learn PID control, modern control, modeling, and parameter identification in the basics. You can also learn about the discretization required when implementing the designed control law on a computer. In the advanced version, from advanced control system design using Linear Matrix Inequality (LMI) to sample value control that controls continuous time system with discretized controllers, and finally stability from inverted pendulum swing up. You can learn nonlinear control that enables discretization control.

** Impressions of watawata voltage **

――This book is recommended for people who want to control the inverted pendulum. Inverted pendulum from start to finish If you have an inverted pendulum and want to move the inverted pendulum anyway, you should buy this book. ――Since I write from modeling of inverted pendulum (including linear approximation) to parameter identification and control, you can learn all the steps of control system design. ――It is very valuable to be able to learn advanced controls such as linear matrix inequalities, sample value control, and nonlinear control in this book. Furthermore, the point that the explanation is easy to understand is also wonderful. No book (maybe) introduces the above three controls at the same time. ――I think this book is recommended for those who want to learn the basics of linear matrix inequalities. Books dealing with the control of linear matrix inequality from 1 to 10 (for example, System control by LMI and [Control system design by matrix inequality approach] ](Https://www.coronasha.co.jp/np/isbn/9784339033236/)), but for the time being, this book is good if you use it with a light feeling. ――The contents of modern control are abundant and well explained, but with regard to classical control, feedback control, block diagram, and control system analysis are not explained, and suddenly PID control is not explained. It is included from the explanation of. If you have any questions about classical control, we recommend that you learn the basics in the above introduction to feedback control before learning the classical control part of this book. --The MATLAB / SIMULINK program has been uploaded to the support page of this manual, and a linear matrix. You can also download the software required to use inequality from this support page. It is wonderful that the support is also substantial like this. ――Also, the base of this book is a commentary article in the journal of the Society of System Control and Information Science. So, I think it's fun to read those articles. ――I feel that there are few sites that explain the linear matrix inequality part, so I would like to post an article on qiita again.

** Table of contents of this book **

Part I Basics Chapter 1 Outline of Inverted Pendulum and Flow of Control System Design Chapter 2 PID control of dolly position Chapter 3 Modeling and Parameter Identification Based on the Law of Physics Chapter 4 System State Space Representation and Stability Chapter 5 Controllability and State Feedback Chapter 6 Internal Model Principles and Servo Systems Chapter 7 Observability and Observers Chapter 8 Controller Implementation-Discretization

Part II Development Chapter 1 LMI and Control Chapter 2 Digital Control Chapter 3 Nonlinear Control

Easy-to-understand control

** Book contents ** This book focuses on classical control. Also, the reason why classification is not classical control but practical application is that we always use practical application to explain control. Therefore, there are few mathematical formulas, and instead, the control is explained with sentences, figures, and tables. Recommended as a reading material.

** Impressions of watawata voltage ** ――It is wonderful that the control system design procedure is explained carefully using tables and figures. In many other books, the text is sloppy. ――The variety of practical application examples described in the introduction is abundant and interesting. ――Every unit is explained in connection with actual application examples, so it is easy to imagine. --Since there are quite a few mathematical formulas, the theory part must be covered in other books.

** Table of contents of this book ** Chapter 1 What are some examples of control? Chapter 2 What are the control terms? Chapter 3 What is a transfer function (frequency transfer function)? Chapter 4 How can the control specifications be satisfied? Chapter 5 What is the procedure for creating a feedback control system? Chapter 6 What is the Laplace transform and transient response? Chapter 7 What is modeling? Chapter 8 What is Advanced Control?

Postscript