Passivity Based Control Of Euler Lagrange Systems

Author : Romeo Ortega
Publisher : Springer Science & Business Media
ISBN 13 : 1447136039
Total Pages : 560 pages
Book Rating : 4.33/5 ( download)

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Download or read book Passivity-based Control of Euler-Lagrange Systems written by Romeo Ortega and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 560 pages. Available in PDF, EPUB and Kindle. Book excerpt: The essence of this work is the control of electromechanical systems, such as manipulators, electric machines, and power converters. The common thread that links together the results presented here is the passivity property, which is at present in numerous electrical and mechanical systems, and which has great relevance in control engineering at this time. Amongst other topics, the authors cover: Euler-Lagrange Systems, Mechanical Systems, Generalised AC Motors, Induction Motor Control, Robots with AC Drives, and Perspectives and Open Problems. The authors have extensive experience of research and application in the field of control of electromechanical systems, which they have summarised here in this self-contained volume. While written in a strictly mathematical way, it is also elementary, and will be accessible to a wide-ranging audience, including graduate students as well as practitioners and researchers in this field.

Author : Romeo Ortega
Publisher : Springer
ISBN 13 : 9781447136040
Total Pages : 543 pages
Book Rating : 4.47/5 ( download)

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Download or read book Passivity-based Control of Euler-Lagrange Systems written by Romeo Ortega and published by Springer. This book was released on 2014-03-12 with total page 543 pages. Available in PDF, EPUB and Kindle. Book excerpt: The essence of this work is the control of electromechanical systems, such as manipulators, electric machines, and power converters. The common thread that links together the results presented here is the passivity property, which is at present in numerous electrical and mechanical systems, and which has great relevance in control engineering at this time. Amongst other topics, the authors cover: Euler-Lagrange Systems, Mechanical Systems, Generalised AC Motors, Induction Motor Control, Robots with AC Drives, and Perspectives and Open Problems. The authors have extensive experience of research and application in the field of control of electromechanical systems, which they have summarised here in this self-contained volume. While written in a strictly mathematical way, it is also elementary, and will be accessible to a wide-ranging audience, including graduate students as well as practitioners and researchers in this field.

Author : Romeo Ortega
Publisher : John Wiley & Sons
ISBN 13 : 1119694167
Total Pages : 244 pages
Book Rating : 4.68/5 ( download)

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Download or read book PID Passivity-Based Control of Nonlinear Systems with Applications written by Romeo Ortega and published by John Wiley & Sons. This book was released on 2021-09-15 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: Explore the foundational and advanced subjects associated with proportional-integral-derivative controllers from leading authors in the field In PID Passivity-Based Control of Nonlinear Systems with Applications, expert researchers and authors Drs. Romeo Ortega, Jose Guadalupe Romero, Pablo Borja, and Alejandro Donaire deliver a comprehensive and detailed discussion of the most crucial and relevant concepts in the analysis and design of proportional-integral-derivative controllers using passivity techniques. The accomplished authors present a formal treatment of the recent research in the area and offer readers practical applications of the developed methods to physical systems, including electrical, mechanical, electromechanical, power electronics, and process control. The book offers the material with minimal mathematical background, making it relevant to a wide audience. Familiarity with the theoretical tools reported in the control systems literature is not necessary to understand the concepts contained within. You’ll learn about a wide range of concepts, including disturbance rejection via PID control, PID control of mechanical systems, and Lyapunov stability of PID controllers. Readers will also benefit from the inclusion of: A thorough introduction to a class of physical systems described in the port-Hamiltonian form and a presentation of the systematic procedures to design PID-PBC for them An exploration of the applications to electrical, electromechanical, and process control systems of Lyapunov stability of PID controllers Practical discussions of the regulation and tracking of bilinear systems via PID control and their application to power electronics and thermal process control A concise treatment of the characterization of passive outputs, incremental models, and Port Hamiltonian and Euler-Lagrange systems Perfect for senior undergraduate and graduate students studying control systems, PID Passivity-Based Control will also earn a place in the libraries of engineers who practice in this area and seek a one-stop and fully updated reference on the subject.

Author : Alfonso Banos
Publisher : Springer Science & Business Media
ISBN 13 : 9781852333782
Total Pages : 346 pages
Book Rating : 4.82/5 ( download)

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Download or read book Advances in the Control of Nonlinear Systems written by Alfonso Banos and published by Springer Science & Business Media. This book was released on 2001-02-19 with total page 346 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume is based on the course notes of the 2nd NCN Pedagogical School, the second in the series of Pedagogical Schools in the frame work of the European TMR project, "Breakthrough in the control of nonlinear systems (Nonlinear Control Network)". The school consists of four courses that have been chosen to give a broad range of techniques for the analysis and synthesis of nonlinear control systems, and have been developed by leading experts in the field. The topics covered are: Differential Algebraic Methods in Nonlinear Systems; Nonlinear QFT; Hybrid Systems; Physics in Control. The book has a pedagogical character, and is specially directed to postgraduates in most areas of engineering and applied sciences like mathematics and physics. It will also be of interest to researchers and practitioners needing a solid introduction to the above topics.

Author : Arjan van der Schaft
Publisher : Springer Science & Business Media
ISBN 13 : 1447105079
Total Pages : 255 pages
Book Rating : 4.77/5 ( download)

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Download or read book L2 - Gain and Passivity Techniques in Nonlinear Control written by Arjan van der Schaft and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: With respect to the first edition as Volume 218 in the Lecture Notes in Con trol and Information Sciences series the basic idea of the second edition has remained the same: to provide a compact presentation of some basic ideas in the classical theory of input-output and closed-loop stability, together with a choice of contributions to the recent theory of nonlinear robust and 1foo control and passivity-based control. Nevertheless, some parts of the book have been thoroughly revised and/or expanded, in order to have a more balanced presen tation of the theory and to include some of the new developments which have been taken place since the appearance of the first edition. I soon realized, how ever, that it is not possible to give a broad exposition of the existing literature in this area without affecting the spirit of the book, which is precisely aimed at a compact presentation. So as a result the second edition still reflects very much my personal taste and research interests. I trust that others will write books emphasizing different aspects. Major changes with respect to the first edition are the following: • A new section has been added in Chapter 2 relating L2-gain and passivity via scattering, emphasizing a coordinate-free, geometric, treatment. • The section on stability in Chapter 3 has been thoroughly expanded, also incorporating some recent results presented in [182J.

Author : Rafael Kelly
Publisher : Springer Science & Business Media
ISBN 13 : 1852339993
Total Pages : 430 pages
Book Rating : 4.99/5 ( download)

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Download or read book Control of Robot Manipulators in Joint Space written by Rafael Kelly and published by Springer Science & Business Media. This book was released on 2007-12-14 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tutors can design entry-level courses in robotics with a strong orientation to the fundamental discipline of manipulator control pdf solutions manual Overheads will save a great deal of time with class preparation and will give students a low-effort basis for more detailed class notes Courses for senior undergraduates can be designed around Parts I – III; these can be augmented for masters courses using Part IV

Author : Schaft Van Der
Publisher :
ISBN 13 : 9781601987860
Total Pages : 230 pages
Book Rating : 4.62/5 ( download)

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Download or read book Port-Hamiltonian Systems Theory written by Schaft Van Der and published by . This book was released on 2014-06-13 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: Port-Hamiltonian Systems Theory: An Introductory Overview provides a concise and easily accessible description of the foundations underpinning the subject and emphasizes novel developments in the field, which will be of interest to a broad range of researchers.

Author : Alessandro Astolfi
Publisher : Springer Science & Business Media
ISBN 13 : 1848000669
Total Pages : 302 pages
Book Rating : 4.67/5 ( download)

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Download or read book Nonlinear and Adaptive Control with Applications written by Alessandro Astolfi and published by Springer Science & Business Media. This book was released on 2007-12-06 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: The authors here provide a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. They employ a new tool based on the ideas of system immersion and manifold invariance. New algorithms are delivered for the construction of robust asymptotically-stabilizing and adaptive control laws for nonlinear systems. The methods proposed lead to modular schemes that are easier to tune than their counterparts obtained from Lyapunov redesign.

Author : Xin Zhang
Publisher : Springer Nature
ISBN 13 : 9811971919
Total Pages : 175 pages
Book Rating : 4.14/5 ( download)

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Download or read book Stability Enhancement Methods of Inverters Based on Lyapunov Function, Predictive Control, and Reinforcement Learning written by Xin Zhang and published by Springer Nature. This book was released on 2022-11-29 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a family of large-signal stability-based control methods for different power inverters (grid-connected inverter, standalone inverter, single-phase inverter, and three-phase inverter) in practical applications. Power inverters have stability issues, which include the inverter's own instability as well as the inverter's instability in relation to the other power electronic devices in the system (i.e., weak grid and the EMI filter). Most of the stability analyses and solutions are based on small-signal stability technology. Unfortunately, in actuality, the majority of practical instability concerns in power inverter systems are large-signal stability problems, which, when compared to small-signal stability problems, can cause substantial damage to electrical equipment. As a result, researchers must conduct a comprehensive investigation of the large-signal stability challenge and solutions for power inverters. This book can be used as a reference for researchers, power inverters manufacturers, and end-users. As a result, the book will not become obsolete in the near future, regardless of technology advancements.

Author : Bernard Brogliato
Publisher : Springer Science & Business Media
ISBN 13 : 1846285178
Total Pages : 589 pages
Book Rating : 4.72/5 ( download)

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Download or read book Dissipative Systems Analysis and Control written by Bernard Brogliato and published by Springer Science & Business Media. This book was released on 2006-11-24 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: This second edition of Dissipative Systems Analysis and Control has been substantially reorganized to accommodate new material and enhance its pedagogical features. It examines linear and nonlinear systems with examples of both in each chapter. Also included are some infinite-dimensional and nonsmooth examples. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable feedback control laws.