{"product_id":"practical-control-system-design-9781394168187","title":"Practical Control System Design","description":"\u003cb\u003eBook Synopsis\u003c\/b\u003e\u003cbr\u003e\u003cb\u003ePractical Control System Design\u003c\/b\u003e \u003cp\u003e\u003cb\u003eThis book delivers real world experience covering full-scale industrial control design, for students and professional control engineers\u003c\/b\u003e \u003c\/p\u003e\u003cp\u003eInspired by the authors' industrial experience in control, \u003ci\u003ePractical Control System Design: Real World Designs Implemented on Emulated Industrial Systems\u003c\/i\u003e captures that experience, along with the necessary background theory, to enable readers to acquire the tools and skills necessary to tackle real world control engineering design problems. The book draws upon many industrial projects conducted by the authors and associates; these projects are used as case studies throughout the book, organized in the form of Virtual Laboratories so that readers can explore the studies at their own pace and to their own level of interest. The real-world designs include electromechanical servo systems, fluid storage, continuous steel casting, rolling mill center line gauge control, rocket dynamics and control, cr\u003cbr\u003e\u003cbr\u003e\u003cb\u003eTable of Contents\u003c\/b\u003e\u003cbr\u003e\u003c\/p\u003e\u003cp\u003ePreface xix\u003c\/p\u003e \u003cp\u003eAbout the Authors xxi\u003c\/p\u003e \u003cp\u003eAcknowledgements xxiii\u003c\/p\u003e \u003cp\u003eAbout the Companion Website xxiv\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart I Modelling and Analysis of Linear Systems 1\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Introduction to Control System Design 3\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e1.1 Introduction 3\u003c\/p\u003e \u003cp\u003e1.2 A Brief History of Control 4\u003c\/p\u003e \u003cp\u003e1.3 Digital Control 5\u003c\/p\u003e \u003cp\u003e1.4 Our Selection 5\u003c\/p\u003e \u003cp\u003e1.5 Thinking Outside the Box 6\u003c\/p\u003e \u003cp\u003e1.6 How the Book Is Organised 6\u003c\/p\u003e \u003cp\u003e1.7 Testing the Reader’s Understanding 6\u003c\/p\u003e \u003cp\u003e1.8 Revision Questions 7\u003c\/p\u003e \u003cp\u003eFurther Reading 7\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 Control as an Inverse Problem 9\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e2.1 Introduction 9\u003c\/p\u003e \u003cp\u003e2.2 The Elements 9\u003c\/p\u003e \u003cp\u003e2.3 Using Eigenvalue Analysis 10\u003c\/p\u003e \u003cp\u003e2.4 The Effect of Process and Disturbance Errors 11\u003c\/p\u003e \u003cp\u003e2.5 Feedback Control 11\u003c\/p\u003e \u003cp\u003e2.6 The Effect of Measurement Noise 12\u003c\/p\u003e \u003cp\u003e2.7 Sensitivity Functions 14\u003c\/p\u003e \u003cp\u003e2.8 Reducing the Impact of Disturbances and Model Error 14\u003c\/p\u003e \u003cp\u003e2.9 Impact of Measurement Noise 14\u003c\/p\u003e \u003cp\u003e2.10 Other Useful Sensitivity Functions 14\u003c\/p\u003e \u003cp\u003e2.11 Stability (A First Look) 15\u003c\/p\u003e \u003cp\u003e2.12 Sum of Sensitivity and Complementary Sensitivity 15\u003c\/p\u003e \u003cp\u003e2.13 Revision Questions 16\u003c\/p\u003e \u003cp\u003eFurther Reading 16\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 Introduction to Modelling 17\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e3.1 Introduction 17\u003c\/p\u003e \u003cp\u003e3.2 Physical Modelling 17\u003c\/p\u003e \u003cp\u003e3.2.1 Radio Telescope Positioning 17\u003c\/p\u003e \u003cp\u003e3.2.2 Band-Pass Filter 19\u003c\/p\u003e \u003cp\u003e3.2.3 Inverted Pendulum 19\u003c\/p\u003e \u003cp\u003e3.2.4 Flow of Liquid out of a Tank 20\u003c\/p\u003e \u003cp\u003e3.3 State-Space Model Representation 21\u003c\/p\u003e \u003cp\u003e3.3.1 Systems Without Zeros 22\u003c\/p\u003e \u003cp\u003e3.3.2 Systems Which Depend on Derivatives of the Input 23\u003c\/p\u003e \u003cp\u003e3.3.3 Example: State-Space Representation 24\u003c\/p\u003e \u003cp\u003e3.4 Linearisation and Approximation 25\u003c\/p\u003e \u003cp\u003e3.4.1 Linearisation of Inverted Pendulum Model 26\u003c\/p\u003e \u003cp\u003e3.5 Revision Questions 27\u003c\/p\u003e \u003cp\u003eFurther Reading 28\u003c\/p\u003e \u003cp\u003e\u003cb\u003e4 Continuous-Time Signals and Systems 29\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e4.1 Introduction 29\u003c\/p\u003e \u003cp\u003e4.2 Linear Continuous-Time Models 29\u003c\/p\u003e \u003cp\u003e4.3 Laplace Transforms 30\u003c\/p\u003e \u003cp\u003e4.4 Application of Laplace Transforms to Linear Differential Equations 31\u003c\/p\u003e \u003cp\u003e4.4.1 Example: Angle of Radio Telescope 32\u003c\/p\u003e \u003cp\u003e4.4.2 Example: Modelling the Angular Velocity of Radio Telescope 33\u003c\/p\u003e \u003cp\u003e4.5 A Heuristic Introduction to Laplace Transforms 33\u003c\/p\u003e \u003cp\u003e4.6 Transfer Functions 34\u003c\/p\u003e \u003cp\u003e4.6.1 High-Order Differential Equation Models 34\u003c\/p\u003e \u003cp\u003e4.6.2 Example: Transfer Function for Radio Telescope 35\u003c\/p\u003e \u003cp\u003e4.6.3 Transfer Functions for Continuous-Time State-Space Models 35\u003c\/p\u003e \u003cp\u003e4.6.4 Example: Inverted Pendulum 36\u003c\/p\u003e \u003cp\u003e4.6.5 Poles, Zeros and Other Properties of Transfer Functions 36\u003c\/p\u003e \u003cp\u003e4.6.6 Time Delays 36\u003c\/p\u003e \u003cp\u003e4.6.7 Heuristic Development of Transfer Function of Delay 37\u003c\/p\u003e \u003cp\u003e4.6.8 Example: Heating System 37\u003c\/p\u003e \u003cp\u003e4.7 Stability of Transfer Functions 38\u003c\/p\u003e \u003cp\u003e4.7.1 Example: Poles of the Radio Telescope Model 38\u003c\/p\u003e \u003cp\u003e4.8 Impulse Response of Continuous-Time Linear Systems 38\u003c\/p\u003e \u003cp\u003e4.8.1 Impulse Response 38\u003c\/p\u003e \u003cp\u003e4.8.2 Convolution and Transfer Functions 39\u003c\/p\u003e \u003cp\u003e4.9 Step Response 39\u003c\/p\u003e \u003cp\u003e4.10 Steady-State Response and Integral Action 40\u003c\/p\u003e \u003cp\u003e4.11 Terms Used to Describe Step Responses 40\u003c\/p\u003e \u003cp\u003e4.12 Frequency Response 41\u003c\/p\u003e \u003cp\u003e4.12.1 Nyquist Diagrams 43\u003c\/p\u003e \u003cp\u003e4.12.2 Bode Diagrams 43\u003c\/p\u003e \u003cp\u003e4.12.3 Example: Simple Transfer Function 44\u003c\/p\u003e \u003cp\u003e4.13 Revision Questions 45\u003c\/p\u003e \u003cp\u003eFurther Reading 46\u003c\/p\u003e \u003cp\u003e\u003cb\u003e5 Laboratory 1: Modelling of an Electromechanical Servomechanism 47\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e5.1 Introduction 47\u003c\/p\u003e \u003cp\u003e5.2 The Physical Apparatus 47\u003c\/p\u003e \u003cp\u003e5.3 Estimation of Motor Parameters 49\u003c\/p\u003e \u003cp\u003e5.3.1 Motivation for Building a Model 50\u003c\/p\u003e \u003cp\u003e5.3.2 Experiment: Why Build a Model? 50\u003c\/p\u003e \u003cp\u003e5.3.3 Step Response Testing 50\u003c\/p\u003e \u003cp\u003e5.3.4 Experiment: Measuring the Open-Loop Gain and Time Constant 51\u003c\/p\u003e \u003cp\u003e5.3.5 Frequency Response 51\u003c\/p\u003e \u003cp\u003e5.3.6 Experiment: Measuring Frequency Response 52\u003c\/p\u003e \u003cp\u003e5.3.7 Experiment: Alternative Measurement of Frequency Response 52\u003c\/p\u003e \u003cp\u003e5.4 Revision Questions 53\u003c\/p\u003e \u003cp\u003eFurther Reading 53\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart II Control System Design Techniques for Linear Single-input Single-output Systems 55\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Analysis of Linear Feedback Systems 57\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e6.1 Introduction 57\u003c\/p\u003e \u003cp\u003e6.2 Feedback Structures 57\u003c\/p\u003e \u003cp\u003e6.3 Nominal Sensitivity Functions 59\u003c\/p\u003e \u003cp\u003e6.4 Analysing Stability Using the Characteristic Polynomial 60\u003c\/p\u003e \u003cp\u003e6.4.1 Example: Pole-Zero Cancellation 61\u003c\/p\u003e \u003cp\u003e6.5 Stability and Polynomial Analysis 61\u003c\/p\u003e \u003cp\u003e6.5.1 Stability via Evaluation of the Roots 61\u003c\/p\u003e \u003cp\u003e6.6 Root Locus (RL) 61\u003c\/p\u003e \u003cp\u003e6.7 Nominal Stability Using Frequency Response 63\u003c\/p\u003e \u003cp\u003e6.8 Relative Stability: Stability Margins and Sensitivity Peaks 67\u003c\/p\u003e \u003cp\u003e6.9 From Polar Plots to Bode Diagrams 68\u003c\/p\u003e \u003cp\u003e6.10 Robustness 69\u003c\/p\u003e \u003cp\u003e6.10.1 Achieved Sensitivities 69\u003c\/p\u003e \u003cp\u003e6.10.2 Robust Stability 69\u003c\/p\u003e \u003cp\u003e6.11 Revision Questions 71\u003c\/p\u003e \u003cp\u003eFurther Reading 72\u003c\/p\u003e \u003cp\u003e\u003cb\u003e7 Design of Control Laws for Single-Input Single-Output Linear Systems 73\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e7.1 Introduction 73\u003c\/p\u003e \u003cp\u003e7.2 Closed-Loop Pole Assignment 73\u003c\/p\u003e \u003cp\u003e7.2.1 Example: Steam Receiver 74\u003c\/p\u003e \u003cp\u003e7.3 Using Root Locus 75\u003c\/p\u003e \u003cp\u003e7.3.1 Example: Double Integrator 75\u003c\/p\u003e \u003cp\u003e7.3.2 Example: Unstable Process 76\u003c\/p\u003e \u003cp\u003e7.4 All Stabilising Control Laws 77\u003c\/p\u003e \u003cp\u003e7.5 Design Using the Youla–Kucera Parameterisation 79\u003c\/p\u003e \u003cp\u003e7.5.1 Example: Simple First-Order Model 80\u003c\/p\u003e \u003cp\u003e7.6 Integral Action 80\u003c\/p\u003e \u003cp\u003e7.7 Anti-Windup 81\u003c\/p\u003e \u003cp\u003e7.8 PID Design 82\u003c\/p\u003e \u003cp\u003e7.8.1 Structure 82\u003c\/p\u003e \u003cp\u003e7.8.2 Using the Youla–Kucera Parameterisation for PID Design 84\u003c\/p\u003e \u003cp\u003e7.9 Empirical Tuning 84\u003c\/p\u003e \u003cp\u003e7.10 Ziegler–Nichols (Z–N) Oscillation Method 84\u003c\/p\u003e \u003cp\u003e7.10.1 Example: Third-Order Plant 85\u003c\/p\u003e \u003cp\u003e7.11 Two Degrees of Freedom Design 86\u003c\/p\u003e \u003cp\u003e7.12 Disturbance Feedforward 86\u003c\/p\u003e \u003cp\u003e7.13 Revision Questions 87\u003c\/p\u003e \u003cp\u003eFurther Reading 88\u003c\/p\u003e \u003cp\u003e\u003cb\u003e8 Laboratory 2: Position Control of Electromechanical Servomechanism 89\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e8.1 Introduction 89\u003c\/p\u003e \u003cp\u003e8.2 Proportional Feedback 89\u003c\/p\u003e \u003cp\u003e8.2.1 Experiment: Testing a Proportion only Control Law 91\u003c\/p\u003e \u003cp\u003e8.3 Using Proportional Plus Derivative Feedback 91\u003c\/p\u003e \u003cp\u003e8.3.1 Experiment: Testing a PD Control Law 92\u003c\/p\u003e \u003cp\u003e8.4 Tachometer Feedback 92\u003c\/p\u003e \u003cp\u003e8.5 PID Design 92\u003c\/p\u003e \u003cp\u003e8.5.1 Output Disturbances 92\u003c\/p\u003e \u003cp\u003e8.5.2 Input Disturbance 93\u003c\/p\u003e \u003cp\u003e8.5.3 A Simple Design Procedure 94\u003c\/p\u003e \u003cp\u003e8.5.4 Experiment: Testing a PID Control Law 94\u003c\/p\u003e \u003cp\u003e8.6 Revision Questions 95\u003c\/p\u003e \u003cp\u003eFurther Reading 95\u003c\/p\u003e \u003cp\u003e\u003cb\u003e9 Laboratory 3: Continuous Casting Machine: Linear Considerations 97\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e9.1 Introduction 97\u003c\/p\u003e \u003cp\u003e9.2 The Physical Equipment 97\u003c\/p\u003e \u003cp\u003e9.3 Modelling of Continuous Casting Machine 99\u003c\/p\u003e \u003cp\u003e9.4 Proportional Control 102\u003c\/p\u003e \u003cp\u003e9.5 Response to Set-Point Changes 103\u003c\/p\u003e \u003cp\u003e9.6 Experiments 103\u003c\/p\u003e \u003cp\u003e9.6.1 Experiment: Model Parameter Estimation 103\u003c\/p\u003e \u003cp\u003e9.6.2 Low Gain Feedback 104\u003c\/p\u003e \u003cp\u003e9.6.3 High Gain Feedback 104\u003c\/p\u003e \u003cp\u003e9.7 Effect of Measurement Noise 104\u003c\/p\u003e \u003cp\u003e9.7.1 Experiment: Measuring the Impact of Measurement Noise 105\u003c\/p\u003e \u003cp\u003e9.8 Pure Integral Control 105\u003c\/p\u003e \u003cp\u003e9.8.1 Experiment: Testing Pure Integral Control 106\u003c\/p\u003e \u003cp\u003e9.9 PI Control 106\u003c\/p\u003e \u003cp\u003e9.9.1 Experiment: Testing PI Control 107\u003c\/p\u003e \u003cp\u003e9.9.2 Experiment: Testing the Response to Varying Casting Speed 108\u003c\/p\u003e \u003cp\u003e9.10 Feedforward Control 108\u003c\/p\u003e \u003cp\u003e9.10.1 Experiment: Testing Feedforward Control 109\u003c\/p\u003e \u003cp\u003e9.10.2 Experiment: Testing Sensitivity to the Feedforward Gain 110\u003c\/p\u003e \u003cp\u003e9.11 Revision Questions 110\u003c\/p\u003e \u003cp\u003eFurther Reading 110\u003c\/p\u003e \u003cp\u003e\u003cb\u003e10 Laboratory 4: Modelling and Control of Fluid Level in Tanks 113\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e10.1 Introduction 113\u003c\/p\u003e \u003cp\u003e10.2 The Controllers 113\u003c\/p\u003e \u003cp\u003e10.3 Physical Modelling 113\u003c\/p\u003e \u003cp\u003e10.3.1 Experiment: Estimating Plant Gain and Time Constant 117\u003c\/p\u003e \u003cp\u003e10.4 Closed-Loop Level Control for a Single Tank 117\u003c\/p\u003e \u003cp\u003e10.4.1 Proportional Only Control 117\u003c\/p\u003e \u003cp\u003e10.4.2 Experiment: Testing Proportional Control 117\u003c\/p\u003e \u003cp\u003e10.4.3 Integral Only Control 118\u003c\/p\u003e \u003cp\u003e10.4.4 Experiment: Testing Integral Control 118\u003c\/p\u003e \u003cp\u003e10.4.5 Proportional Plus Integral Control 119\u003c\/p\u003e \u003cp\u003e10.4.6 Experiment: Testing PI Control 119\u003c\/p\u003e \u003cp\u003e10.4.7 Experiment: Alternative PI Controller 119\u003c\/p\u003e \u003cp\u003e10.5 Closed-Loop Level Control of Interconnected Tanks 119\u003c\/p\u003e \u003cp\u003e10.6 Revision Questions 120\u003c\/p\u003e \u003cp\u003eFurther Reading 121\u003c\/p\u003e \u003cp\u003e\u003cb\u003e11 Laboratory 5: Wind Power (Mechanical Components) 123\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e11.1 Introduction 123\u003c\/p\u003e \u003cp\u003e11.2 Yaw Control 123\u003c\/p\u003e \u003cp\u003e11.2.1 Experiment: Estimating the Yaw Time Constant 127\u003c\/p\u003e \u003cp\u003e11.2.2 Design of Yaw Controller 127\u003c\/p\u003e \u003cp\u003e11.2.3 Experiment: Testing the Yaw Controller 128\u003c\/p\u003e \u003cp\u003e11.3 Rotational Velocity Control 129\u003c\/p\u003e \u003cp\u003e11.3.1 Experiment: Testing the Rotational Velocity Control Law 133\u003c\/p\u003e \u003cp\u003e11.4 Pitch Control 133\u003c\/p\u003e \u003cp\u003e11.5 Experiment: Testing the Pitch Controller 134\u003c\/p\u003e \u003cp\u003e11.6 Revision Questions 135\u003c\/p\u003e \u003cp\u003eFurther Reading 135\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart III More Complex Linear Single-Input Single-Output Systems 137\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e12 Time Delay Systems 139\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e12.1 Introduction 139\u003c\/p\u003e \u003cp\u003e12.2 Transfer Function Analysis 139\u003c\/p\u003e \u003cp\u003e12.3 Classical PID Design Revisited 140\u003c\/p\u003e \u003cp\u003e12.4 Padé Approximation 140\u003c\/p\u003e \u003cp\u003e12.5 Using the Youla–Kucera Parameterisation 140\u003c\/p\u003e \u003cp\u003e12.6 Smith Predictor 141\u003c\/p\u003e \u003cp\u003e12.7 Modern Interpretation of Smith Predictor 142\u003c\/p\u003e \u003cp\u003e12.8 Sensitivity Trade-Offs 142\u003c\/p\u003e \u003cp\u003e12.9 Theoretical Analysis of Effect of Delay Errors on Smith Predictor 143\u003c\/p\u003e \u003cp\u003e12.10 Revision Questions 144\u003c\/p\u003e \u003cp\u003eFurther Reading 145\u003c\/p\u003e \u003cp\u003e\u003cb\u003e13 Laboratory 6: Rolling Mill (Transport Delay) 147\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e13.1 Introduction 147\u003c\/p\u003e \u003cp\u003e13.2 The Physical System 147\u003c\/p\u003e \u003cp\u003e13.3 Modelling 149\u003c\/p\u003e \u003cp\u003e13.3.1 Description of the Process 149\u003c\/p\u003e \u003cp\u003e13.3.2 Sensors and Actuators 149\u003c\/p\u003e \u003cp\u003e13.3.3 Disturbances 149\u003c\/p\u003e \u003cp\u003e13.3.4 Aims of the Control System 149\u003c\/p\u003e \u003cp\u003e13.4 Building a Model 150\u003c\/p\u003e \u003cp\u003e13.4.1 The Mill Frame 150\u003c\/p\u003e \u003cp\u003e13.4.2 Strip Deformation 150\u003c\/p\u003e \u003cp\u003e13.4.3 Composite Model 151\u003c\/p\u003e \u003cp\u003e13.4.4 Open-Loop Steady-State Performance 152\u003c\/p\u003e \u003cp\u003e13.5 Basic Control System Design 152\u003c\/p\u003e \u003cp\u003e13.6 Linear Control Ignoring the Time Delay 153\u003c\/p\u003e \u003cp\u003e13.6.1 Experiment: Testing a PI Controller 154\u003c\/p\u003e \u003cp\u003e13.7 Linear Control Based on Rational Approximation to the Time Delay 155\u003c\/p\u003e \u003cp\u003e13.7.1 Experiment: Testing PID Design 156\u003c\/p\u003e \u003cp\u003e13.8 Control System Design Based on Smith Predictor 156\u003c\/p\u003e \u003cp\u003e13.8.1 Experiment: Testing Smith Predictor 157\u003c\/p\u003e \u003cp\u003e13.9 Use of a Soft Sensor 158\u003c\/p\u003e \u003cp\u003e13.9.1 The BISRA Gauge 158\u003c\/p\u003e \u003cp\u003e13.9.2 Experiment: Testing the BISRA Gauge 159\u003c\/p\u003e \u003cp\u003e13.10 Robustness of BISRA Gauge 159\u003c\/p\u003e \u003cp\u003e13.10.1 Experiment: Testing Sensitivity to Mill Modulus 159\u003c\/p\u003e \u003cp\u003e13.10.2 Experiment: Alternative Solution to Achieve Steady-State Tracking 159\u003c\/p\u003e \u003cp\u003e13.11 Revision Questions 159\u003c\/p\u003e \u003cp\u003eFurther Reading 160\u003c\/p\u003e \u003cp\u003e\u003cb\u003e14 Control System Design for Open-Loop Unstable Systems 161\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e14.1 Introduction 161\u003c\/p\u003e \u003cp\u003e14.2 Some Simple Examples of Open-Loop Unstable Systems 161\u003c\/p\u003e \u003cp\u003e14.3 All Stabilising Control Laws for Systems Having Undesirable Open-Loop Poles 163\u003c\/p\u003e \u003cp\u003e14.4 Revision Questions 164\u003c\/p\u003e \u003cp\u003eFurther Reading 165\u003c\/p\u003e \u003cp\u003e\u003cb\u003e15 Laboratory 7: Control of a Rocket 167\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e15.1 Introduction 167\u003c\/p\u003e \u003cp\u003e15.2 Dynamics of a Rocket in 2D Flight 167\u003c\/p\u003e \u003cp\u003e15.2.1 Coordinate Systems 167\u003c\/p\u003e \u003cp\u003e15.2.2 Forces 169\u003c\/p\u003e \u003cp\u003e15.2.3 Translational Dynamics 170\u003c\/p\u003e \u003cp\u003e15.2.4 Rotational Dynamics 170\u003c\/p\u003e \u003cp\u003e15.2.5 Composite Model 171\u003c\/p\u003e \u003cp\u003e15.3 Equilibrium 171\u003c\/p\u003e \u003cp\u003e15.4 Linearised Model 171\u003c\/p\u003e \u003cp\u003e15.5 Open-Loop Flight 172\u003c\/p\u003e \u003cp\u003e15.6 Controller Design for the Rocket 172\u003c\/p\u003e \u003cp\u003e15.6.1 Simplified Design of PID 172\u003c\/p\u003e \u003cp\u003e15.6.2 Frequency Domain Design 173\u003c\/p\u003e \u003cp\u003e15.7 Experiment: Testing the Control Law 174\u003c\/p\u003e \u003cp\u003e15.7.1 Testing the Design Mode in Section 15.6.1 174\u003c\/p\u003e \u003cp\u003e15.7.2 Testing the Design Made in Section 15.6.2 175\u003c\/p\u003e \u003cp\u003e15.8 Revision Questions 175\u003c\/p\u003e \u003cp\u003eFurther Reading 175\u003c\/p\u003e \u003cp\u003e\u003cb\u003e16 Bode Sensitivity Trade-Offs 177\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e16.1 Introduction 177\u003c\/p\u003e \u003cp\u003e16.2 System Properties 177\u003c\/p\u003e \u003cp\u003e16.3 Bode Integral Constraints 178\u003c\/p\u003e \u003cp\u003e16.3.1 Open-Loop Stable Systems 178\u003c\/p\u003e \u003cp\u003e16.4 Examples of Bode Sensitivity Trade-Offs 178\u003c\/p\u003e \u003cp\u003e16.4.1 Open-Loop Unstable Systems 180\u003c\/p\u003e \u003cp\u003e16.5 Bode Complementary Sensitivity Integrals 180\u003c\/p\u003e \u003cp\u003e16.5.1 Minimum Phase Plants 180\u003c\/p\u003e \u003cp\u003e16.5.2 Non-minimum Phase Plants 180\u003c\/p\u003e \u003cp\u003e16.6 Bode Sensitivity for Time-Delay Systems 180\u003c\/p\u003e \u003cp\u003e16.7 Revision Questions 181\u003c\/p\u003e \u003cp\u003eFurther Reading 181\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart IV Sampled Data Control Systems 183\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e17 Principles of Sampled-Data Control System Design 185\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e17.1 Introduction 185\u003c\/p\u003e \u003cp\u003e17.2 A\/D Conversion 185\u003c\/p\u003e \u003cp\u003e17.3 Sampled Output Noise 185\u003c\/p\u003e \u003cp\u003e17.4 D\/A Conversion 186\u003c\/p\u003e \u003cp\u003e17.5 Sampled-Data Models 187\u003c\/p\u003e \u003cp\u003e17.6 Shift Operator Models 187\u003c\/p\u003e \u003cp\u003e17.7 Divided Difference Models 187\u003c\/p\u003e \u003cp\u003e17.8 Euler Approximate Model 188\u003c\/p\u003e \u003cp\u003e17.9 Euler Approximate Model in Delta Domain 188\u003c\/p\u003e \u003cp\u003e17.10 Delta Analysis 189\u003c\/p\u003e \u003cp\u003e17.11 Historical Notes 189\u003c\/p\u003e \u003cp\u003e17.12 An Example of Shift and Delta Models 189\u003c\/p\u003e \u003cp\u003e17.13 Sampled-Data Stability 190\u003c\/p\u003e \u003cp\u003e17.14 Bode Sensitivity Integrals (Sampled Data Case) 190\u003c\/p\u003e \u003cp\u003e17.14.1 Z-Domain 192\u003c\/p\u003e \u003cp\u003e17.14.2 Delta Domain 192\u003c\/p\u003e \u003cp\u003e17.15 Sampling Zeros 193\u003c\/p\u003e \u003cp\u003e17.16 Revision Questions 193\u003c\/p\u003e \u003cp\u003eFurther Reading 194\u003c\/p\u003e \u003cp\u003e\u003cb\u003e18 Laboratory 8: Audio Signal Processing and Optimal Noise Shaping Quantisers 197\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e18.1 Introduction 197\u003c\/p\u003e \u003cp\u003e18.2 The Physical Apparatus 197\u003c\/p\u003e \u003cp\u003e18.3 Psychoacoustic Issues 198\u003c\/p\u003e \u003cp\u003e18.3.1 Experiment: Testing Your Hearing Sensitivity 199\u003c\/p\u003e \u003cp\u003e18.4 Nearest Neighbour Quantisation 200\u003c\/p\u003e \u003cp\u003e18.4.1 Experiment: Testing the Nearest Neighbour Quantiser 200\u003c\/p\u003e \u003cp\u003e18.5 Optimal Noise Shaping Quantiser 201\u003c\/p\u003e \u003cp\u003e18.5.1 Feedback Quantiser 201\u003c\/p\u003e \u003cp\u003e18.5.2 Experiment: Test the Feedback Quantiser 202\u003c\/p\u003e \u003cp\u003e18.6 Utilising Your Own Hearing Sensitivity 202\u003c\/p\u003e \u003cp\u003e18.6.1 Experiment: Test the Feedback Quantiser Using Your Hearing Sensitivity 204\u003c\/p\u003e \u003cp\u003e18.7 Audio Quantisation from a Bode Sensitivity Integral Perspective 204\u003c\/p\u003e \u003cp\u003e18.7.1 Experiment: Spectrum of Errors 205\u003c\/p\u003e \u003cp\u003e18.7.2 Experiment: Testing Bode Sensitivity Integral 205\u003c\/p\u003e \u003cp\u003e18.8 Audio Quantisation for More Complex Cases 205\u003c\/p\u003e \u003cp\u003e18.8.1 Experiment: More Complex Case 206\u003c\/p\u003e \u003cp\u003e18.9 Revision Questions 206\u003c\/p\u003e \u003cp\u003eFurther Reading 207\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart V Simple Multivariable Control Problems 209\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e19 Tools Used for Simple Multivariable Control Problems 211\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e19.1 Introduction 211\u003c\/p\u003e \u003cp\u003e19.2 Cascade Control 211\u003c\/p\u003e \u003cp\u003e19.2.1 Example of Cascade Control 212\u003c\/p\u003e \u003cp\u003e19.3 Imposed SISO Architectures 214\u003c\/p\u003e \u003cp\u003e19.4 Relative Gain Array 215\u003c\/p\u003e \u003cp\u003e19.5 An Industrial Example 215\u003c\/p\u003e \u003cp\u003e19.5.1 The Relative Gain Array 215\u003c\/p\u003e \u003cp\u003e19.5.2 A Simple MV Transformation 216\u003c\/p\u003e \u003cp\u003e19.6 Revision Questions 216\u003c\/p\u003e \u003cp\u003eFurther Reading 216\u003c\/p\u003e \u003cp\u003e\u003cb\u003e20 Laboratory 9: Wind Power (Electrical Components) 217\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e20.1 Introduction 217\u003c\/p\u003e \u003cp\u003e20.2 Generator Choices 217\u003c\/p\u003e \u003cp\u003e20.3 Physical Parameters for the Laboratory Wind Turbine 217\u003c\/p\u003e \u003cp\u003e20.4 The Generator and Grid Side Architectures 219\u003c\/p\u003e \u003cp\u003e20.5 Background Theory 219\u003c\/p\u003e \u003cp\u003e20.5.1 Alpha, Beta Coordinates 220\u003c\/p\u003e \u003cp\u003e20.5.2 dq Frame 220\u003c\/p\u003e \u003cp\u003e20.5.3 The Inverse Transformation 221\u003c\/p\u003e \u003cp\u003e20.5.4 First-Order Dynamics in dq Frame 221\u003c\/p\u003e \u003cp\u003e20.6 Generator Side Model 222\u003c\/p\u003e \u003cp\u003e20.7 Generator Side Control Law 223\u003c\/p\u003e \u003cp\u003e20.7.1 Regulation of I Sd 224\u003c\/p\u003e \u003cp\u003e20.7.2 Regulation of I Sq 224\u003c\/p\u003e \u003cp\u003e20.7.3 Alignment of dq Frame 224\u003c\/p\u003e \u003cp\u003e20.7.4 Conversion of V Sd , V Sq Back to Time Domain 225\u003c\/p\u003e \u003cp\u003e20.8 The Link Capacitor Model 225\u003c\/p\u003e \u003cp\u003e20.8.1 Current into the Capacitor 225\u003c\/p\u003e \u003cp\u003e20.8.2 Dynamics of the Capacitor 225\u003c\/p\u003e \u003cp\u003e20.9 Regulation of the Capacitor Voltage 226\u003c\/p\u003e \u003cp\u003e20.10 Model for the Grid Side Transformer 226\u003c\/p\u003e \u003cp\u003e20.11 The Grid Side Control Law 226\u003c\/p\u003e \u003cp\u003e20.11.1 Regulation of I Cq 227\u003c\/p\u003e \u003cp\u003e20.11.2 Regulation of I cd 227\u003c\/p\u003e \u003cp\u003e20.12 Complete Electrical System Control Law 227\u003c\/p\u003e \u003cp\u003e20.13 Testing the Electrical Control Laws 229\u003c\/p\u003e \u003cp\u003e20.13.1 Generator Side 229\u003c\/p\u003e \u003cp\u003e20.13.2 Grid Side 229\u003c\/p\u003e \u003cp\u003e20.14 Experiments on the Complete System 229\u003c\/p\u003e \u003cp\u003e20.14.1 Experiment: Testing the Impact of Wind Direction 230\u003c\/p\u003e \u003cp\u003e20.14.2 Experiment: Testing the Impact of Wind Speed 231\u003c\/p\u003e \u003cp\u003e20.15 Revision Questions 231\u003c\/p\u003e \u003cp\u003eFurther Reading 233\u003c\/p\u003e \u003cp\u003e\u003cb\u003e21 Laboratory 10: Cross-Directional Control in Paper Machines: PID Control 235\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e21.1 Introduction 235\u003c\/p\u003e \u003cp\u003e21.2 Web-Forming Process 235\u003c\/p\u003e \u003cp\u003e21.3 Basis Weight Control in a Paper Machine 237\u003c\/p\u003e \u003cp\u003e21.4 Process Model 237\u003c\/p\u003e \u003cp\u003e21.4.1 Experiment: Measuring the Cross-Directional Profile 241\u003c\/p\u003e \u003cp\u003e21.4.2 Experiment: Measuring the Machine Direction Dynamics 241\u003c\/p\u003e \u003cp\u003e21.5 Simple SISO Design Ignoring Coupling 241\u003c\/p\u003e \u003cp\u003e21.5.1 Experiment: Testing Simple PID Controllers 242\u003c\/p\u003e \u003cp\u003e21.6 Simple SISO Design Accounting for Coupling 242\u003c\/p\u003e \u003cp\u003e21.6.1 Experiment: Testing a Decoupled PID Structure 243\u003c\/p\u003e \u003cp\u003e21.7 Summary 243\u003c\/p\u003e \u003cp\u003e21.8 Revision Questions 244\u003c\/p\u003e \u003cp\u003eFurther Reading 244\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart VI Multivariable Control Systems (More General Methods) 247\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e22 State Variable Feedback 249\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e22.1 Introduction 249\u003c\/p\u003e \u003cp\u003e22.2 Sampled-Data Control 249\u003c\/p\u003e \u003cp\u003e22.2.1 Pole Assignment 249\u003c\/p\u003e \u003cp\u003e22.2.2 Linear Quadratic Regulator (LQR) 249\u003c\/p\u003e \u003cp\u003e22.3 Dynamic Programming 250\u003c\/p\u003e \u003cp\u003e22.4 Infinite Horizon Linear Quadratic Optimal Problem 251\u003c\/p\u003e \u003cp\u003e22.5 Delta-Domain Result 251\u003c\/p\u003e \u003cp\u003e22.6 Continuous-Time Linear Quadratic Regulator 252\u003c\/p\u003e \u003cp\u003e22.6.1 Pole Assignment 252\u003c\/p\u003e \u003cp\u003e22.6.2 Continuous-Time Linear Quadratic Regulator 252\u003c\/p\u003e \u003cp\u003e22.7 Regulation to a Fixed Set-Point 253\u003c\/p\u003e \u003cp\u003e22.8 Frequency Domain Insights into the Linear Quadratic Regulator 254\u003c\/p\u003e \u003cp\u003e22.9 Output Feedback 255\u003c\/p\u003e \u003cp\u003e22.9.1 A State Estimator (or Observer) 255\u003c\/p\u003e \u003cp\u003e22.9.2 Certainty Equivalence 255\u003c\/p\u003e \u003cp\u003e22.10 Separation 256\u003c\/p\u003e \u003cp\u003e22.11 Achieving Integral Action 256\u003c\/p\u003e \u003cp\u003e22.11.1 The Problem 256\u003c\/p\u003e \u003cp\u003e22.11.2 The Remedy 256\u003c\/p\u003e \u003cp\u003e22.11.3 Properties 257\u003c\/p\u003e \u003cp\u003e22.12 All Stabilising Control Laws Revisited 258\u003c\/p\u003e \u003cp\u003e22.12.1 Stable Open-Loop Plants 259\u003c\/p\u003e \u003cp\u003e22.12.2 Adding Stable Uncontrollable Disturbance States 259\u003c\/p\u003e \u003cp\u003e22.12.3 Adding Non-stabilisable Disturbance States 260\u003c\/p\u003e \u003cp\u003e22.13 Model Predictive Control 260\u003c\/p\u003e \u003cp\u003e22.14 Revision Questions 260\u003c\/p\u003e \u003cp\u003eFurther Reading 261\u003c\/p\u003e \u003cp\u003e\u003cb\u003e23 The Kalman Filter 263\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e23.1 Introduction 263\u003c\/p\u003e \u003cp\u003e23.2 Periodic Disturbances 263\u003c\/p\u003e \u003cp\u003e23.2.1 Continuous-Time Model 263\u003c\/p\u003e \u003cp\u003e23.2.2 Sampled-Data Process Noise 264\u003c\/p\u003e \u003cp\u003e23.2.3 Sampled-Data Measurement Noise 265\u003c\/p\u003e \u003cp\u003e23.2.4 The Full Sampled-Data Model 265\u003c\/p\u003e \u003cp\u003e23.3 The Best Observer Gain 266\u003c\/p\u003e \u003cp\u003e23.4 Steady-State Optimal Estimator 267\u003c\/p\u003e \u003cp\u003e23.5 Treating Non-White Noise 268\u003c\/p\u003e \u003cp\u003e23.6 Dealing with Constant Disturbances 268\u003c\/p\u003e \u003cp\u003e23.7 Periodic Disturbances 268\u003c\/p\u003e \u003cp\u003e23.8 Accounting for Delays 269\u003c\/p\u003e \u003cp\u003e23.9 Multiple Output Measurements 269\u003c\/p\u003e \u003cp\u003e23.10 Continuous-Time Kalman Filter 270\u003c\/p\u003e \u003cp\u003e23.11 Linking Continuous Kalman Filter and Discrete Kalman Filter 270\u003c\/p\u003e \u003cp\u003e23.12 The Linear Quadratic Regulator Revisited 271\u003c\/p\u003e \u003cp\u003e23.13 Quantifying the Performance 271\u003c\/p\u003e \u003cp\u003e23.14 Revision Questions 272\u003c\/p\u003e \u003cp\u003eFurther Reading 274\u003c\/p\u003e \u003cp\u003e\u003cb\u003e24 Laboratory 11: Rolling Mill Revisited (Periodic Disturbances) 275\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e24.1 Introduction 275\u003c\/p\u003e \u003cp\u003e24.2 Disturbances 275\u003c\/p\u003e \u003cp\u003e24.3 Effects of Roll Eccentricity 276\u003c\/p\u003e \u003cp\u003e24.3.1 Experiment: Measuring the Impact of Roll Eccentricity 277\u003c\/p\u003e \u003cp\u003e24.4 Tight Feedback Control 277\u003c\/p\u003e \u003cp\u003e24.4.1 Experiment: Testing the Impact of Eccentricity on the BISRA Gauge 278\u003c\/p\u003e \u003cp\u003e24.4.2 Analysis of the Effect of Control Law Bandwidth 278\u003c\/p\u003e \u003cp\u003e24.5 Eccentricity Compensation 278\u003c\/p\u003e \u003cp\u003e24.5.1 A Simple Eccentricity Predictor 278\u003c\/p\u003e \u003cp\u003e24.6 Optimal Observer Design 279\u003c\/p\u003e \u003cp\u003e24.6.1 Experiment: Testing the Eccentricity Estimator 280\u003c\/p\u003e \u003cp\u003e24.7 Eccentricity Compensation Using the Kalman Filtering 281\u003c\/p\u003e \u003cp\u003e24.7.1 Experiment: Testing the Kalman Filter for Eccentricity Estimation 281\u003c\/p\u003e \u003cp\u003e24.8 Conclusion 282\u003c\/p\u003e \u003cp\u003e24.9 Revision Questions 282\u003c\/p\u003e \u003cp\u003eFurther Reading 283\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart VII Introduction to the Modelling and Control of Nonlinear Systems 285\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e25 Modelling and Analysis of Simple Nonlinear Systems 287\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e25.1 Introduction 287\u003c\/p\u003e \u003cp\u003e25.2 Errors Arising from Large Actuator Movement 287\u003c\/p\u003e \u003cp\u003e25.3 Nonlinear Correction by Gain Change 288\u003c\/p\u003e \u003cp\u003e25.4 Nonlinear Correction by Cascade Control 288\u003c\/p\u003e \u003cp\u003e25.5 Saturation 289\u003c\/p\u003e \u003cp\u003e25.5.1 Achieving Integral Action via Feedback 289\u003c\/p\u003e \u003cp\u003e25.5.2 Introducing Anti-Windup in Control Laws Implemented via the Youla–Kucera Parameterisation 290\u003c\/p\u003e \u003cp\u003e25.5.3 Anti-Windup When an Observer is Used 290\u003c\/p\u003e \u003cp\u003e25.6 Extension to Rate Limitations 291\u003c\/p\u003e \u003cp\u003e25.7 Minimal Actuator Movement 291\u003c\/p\u003e \u003cp\u003e25.8 Describing Function Analysis 291\u003c\/p\u003e \u003cp\u003e25.9 Predicting the Period and Amplitude of Oscillations 293\u003c\/p\u003e \u003cp\u003e25.10 Revision Questions 293\u003c\/p\u003e \u003cp\u003eFurther Reading 294\u003c\/p\u003e \u003cp\u003e\u003cb\u003e26 Laboratory 12: Continuous Casting Machine (Nonlinear Considerations) 297\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e26.1 Introduction 297\u003c\/p\u003e \u003cp\u003e26.2 The Slide Gate Valve 297\u003c\/p\u003e \u003cp\u003e26.3 Investigation of Effect of Nonlinear Valve Geometry 298\u003c\/p\u003e \u003cp\u003e26.3.1 Experiment: Testing Impact of the Nonlinear Geometry of the Valve 299\u003c\/p\u003e \u003cp\u003e26.3.2 Other Nonlinear Phenomena 300\u003c\/p\u003e \u003cp\u003e26.4 An Explanation for the Observed Oscillations 300\u003c\/p\u003e \u003cp\u003e26.5 A Redesign to Account for Slip-Stick Friction 302\u003c\/p\u003e \u003cp\u003e26.5.1 Experiment: Testing the Impact of Slip-Stick Friction 302\u003c\/p\u003e \u003cp\u003e26.6 Revision Questions 303\u003c\/p\u003e \u003cp\u003eFurther Reading 303\u003c\/p\u003e \u003cp\u003e\u003cb\u003e27 Laboratory 13: Cross-Directional Control (Robustness and Impact of Actuator Saturation) 305\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e27.1 Introduction 305\u003c\/p\u003e \u003cp\u003e27.2 Effect of Actuator Saturation Without Anti-Windup Protection 305\u003c\/p\u003e \u003cp\u003e27.2.1 Experiment: Impact of Actuator Saturation 305\u003c\/p\u003e \u003cp\u003e27.2.2 Experiment: Impact of Actuator Saturation with Decoupled PID Design 306\u003c\/p\u003e \u003cp\u003e27.3 PI Decoupled Design with Simple Anti-Windup Protection 306\u003c\/p\u003e \u003cp\u003e27.3.1 Experiment: Testing the Simple Anti-Windup Scheme 307\u003c\/p\u003e \u003cp\u003e27.4 Conditioning Problems 308\u003c\/p\u003e \u003cp\u003e27.4.1 Experiment: Testing Actuator Profile 310\u003c\/p\u003e \u003cp\u003e27.5 PI Decoupled Design with Anti-Windup Protection Limited to Low Spatial Frequencies 310\u003c\/p\u003e \u003cp\u003e27.5.1 Experiment: Limiting Spatial Frequencies Used in the Controller 310\u003c\/p\u003e \u003cp\u003e27.6 PI Decoupled Design with Adaptive Spatial Frequency Selection 311\u003c\/p\u003e \u003cp\u003e27.6.1 Experiment: Testing Adaptive Spatial Frequency Selection 312\u003c\/p\u003e \u003cp\u003e27.7 Conclusions 312\u003c\/p\u003e \u003cp\u003e27.8 Revision Questions 312\u003c\/p\u003e \u003cp\u003eFurther Reading 312\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart VIII Modelling and Control of More Complex Nonlinear Systems 315\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e28 Modelling of a Rocket in Three-Dimensional Flight 317\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e28.1 Introduction 317\u003c\/p\u003e \u003cp\u003e28.2 Preliminaries 317\u003c\/p\u003e \u003cp\u003e28.2.1 Coordinate Systems 317\u003c\/p\u003e \u003cp\u003e28.2.2 Euler Angles in Three Dimensions 318\u003c\/p\u003e \u003cp\u003e28.2.3 Time Derivative of Rotation Matrices 320\u003c\/p\u003e \u003cp\u003e28.2.4 Angular Velocities 321\u003c\/p\u003e \u003cp\u003e28.2.5 Angular Acceleration 321\u003c\/p\u003e \u003cp\u003e28.2.6 Cross-Products 323\u003c\/p\u003e \u003cp\u003e28.3 Translational Dynamics 323\u003c\/p\u003e \u003cp\u003e28.3.1 Forces 323\u003c\/p\u003e \u003cp\u003e28.3.2 Model for Translational Dynamics 324\u003c\/p\u003e \u003cp\u003e28.4 Rotational Dynamics 324\u003c\/p\u003e \u003cp\u003e28.4.1 Torque 324\u003c\/p\u003e \u003cp\u003e28.4.2 Model for Rotational Dynamics 325\u003c\/p\u003e \u003cp\u003e28.5 Stable or Unstable Rocket 325\u003c\/p\u003e \u003cp\u003e28.6 Revision Questions 326\u003c\/p\u003e \u003cp\u003eFurther Reading 326\u003c\/p\u003e \u003cp\u003e\u003cb\u003e29 Modelling of a Steam-Generating Boiler 327\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e29.1 Introduction 327\u003c\/p\u003e \u003cp\u003e29.2 Physical Principles 328\u003c\/p\u003e \u003cp\u003e29.2.1 Internal Energy and Enthalpy 328\u003c\/p\u003e \u003cp\u003e29.2.2 Ideal Gases 328\u003c\/p\u003e \u003cp\u003e29.2.3 Steam 328\u003c\/p\u003e \u003cp\u003e29.3 Physical Principles Used in Boiler Modelling 329\u003c\/p\u003e \u003cp\u003e29.4 Mass Balances 329\u003c\/p\u003e \u003cp\u003e29.5 Constant Volume of Drum, Risers and Downcomers 331\u003c\/p\u003e \u003cp\u003e29.5.1 Consequence of Constant Volume of the Drum 332\u003c\/p\u003e \u003cp\u003e29.5.2 Consequence of Constant Volume of the Risers 332\u003c\/p\u003e \u003cp\u003e29.6 Energy Balances 333\u003c\/p\u003e \u003cp\u003e29.6.1 Consequence of Drum Energy Balance 334\u003c\/p\u003e \u003cp\u003e29.6.2 Consequences of Energy Balance in the Risers 335\u003c\/p\u003e \u003cp\u003e29.7 A Model for Boiler Pressure 335\u003c\/p\u003e \u003cp\u003e29.8 A Model for Drum Water Level 336\u003c\/p\u003e \u003cp\u003e29.9 Spatial Discretisation and Homogeneous Mixing in the Risers 337\u003c\/p\u003e \u003cp\u003e29.9.1 Spatial Discretisation 338\u003c\/p\u003e \u003cp\u003e29.9.2 Homogeneous Mixing in a Section of the Risers 339\u003c\/p\u003e \u003cp\u003e29.10 Water Flow in the Downcomers 340\u003c\/p\u003e \u003cp\u003e29.11 Superheaters 341\u003c\/p\u003e \u003cp\u003e29.12 Steam Receiver 341\u003c\/p\u003e \u003cp\u003e29.12.1 Mass Balance 342\u003c\/p\u003e \u003cp\u003e29.12.2 Energy Balance 342\u003c\/p\u003e \u003cp\u003e29.12.3 Constant Volume of the Steam Receiver 342\u003c\/p\u003e \u003cp\u003e29.12.4 Summary of the Model for the Steam Receiver 343\u003c\/p\u003e \u003cp\u003e29.13 Other Model Components 343\u003c\/p\u003e \u003cp\u003e29.13.1 Mass Flow out of Drum 343\u003c\/p\u003e \u003cp\u003e29.13.2 Feedwater Mass Flow 344\u003c\/p\u003e \u003cp\u003e29.13.3 Total Heat 344\u003c\/p\u003e \u003cp\u003e29.13.4 Disturbances 344\u003c\/p\u003e \u003cp\u003e29.13.5 A Preliminary Simulation 344\u003c\/p\u003e \u003cp\u003e29.14 Revision Questions 344\u003c\/p\u003e \u003cp\u003eFurther Reading 346\u003c\/p\u003e \u003cp\u003e\u003cb\u003e30 Laboratory 14: Control of a Steam Boiler 347\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e30.1 Introduction 347\u003c\/p\u003e \u003cp\u003e30.2 Extracting an Approximate Linear Model 347\u003c\/p\u003e \u003cp\u003e30.2.1 Introduction 347\u003c\/p\u003e \u003cp\u003e30.2.2 Sine Wave Testing in Closed-Loop (Scalar Case) 348\u003c\/p\u003e \u003cp\u003e30.2.3 Application to the Boiler Model 349\u003c\/p\u003e \u003cp\u003e30.2.4 The Steam Receiver 350\u003c\/p\u003e \u003cp\u003e30.3 The Control Architecture 351\u003c\/p\u003e \u003cp\u003e30.4 Regulating Steam Flow from the Boiler 351\u003c\/p\u003e \u003cp\u003e30.5 Boiler Pressure Controller 351\u003c\/p\u003e \u003cp\u003e30.6 Drum Water Level Controller 352\u003c\/p\u003e \u003cp\u003e30.6.1 Experiment: Implementing Drum Water Level Control Law 352\u003c\/p\u003e \u003cp\u003e30.7 Steam Receiver Controller 353\u003c\/p\u003e \u003cp\u003e30.7.1 Experiment: Testing Steam Receiver Control Law 353\u003c\/p\u003e \u003cp\u003e30.8 Experiments 353\u003c\/p\u003e \u003cp\u003e30.8.1 Set Up 353\u003c\/p\u003e \u003cp\u003e30.8.2 Small Load Change 354\u003c\/p\u003e \u003cp\u003e30.8.3 Faster Outer Loop 354\u003c\/p\u003e \u003cp\u003e30.8.4 Slower Outer Loop 354\u003c\/p\u003e \u003cp\u003e30.8.5 Large Decrease in Load 355\u003c\/p\u003e \u003cp\u003e30.8.6 Constraints 355\u003c\/p\u003e \u003cp\u003e30.8.7 Large Load Change with ‘Fast’ Outer Loop 355\u003c\/p\u003e \u003cp\u003e30.8.8 Large Increase in Load 355\u003c\/p\u003e \u003cp\u003e30.9 Summary 355\u003c\/p\u003e \u003cp\u003e30.10 Revision Questions 355\u003c\/p\u003e \u003cp\u003eFurther Reading 356\u003c\/p\u003e \u003cp\u003eIndex 357\u003c\/p\u003e","brand":"John Wiley \u0026 Sons Inc","offers":[{"title":"Default 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