Design of Embedded Robust Control Systems Using MATLAB®/Simulink®

Book Description

Robust control theory allows for changes in a system whilst maintaining stability and performance. Applications of this technique are very important for dependable embedded systems, making technologies such as drones and other autonomous systems with sophisticated embedded controllers and systems relatively common-place.

The aim of this book is to present the theoretical and practical aspects of embedded robust control design and implementation with the aid of MATLAB® and SIMULINK®. It covers methods suitable for practical implementations, combining knowledge from control system design and engineering to describe the entire design cycle. Three extended case studies are developed in depth: embedded control of a tank physical model; robust control of a miniature helicopter; and robust control of two-wheeled robots.

These are taken from the area of motion control but the book may be also used by designers in other areas. Some knowledge of Linear Control Theory is assumed and knowledge of C programming is desirable but to make the book accessible to engineers new to the field and to students, the authors avoid complicated proofs and overwhelming technical details. All programs used in the examples and case studies are freely downloadable to help with the assimilation of the book contents.

Table of Contents

Chapter 1 Embedded Control Systems
Chapter 2 System
Chapter 3 Performance Requirements And Design Limitations
Chapter 4 Controller Design
Chapter 5 Case Study 1: Embedded Control Of Tank Physical Model
Chapter 6 Case Study 2: Robust Control Of Miniature Helicopter
Chapter 7 Case Study 3: Robust Control Of Two-Wheeled Robot
Appendix A: Elements of analysis
Appendix B: Elements of linear system theory
Appendix C: Stochastic processes
Appendix D: Identification of linear models
Appendix E: Interfacing IMU with target
Appendix F: Measuring angular velocity with hall encoder

Book Details

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