Optimal Reference Shaping for Dynamical Systems: Theory and Applications

Optimal Reference Shaping for Dynamical Systems: Theory and Applications provides a rigorous yet accessible presentation of the theory and numerical techniques used to shape control system inputs for achieving precise control when modeling uncertainties exist. It includes ip-to-date techniques for the design of command-shaped profiles for precise, robuset, and rapid point-to-point control of underdamped systems. After developing models for applications in which the dynamics are dominated by lightly damped poles, the book describes the time-delay (input shaper) design techniques and reviews the calculus of variations. It then focuses on four control problems: time-optimal, fuel/time-optimal, fuel limited time-optimal, and jerk liimited time-optimal control. The next two chapters deal with the minimax formulation for the design of robust time-delay filters and teh design of input-constrained control profiles for point-to-point maneuvers of systems subject to friction. The final chapter presents numerical techniques for solving the problem of designing shaped inputs.
Features:

• Presents the frequency domain approach for designing input-shaper/time-delay filter
• Ilustrates the design of optimal command shapers through gradient-based and convex programming-based approaches
• Covers the minimax design of robust command shapers and state feedback controllers
• Discusses the control of vibratory systems that are subject to Coulomb friction
• Includes many examples problems that represent actual engineering systems