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| Preface Acknowledgments Nomenclature, Chapter One Introduction 1.1 Why Nonlinear Control Theory 1.2 Development of Nonlinear Control Theory 1.3 Purpose of this Book 1.4 An Overview of the Book Chapter Two Feedback Linearization Theory and Symbolic Computations 2.1 Introduction 2.1.1 Full State Feedback Linearization 2.1.2 Partial State Feedback Linearization 2.2 Notes and References 2.2.1 Input State Linearization (I/S) 2.2.2 Input Output Linearization (I/O) 2.3 Mathematical Preliminaries for Differential Geometry 2.3.1 Vector Fields and Scalar Fields 2.3.2 Lie Derivative 2.3.3 Lie Brackets 2.4 The Nonlinear Control System Representation 2.4.1 Input State Llinearization (I/S) or SHM Transformation 2.4.1.1 Algorithm for Computing Kronecker Indices 2.4.1.2 Criteria for Transformation 2.4.1.3 Transformation of Variables 2.4.1.4 Special Case of the I/S 2.4.1.5 Summary of the I/S Algorithm 2.4.1.5 Example of the Input State Linearization 2.4.1.7 Feedback Control by the Input State Linearization 2.4.2 Input Output Linearization (I/O) 2.4.2.1 MIMO Globally Linearizing Control (GLC) Structure 2.4.2.2 Example of the Input Output Linearization 2.4.2.3 A Special Case of the Input Output Linearization: Generic Model Control 2.4.2.4 Design Procedures of MIMOGLC Structure 2.5 Symbolic Computations 2.5.1 What are Symbolic Computations? 2.5.2 A Brief Introduction to MAPLE 2.5.3 Applications of Symbolic Computations in Process Control 2.6 Conclusions Chapter Three Nonlinear Control of a Simulated Single Evaporator Process 3.1 Liquor Burning Process (LBP) 3.1.1 Process Description 3.1.2 Dynamic Modelling Considerations 3.1.2.1 Assumptions 3.1.2.2 Dynamic Equations 3.1.2.3 Selection of Input and Output Variables 3.2 Simulation Results 3.2.1 Open Loop Simulation Results 3.2.2 Closed Loop Simulation Results 3.2.2.1 Local Linearization 3.2.2.2 Input Output Linearization versus Generic Model Control 3.2.2.3 Input State Linearization 3.3 Discussions 3.3.1 Local Linearization …… Chapter Four Robustness Study of Nonlinear Control Theories Chapter Five Robust Controller Synthess Using Uncertainty Vector Adjustment Chapter Six Lyapunov Function Analysis of the Uncertainty Vector Adjustment Chapter Seven Simulation and Control of a Triple Effects Evaporator Chapter Eight Use of State Observers in Nonlinear Control Chapter Nine Implementation of Input Output Linearization on an Industrial Evaporator Process Chapter Ten Final Comment and Conclusions Appendices Bibliography Index |
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