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When two physical systems (e.g. a robot and its environment) interact they exchange energy through localized ports and, in order to control their interaction, it is necessary to control the exchanged energy. The port-Hamiltonian formalism provides a general framework for modeling physical systems based on the concepts of energy, interconnection and power ports which describe the phenomena of energy storage, energy exchange and external interaction respectively. This monograph deals with energy based control of interactive robotic interfaces and the port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. Using the port-Hamiltonian framework, it is possible to identify the energetic properties that have to be controlled in order to achieve a desired interactive behavior and it is possible to build a port-Hamiltonian controller that properly regulates the robotic interface by shaping its energetic properties. Thanks to its generality, the port-Hamiltonian formalism allows to model and control also complex interactive robotic interfaces in a very natural way. In this book, a port-Hamiltonian approach for regulating the interaction between a robot and a local environment, a virtual environment (i.e. haptic interfaces) and a remote environment (i.e. bilateral telemanipulation systems) is developed.

Robots --- Tactile sensors. --- Control systems. --- Systèmes de commande --- Electronic books. -- local. --- Robots -- Control systems. --- Automatic control --- Tactile sensors --- Mechanical Engineering - General --- Mechanical Engineering --- Engineering & Applied Sciences --- Control systems --- Mathematical models --- Information Technology --- Artificial Intelligence --- Force sensors --- Touch sensors --- Robot control --- Engineering. --- Artificial intelligence. --- System theory. --- Control engineering. --- Robotics. --- Mechatronics. --- Control, Robotics, Mechatronics. --- Artificial Intelligence (incl. Robotics). --- Systems Theory, Control. --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Programmable controllers --- Systems, Theory of --- Systems science --- Science --- AI (Artificial intelligence) --- Artificial thinking --- Electronic brains --- Intellectronics --- Intelligence, Artificial --- Intelligent machines --- Machine intelligence --- Thinking, Artificial --- Bionics --- Cognitive science --- Digital computer simulation --- Electronic data processing --- Logic machines --- Self-organizing systems --- Simulation methods --- Fifth generation computers --- Neural computers --- Construction --- Industrial arts --- Technology --- Philosophy --- Detectors --- Robotics --- Systems theory. --- Artificial Intelligence. --- Mathematical models. --- Automation. --- Control theory. --- Control, Robotics, Automation. --- Systems Theory, Control . --- Dynamics --- Automatic factories --- Automatic production --- Computer control --- Engineering cybernetics --- Factories --- Industrial engineering --- Mechanization --- Assembly-line methods --- Automatic machinery --- CAD/CAM systems

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From power plants to sugar refining, model predictive control (MPC) schemes have established themselves as the preferred control strategies for a wide variety of processes. The second edition of Model Predictive Control provides a thorough introduction to theoretical and practical aspects of the most commonly used MPC strategies. It bridges the gap between the powerful but often abstract techniques of control researchers and the more empirical approach of practitioners. Model Predictive Control demonstrates that a powerful technique does not always require complex control algorithms. The text features material on the following subjects: general MPC elements and algorithms; commercial MPC schemes; generalized predictive control multivariable, robust, constrained nonlinear and hybrid MPC; fast methods for MPC implementation; applications. All of the material is thoroughly updated for the second edition with the chapters on nonlinear MPC, MPC and hybrid systems and MPC implementation being entirely new. Many new exercises and examples have also have also been added throughout and MATLAB® programs to aid in their solution can be downloaded from extras.springer.com. The text is an excellent aid for graduate and advanced undergraduate students and will also be of use to researchers and industrial practitioners wishing to keep abreast of a fast-moving field.

Predictive control. --- Modelvorming --- Optimalisering --- Procesregeling --- Stochastische processen --- Modelvorming. --- Optimalisering. --- Procesregeling. --- Stochastische processen. --- Systems Theory, Control. --- Systems theory. --- Predictive control --- Model based predictive control --- Model predictive control --- Engineering. --- Chemical engineering. --- System theory. --- Control engineering. --- Electronics. --- Microelectronics. --- Control. --- Industrial Chemistry/Chemical Engineering. --- Electronics and Microelectronics, Instrumentation. --- Microminiature electronic equipment --- Microminiaturization (Electronics) --- Electronics --- Microtechnology --- Semiconductors --- Miniature electronic equipment --- Electrical engineering --- Physical sciences --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Automation --- Programmable controllers --- Systems, Theory of --- Systems science --- Science --- Chemistry, Industrial --- Engineering, Chemical --- Industrial chemistry --- Engineering --- Chemistry, Technical --- Metallurgy --- Construction --- Industrial arts --- Technology --- Philosophy --- Control and Systems Theory. --- Control theory. --- Chemistry, Technical. --- Systems Theory, Control . --- Industrial Chemistry. --- Dynamics --- Machine theory --- Chemical technology --- Technical chemistry --- Chemistry --- Chemical engineering

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Control theory --- Automatic control --- Intelligent control systems --- Théorie de la commande --- Commande automatique --- Commande intelligente --- Congresses. --- Congrès --- Automatic control -- Congresses. --- Control theory -- Congresses. --- Electronic books. -- local. --- Intelligent control systems -- Congresses. --- Civil & Environmental Engineering --- Engineering & Applied Sciences --- Operations Research --- Engineering. --- System theory. --- Control engineering. --- Robotics. --- Mechatronics. --- Control. --- Control, Robotics, Mechatronics. --- Systems Theory, Control. --- Control and Systems Theory. --- Systems, Theory of --- Systems science --- Science --- Philosophy --- Systems theory. --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control engineering --- Control equipment --- Engineering instruments --- Programmable controllers

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Physical, safety or technological constraints induce that the control actuators can neither provide unlimited amplitude signals nor unlimited speed of reaction. The control problems of combat aircraft prototypes and satellite launchers offer interesting examples of the difficulties due to these major constraints. Neglecting actuator saturations on both amplitude and dynamics can be source of undesirable or even catastrophic behavior for the closed-loop system (such as loosing closed-loop stability). Such actuator saturations have also been blamed as one of several unfortunate mishaps leading to the 1986 Chernobyl nuclear power plant disaster. For these reasons, the study of the control problem (its structure, performance and stability analysis) for systems subject to both amplitude and rate actuator or sensor saturations as typical constraints has received the attention of many researchers in the last years. The different techniques described throughout the book are particularly attractive for industrial applications not only in aeronautical or space domains but also in the context of biological systems domain. Such methods are well suited for the development of tools that help engineers to solve analysis and synthesis problems in the context of control systems with input and output constraints.

Input-output-modellen. --- Controlesystemen. --- Automatic control --- Control theory --- Commande automatique --- Théorie de la commande --- Automatic control. --- Control theory. --- Electronic books. -- local. --- Mechanical Engineering --- Engineering & Applied Sciences --- Mechanical Engineering - General --- Control engineering --- Control equipment --- Engineering. --- System theory. --- Control engineering. --- Robotics. --- Mechatronics. --- Control, Robotics, Mechatronics. --- Systems Theory, Control. --- Dynamics --- Machine theory --- Engineering instruments --- Automation --- Programmable controllers --- Systems theory. --- Systems, Theory of --- Systems science --- Science --- Philosophy --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems

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This monograph presents an introductory overview of smart structures, their concepts, their active involvement in the vibration control, their applications and the extensive research work done on it so far. The modelling of flexible beams using two types of beam theories, viz., the Euler-Bernoulli theory and the Timoshenko beam theory is presented, including a new concept of finite element modeling of the flexible structures using Timoshenko beam theory with the inclusion of the shear both in the piezo-patches as well as in the host structure. It presents the design of the periodic output feedback control system for smart structure systems, the design of the FOS controllers for active vibration control and the design of Discrete Sliding Mode controllers using multirate output feedback technique. This monograph is based on the authors work on the multirate output sampling techniques (FOS and POF) and the multirate output feedback based discrete-time sliding mode control of flexible beams with simulations performed in Matlab. The hardware implementation of some of the developed control algorithms is depicted using DSpace and Real Time Workshop.

Smart structures --- Structures intelligentes --- Electronic books. -- local. --- Smart structures. --- Structural control (Engineering). --- Civil Engineering --- Civil & Environmental Engineering --- Engineering & Applied Sciences --- Structural control (Engineering) --- Control of structures (Engineering) --- Adaptive structures --- Intelligent structures --- Engineering. --- System theory. --- Control engineering. --- Robotics. --- Mechatronics. --- Control, Robotics, Mechatronics. --- Systems Theory, Control. --- Structural dynamics --- Systems, Theory of --- Systems science --- Science --- Philosophy --- Systems theory. --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Programmable controllers