This is the first book on a hot topic in the field of control of nonlinear systems. It ranges from mathematical system theory to practical industrial control applications and addresses two fundamental questions in Systems and Control: how to plan the motion of a system and track the corresponding trajectory in presence of perturbations. It emphasizes on structural aspects and in particular on a class of systems called differentially flat.
Part 1 discusses the mathematical theory and part 2 outlines applications of this method in the fields of electric drives (DC motors and linear synchronous motors), magnetic bearings, automotive equipments, cranes, and automatic flight control systems.
The author offers web-based videos illustrating some dynamical aspects and case studies in simulation (Scilab and Matlab).
Author(s): Jean Levine (auth.)
Series: Mathematical Engineering
Edition: 1
Publisher: Springer-Verlag Berlin Heidelberg
Year: 2009
Language: English
Pages: 320
Tags: Differential Geometry; Control , Robotics, Mechatronics
Front Matter....Pages 1-12
Introduction....Pages 1-10
Front Matter....Pages 1-1
Introduction to Differential Geometry....Pages 13-41
Introduction to Dynamical Systems....Pages 43-86
Controlled Systems, Controllability....Pages 87-105
Jets of Infinite Order, Lie-Bäcklund’s Equivalence....Pages 107-130
Differentially Flat Systems....Pages 131-179
Flatness and Motion Planning....Pages 181-191
Flatness and Tracking....Pages 193-199
Front Matter....Pages 1-1
DC Motor Starting Phase....Pages 203-209
Displacements of a Linear Motor With Oscillating Masses....Pages 211-224
Synchronization of a Pair of Independent Windshield Wipers....Pages 225-242
Control of Magnetic Bearings....Pages 243-277
Crane Control....Pages 279-294
Automatic Flight Control Systems....Pages 295-315
Back Matter....Pages 1-3
