Computer Aided Design of Multivariable Technological Systems (eBook)

Front Cover 1
Computer Aided Design of Multivariable Technological Systems 4
Copyright Page 5
Table of Contents 8
FOREWORD 7
PLENARY SESSION I 16
CHAPTER 1. 
16 
Abstract. 16
1. INTRODUCTION 16
2. COTTON SPINNING 16
3. FLEXIBLE MANUFACTURING SYSTEMS 17
4. MEDICAL DIAGNOSIS 18
5. COMPUTER-AIDED DESIGN 18
6. REFERENCES 19
SESSION WA1 - ROBOTICS 20
CHAPTER 2. 
20 
Abstract 20
1. Introduction 20
2. Flexible Arm Kinematics 21
3. System Kinetic Energy 23
4. System Potential Energy 25
5. Lagrange's Equations in SimulationForm 26
6. Conclusions 30
References 31
CHAPTER 3. 
34 
Abstract 34
1.INTRODUCTION 34
2. RIGID BODY MOTION 35
3. A LINEAR ALGEBRA APPROACH TO THESOLUTION 36
4. A NUMERICAL EXAMPLE 38
5 . REFERENCES 38
CHAPTER 4. 
40 
REFERENCES 41
ACKNOWLEDGEMENT 41
CHAPTER 5. 
42 
I. INTRODUCTION 42
II. SELF-TUNING CONTROL 43
III. APPLICATION TO MANIPULATORS 44
IV. CONCLUSIONS 45
V. REFERENCES 45
CHAPTER 6. 
50 
Abstract 50
INTRODUCTION 50
MATHEMATICAL DESCRIPTION OPAN UPPER ARM PROSTHESIS 50
COORDINATION OP THE MOTIONOF THE PROSTHESIS 51
ALGORITHMS 52
STRUCTURE OP THECOORDINATED CONTROL SYSTEM 53
SIMULATION RESULTS 55
REFERENCES 55
SESSION WA2 - MULTIVARIABLE SYSTEMS I 8
CHAPTER 7. A QUASI-CLASSICAL APPROACH TOMULTIVARIABLE FEEDBACK SYSTEMS DESIGN 58
Abstract 58
Keywords 58
INTRODUCTION 58
NOTATION 59
THE SINGULAR VALUE DECOMPOSITION (SVD) 59
NORMALITY AND SPECTRAL SENSITIVITY 60
FRAME ALIGNMENT AND NORMALITY 60
THE QUASI-NYQUIST DECOMPOSITION (QND) 60
THE QUASI-CLASSICAL DESIGN TECHNIQUE 61
COMPATIBILITY CONDITIONS 62
SPECIFYING A DESIRED COMPENSATED SYSTEM 63
DESIGN EXAMPLE 63
CONCLUSIONS 64
REFERENCES 67
CHAPTER 8. FUZZY CONTROL FOR MULTIVARIABLE SYSTEMS 68
Abstract 68
Keywords 68
INTRODUCTION 68
THE STRUCTURE OF THE CONTROLALGORITHM 69
THE FUZZY CONTROL ALGORITHM 70
THE DECISION AND TRANSITIONFUNCTIONS 72
THE SUPERVISORY ALGORITHM 74
THE ADJUSTMENT OF THECONTROL AREA 75
APPLICATIONS 75
CONCLUSION 78
REFERENCES 79
CHAPTER 9. 
80 
Abstract 80
Keywords 80
INTRODUCTION 80
ANALYSIS 80
ILLUSTRATIVE EXAMPLES 82
CONCLUSIONS 83
ACKNOWLEDGEMENT 84
REFERENCES 84
CHAPTER 10. 
86 
Abstract 86
Keywords 86
INTRODUCTION 86
MULTIVARIABLE ROOT-LOCI 86
INPUT-OUTPUT PAIRING 88
NON-ASYMPTOTIC BEHAVIOUR 89
CONCLUSIONS 90
REFERENCES 90
CHAPTER 11. 
92 
Abstract 92
Keywords 92
INTRODUCTION 92
STABILITY CRITERIA 92
DISCUSSION 97
REFERENCES 97
SESSION WA3 - POLE PLACEMENT 9
CHAPTER 12. 
98 
Abstract 98
Keywords 98
INTRODUCTION 98
PRELIMINARY RESULTS 99
STATE FEEDBACK POLE ASSIGNMENTALGORITHMS 100
CONCLUSION 108
REFERENCES 108
CHAPTER 13. 
110 
Abstract 110
Keywords. 110
1. INTRODUCTION 110
2. BACKGROUND AND MATHEMATICALPRELIMINARIES 110
3. GLOBAL CONTROL ALGORITHMDEVELOPMENT 112
4. NUMERICAL IMPLEMENTATION ANDEXAMPLES 114
5. SUMMARY 115
REFERENCES 115
APPENDIX 1 116
APPENDIX 2 116
CHAPTER 14. 
118 
Abstract 118
Keywords 118
INTRODUCTION 118
PROBLEM STATEMENT 118
THE BOUNDARIES OF ADMISSIBLE REGIONS 119
THE DESIGN PROCEDURE 120
INTERACTIVE COMPUTERAIDEDDESIGN PROCEDURE 123
EXAMPLE 123
CONCLUSIONS 124
REFERENCES 124
CHAPTER 15. 
126 
Abstract 126
Keywords 126
NTRODUCTION 126
(SLOW MODES) 127
(FAST MODES) 127
CONCLUSIONS 129
REFERENCES 130
CHAPTER 16. 
132 
Abstract 132
Keywords 132
INTRODUCTION 132
THE POLE ASSIGNMENT ALGORITHM 132
ROUNDOFF ERROR ANALYSIS 133
CONCLUDING REMARKS 137
REFERENCES 137
CHAPTER 17. 
138 
Abstract 138
Keyword 138
INTRODUCTION 138
ORACLS OPERATIONAL SOFTWARE 138
ORACLS DEVELOPMENTAL SOFTWARE 142
REFERENCES 143
CHAPTER 18. 
146 
ABSTRACT 146
KEYWORDS 146
INTRODUCTION 146
FEDERATED APPROACH 146
DATA BASE MANAGEMENT 147
SUPERVISOR 147
CONCLUSION 150
REFERENCES 151
APPENDIX 151
SYNTAX NOTATION 151
SUMMARY OF INTRAC STATEMENTS 151
CHAPTER 19. 
156 
Abstract 156
Keywords 156
INTRODUCTION 156
FUNCTIONAL DESCRIPTION 157
ALGORITHMS 158
CONCLUSION 159
REFERENCES 159
CHAPTER 20. 
162 
Abstract 162
Keywords 162
INTRODUCTION 162
PROPERTIES AND MACHINE REQUIREMENTS 162
HIERARCHIAL MENU STRUCTURE 163
CONCLUDING REMARKS 164
ACKNOWLEDGEMENT 164
APPENDIX: SOFTWARE CAPABILITIES 164
Abstract 162
Keywords 162
INTRODUCTION 162
PROPERTIES AND MACHINE REQUIREMENTS 162
HIERARCHIAL MENU STRUCTURE 163
EXAMPLE 163
CONCLUDING REMARKS 164
ACKNOWLEDGEMENT 164
APPENDIX: SOFTWARE CAPABILITIES 164
CHAPTER 21. 
174 
CHAPTER 21. 
174 
EXTENDED ABSTRACT 174
REFERENCES 175
CHAPTER 22. 
178 
Abstract 178
Keywords 178
INTRODUCTION 178
SENSITIVITY OF THE CHARACTERISTICGAIN LOCI 179
UNCERTAINTY IN A FEEDBACK SYSTEM 181
EXAMPLE 182
CONCLUSION 182
REFERENCES 182
APPENDIX 183
CHAPTER 23. 
184 
Abstract 184
Keywords 184
1. INTRODUCTION 184
2. KRONECKER DECOMPOSITION OF THE SYSTEMEQUATIONS 185
3- A MINIMIZATION ALGORITHM 187
4. CONCLUSIONS 189
ACKNOWLEDGEMENT 189
REFERENCES 189
APPENDIX 189
CHAPTER 24. 
192 
ABSTRACT 192
INTRODUCTION 192
PROBLEM FORMULATION 192
THE USE OF A SUCCESSIVE APPROXIMATIONTECHNIQUE FOR THE SOLUTION OF THE PROBLEM 193
NUMERICAL PROCEDURES 195
A GRAPHICAL SEQUENTIAL LOOP BALANCE PROCEDURE 195
EXAMPLE OF USE 195
EVALUATION 196
REFERENCES 197
CHAPTER 25. 
200 
Abstract 200
Keywords 200
INTRODUCTION 200
THE CONTROL PROBLEM 201
PROBLEM REFORMULATION 202
COMPUTATIONAL ASPECTS 203
AN APPLICATION: THE DECENTRALIZEDDAMPING OF ELECTROMECHANICAL OSCILLATIONS IN AN ELECTRIC POWER SYSTEM 205
CONCLUDING REMARKS 206
CONCLUDING REMARKS 206
ACKNOWLEDGMENTS 206
REFERENCES 206
CHAPTER 26. 
210 
SUMMARY 210
ACKNOWLEDGEMENT 211
REFERENCES 211
CHAPTER 27. 
214 
Abstract 214
Keywords 214
INTRODUCTION 214
ELEMENTARY TRANSFORMATION ANDABSOLUTE OBSERVABILITY SUBSYSTEM 214
MAIN RESULTS 215
APPLICATIONS 217
CONCLUSION 218
REFERENCES 219
CHAPTER 28. 
220 
ABSTRACT 220
1. Introduction 220
2. Statement of the problem 220
3. Method of solution. The succession ofsteps for the solution are: 220
4. Program package 221
References: 221
CHAPTER 29. 
222 
EXTENPED ABSTRACT 222
CHAPTER 30. 
224 
Abstract 224
Keywords 224
INTRODUCTION 224
CONCLUSIONS 228
REFERENCES 228
CHAPTER 31. 
230 
Abstract 230
Keywords 230
INTRODUCTION 230
DESIGN PROCESS AND KNOWLEDGE 230
ORGANIZATION OF KNOWLEDGE 231
KNOWLEDGE HANDLING FUNCTION 234
SUMMARY 234
REFERENCES 234
CHAPTER 32. 
236 
Abstract 236
Keywords 236
INTRODUCTION 236
THE GRAPHIC INPUT FACILITY 236
ILLUSTRATIVE EXAMPLE 238
CONCLUSIONS. 239
REFERENCES 239
CHAPTER 33. 
240 
Abstract 240
Keywords 240
INTRODUCTION 240
SYSTEM ANALYSIS 240
SYSTEM DESIGN 241
REQUIREMENTS FOR SIMULATION PROGRAMS 243
FACILITIES AND LIMITATIONS OF PSI 245
EXAMPLE 246
CONCLUSIONS 247
REFERENCES 247
CHAPTER 34. INTERACTIVE COMPUTER GRAPHICS FORNETWORK ANALYSIS AND DESIGN 248
ABSTRACT 248
Keywords 248
INTRODUCTION 248
FUNCTIONAL STRUCTURE 249
INTERNAL STRUCTURE 251
CONCLUSION 253
ACKNOWLEDGMENT 253
REFERENCES 253
CHAPTER 35. 
258 
Abstract 258
Keywords 258
INTRODUCTION 258
DEVELOPMENT OF A PRIMER FOR CLADP 258
AN EXAMPLE 259
CONCLUSION 259
ACKNOWLEDGEMENT 260
REFERENCES 260
APPENDIX 260
CHAPTER 36. 
264 
Abstract 264
Keywords 264
Introduction 264
COMPUTER FACILITIES AND PACKAGE ORGANIZATION 264
USAGE OF I.S.E.R. C.S.D. IN CLASSROOM EXERCISES AND PROJECT DEVELOPMENTS 265
PROSPECTIVES FOR MORE CAD IN UNDERGRADUATE ENGINEERING AND PROJECTS INAUTOMATIC CONTROL 266
CONCLUSIONS 267
REFERENCES 267
CHAPTERA 37. 
268 
Abstract 268
1. Introduction 268
2. The Translator 268
3. Flow of Control Determination 270
4- Transformations 271
6. Conclusion 271
7. References 272
CHAPTER 38. 
274 
Abstract 274
Keywords 274
INTRODUCTION 274
DATA STRUCTURES 275
PROGRAM STRUCTURES 278
SUBROUTINE PROCES (NAME 278
SUBROUTINE ADDONE (A) 278
SUBROUTINE ADDl (A, M, N) 278
MVPACK 279
CONCLUSIONS 280
ACKNOWLEDGEMENTS 280
REFERENCES 280
CHAPTER 39. 
282 
Abstract 282
Keyword 282
INTRODUCTION 282
THE MATCH METHOD FOR A SINGLEOUTPUT COMBINATIONAL FUNCTION 282
TI3E MATCH METHOD FOR MULTIPLEOUTPUT COMBINATIONAL FUNCTIONS 283
THE LOOKUP TABLE METHOD 285
CONCLUSIONS 285
REFERENCES 285
CHAPTER 40. 
286 
ABSTRACT 286
KEYWORDS 286
INTRODUCTION 286
DESCRIPTION OF AN APPLICATION 286
THE PROPOSED METHODOLOGY 287
CHARACTERISTICS OF THE AIDED DESIGN TOOL 288
REALIZATION OF THE TOOL 289
CONCLUSIONS 290
REFERENCES 290
CHAPTER 41. 
292 
Abstract 292
Keywords 292
INTRODUCTION 292
BASIC PROPERTIES OFTHE L-A-S LANGUAGE 293
LANGUAGE DESCRIPTION 294
DESCRIPTION OF THE OPERATORSTATEMENT 294
L-A-S INTERPRETER 295
ALGORITHMS USED IN THEOPERATOR IMPLEMENTATION 295
EXAMPLEX OF THE L-A-SOPERATOR STATEMENTS 295
L-A-S CSA LIMITATIO 295
EXAMPLES OF THE L-A-S PROGRAMS 295
CONCLUSION 296
REFERENCES 297
CHAPTER 42. 
300 
Abstract 300
Keywords 300
OVERVIEW OF SRSS 300
ECM FUNCTIONING 301
ECM COMMUNICATION CONTROL 302
CONCLUSION 303
REFERENCES 303
CHAPTER 43. 
304 
Abstract 304
Keywords 304
INTRODUCTION 304
PC LAYOUT AS A PICTURE 305
THE TECHNIQUE 306
EXPERIMENTAL RESULTS 306
CONCLUSION 308
ACKNOWLEDGEMENT 308
REFERENCES 308
CHAPTER 44. 
310 
Abstract 310
Keyword 310
INTRODUCTION 310
THE COUNTER FLOW HEATEXCHANGER MATHEMATICAL MODEL 310
FEEDFORDWARD CONTROL SYSTEM DESIGN 313
CONCLUSIONS 313
REFERENCES 314
CHAPTER 45. 
318 
Abstract 318
Key words: 318
INTRODUCTION 318
METHOD 319
REACTOR MODEL 319
MODEL OF THE CONTROLLED REACTOR SYSTEM 320
COMPUTATIONAL SEQUENCE 321
DISCUSSION OF RESULTS 322
CONCLUSIONS 323
ACKNOWLEDGEMENT 323
REFERENCES 323
APPENDIX 1 324
CHAPTER 46. 
328 
Abstract 328
Keywords. 328
INTRODUCTION 328
THE PLANT 328
PSEUDOniAGONALISATION METHOD 329
CONTROLLER DESIGN 330
EXPERIMENTS 331
CONCLUSION 331
REFERENCES 331
CHAPTER 47. 
336 
Abstract 336
Keywords 336
INTRODUCTION 336
PROBLEM DESCRIPTION 337
THE MODEL 340
PROGRAM STRUCTURE 340
CONCLUSSIONS 341
REFERENCES 341
CHAPTER 48. 
344 
Abstract 344
Keywords 344
INTRODUCTION 344
MODEL STRUCTURE DETERMINATION 345
THROMBUS-EMBOLUS MODEL 345
RESULTS 346
CONCLUSIONS 346
REFERENCES 346
CHAPTER 49. 
350 
Abstract 350
Keywords 350
INTRODUCTION 350
SYSTEM EQUATIONS 350
DIGITAL SIMULATION 352
CONCLUSION 354
NOMENCLATURE 354
ACKNOWLEDGEMENT 355
REFERENCES 355
CHAPTER 50. 
360 
Abstract 360
Keywords 360
MULTI-FEEDBACK LAHGE-SCALESYSTEMS 360
THE MATHE MATICAL MODEL 361
APPLICATIONSRESULTS.EXPERIMENTAL 365
CONCLUSIONS 366
REFERENCES 367
CHAPTER 51. 
368 
Abstract 368
Keywords 368
INTRODUCTION 368
TECHNOLOGY TRANSFER ANDSOFTWARE COSTS 368
VERY HIGH LEVEL LANGUAGES 369
SOFTWARE PARTS 369
PROLOGUE - ALGORITHM - EPILOGUE 369
QUALITY CONTROL 371
PROBLEM SOLVING ENVIRONMENTS 372
REFERENCES 373
CHAPTER 52. 
374 
Abstract 374
Keywords 374
INTRODUCTION 374
NONLINEAR MODEL FORMULATION 375
CATNAP 376
GENERATE 376
SIMULATE 377
MODEL SIMULATION 378
EXAMPLE 378
QCSEE APPLICATION 378
CONCLUSION 379
REFERENCES 379
CHAPTER 53. 
384 
Abstract 384
Keywords 384
INTRODUCTION 384
THEORETICAL BACKGROUND 385
APPLICATION TO SINGLE VARIABLESYSTEMS 386
MULTIVARIABLE SYSTEMS 388
DISCUSSION AND CONCLUSIONS 389
REFERENCES 389
ACKNOWLEDGMENTS 389
CHAPTER 54. 
390 
Abstract 390
Keywords 390
INTRODUCTION 390
CACSD FUNCTIONS 391
CACSD ENVIRONMENT 394
SUMMARY AND CONCLUSION 394
REFERENCES 395
CHAPTER 55. 
398 
Abstract 398
Key words: 398
INTRODUCTION 398
CONFIGURATION OF INTERACTIVE SIMULATIONSYSTEM 398
INPUT OF NONLINEAR BLOCK DIAGRAMS 399
THE TABLEAU OF NONLINEAR BLOCK DIAGRAMS 399
DETAILS OF TRANSIENT RESPONSE ANALYSIS 400
CASE STUDY OF TABLEAU METHOD 401
SUMMARY 402
RERERENCES 402
CHAPTER 56. 
406 
Abstract 406
Keywords 406
INTRODUCTION 406
MODULAR/HIERARCHICAL CONTROL SYSTEMS 406
STRUCTURE AND USE OF A HIERARCHICALCONTROL SYSTEM EMULATION/SIMULATION 407
EXAMPLE 407
APPLICATION ISSUES 408
CONCLUSIONS 409
Acknowledgement 409
References 409
CHAPTER 57. 
412 
Abstract 412
Keywords 412
INTRODUCTION 412
THE INITIALIZATION PROBLEM 413
SUFFICIENT SOLVABILITY CONDITIONSFOR THE INITIALIZATION PROBLEM 414
AN ITERATIVE ALGORITHM 417
CONCLUDING REMARKS 418
REFERENCES 419
APPENDIX: PROOFS OF THEOREMS ANDCOROLLARIES 419
ACKNOWLEDGEMENTS 421
CHAPTER 58. 
424 
Abstract, 424
Keywords 424
INTRODUCTION 424
METHODOLOGY 425
PACKAGE DEVELOPMENTS 425
DESIGN APPLICATIONS 427
CONCLUDING REMARKS 428
REFERENCES 428
CHAPTER 59. 
432 
Abstract 432
Keywords 432
1. INTRODUCTION 432
2. PROBLEM STATEMENT 432
3. PROPORTIONAL FEEDBACK 433
4. PROPORTIONAL FEEDBACKAND FEEDFORWARD 434
5. PROPORTIONAL PLUS INTEGRAL FEEDBACK 435
6. PROPORTIONAL FEEDBACK WITHSTATE ESTIMATION 437
7. CONCLUDING REMARKS 438
REFERENCES 439
CHAPTER 60. 
440 
Abstract. 440
Keywords 440
INTRODUCTION 440
APPARATUS AND MATHEMATICAL MODEL 440
CONTROL SYSTEM DESIGN 441
SERVO-CONTROLLER 441
DECOUPLING CONTROL 442
DIGITAL CONTROL 443
TRANSFORMATION OF CONTROL MATRICES 443
EXPERIMENTAL RESULTS 443
CONDLUSION 444
REFERENCES 444
CHAPTER 61. 
446 
Abstract 446
Keywords 446
INTRODUCTION 446
EXAMPLE 448
PROPOSAL FOR AN INTERACTIVECONTROLLER DESIGN PACKAGE 450
*P.P.- PERFORMANCE PLOT 450
CONCLUSION 451
REFERENCES 451
CHAPTER 62. 
452 
Abstract 452
I- INTRODUCTION 452
II- PROBLEM FORMULATION 453
Ill- THE INTERACTIVE COMPUTER AIDEDANALYSIS AND DESIGN (ICAAD) APPROACH 454
IV- A SAMPLE DESIGN SESSION 457
V- CONCLUSION 458
VI- ACKNOWLEDGEMENTS 458
REFERENCES 458
CHAPTER 63. 
462 
Abstract, 462
Keywords. 462
I. INTRODUCTION 462
II. THE DESIGN OF CASCADED LOOPS FORPROCESSES WITH LARGE PARAMETERUNCERTAINTIES 463
III. CAR TEST BENCH DESIGN 463
IV. CONCLUDING REMARKS 464
REFERENCES 465
CHAPTER 64. 
468 
Abstract 468
Keywords 468
INTRODUCTION 468
DECOMPOSITION ALGORITHM 469
AIRBUS FLIGHT CONTROL SYSTEM 472
CONCLUSION 477
ACKNOWLEDGMENT 478
REFERENCES 478
APPENDIX 478
CHAPTER 65. 
480 
ABSTRACT 480
SYNOPSIS 480
INTRODUCTION 480
SYSTEM CONFIGURATION 480
COMPUTATION ALGORITHMS 481
CONCLUSION 481
CHAPTER 66. 
482 
Abstract, 482
Keywords 482
INTRODUCTION 482
SUFFICIENT CONDITIONS AND NECESSARYCONDITIONS FOR ACHIEVING DIAGONALDOMINANCE BY A REAL CONSTANTCOMPENSATOR 483
OTHER METHOD OF DESIGNING K 485
DESIGN OF DECOUPLE OR DIAGONALDOMINANCE BY FEEDFORWARD COMPENSATOR 486
CONCLUSIONS 488
REFERENCES 488
CHAPTER 67. 
490 
ABSTRACT 490
1. Introduction 490
2. Decoupling and Singular ValueDecomposition 490
3. Near-decouplability and theApproximate Decoupling Index 491
4. Numerical Example 492
5. Conclusion 494
6. Acknowledgement 494
7. References 494
CHAPTER 68. 
496 
Abstract 496
Keywords 496
INTRODUCTION 496
THE IMPROVED ALGORITHM 497
EXTENSION OP THEIMPROVED ALGORITHM 497
CAD PROGRAM 498
DESIGN EXAMPLE 498
CONCLUSION 498
REFERENCES 499
APPENDICES 499
CHAPTER 69. 
502 
Abstract 502
Keywords 502
PROBLEM DEFINITION 502
SYSTEM MODEL 503
PARAMETER OPTIMISATION 503
VARIABLE STEP ALGORITHM 504
CONSTRAINTS 505
RESULTS 505
CONCLUSIONS 508
LIST OF SYMBOLS 508
REFERENCES 508
CHAPTER 70. 
510 
CHAPTER 71. 
511 
HARDWARE RESEARCH PROJECTS 511
COMPUTER AIDED DESIGN 511
REFERENCES 511
CHAPTER 72. 
513 
ABSTRACT 513
The Microcomputer Unit 513
A Subset of Experiments 513
Chapter 73. 
514 
Chapter 74. 
515 
REFERENCES 516
CHAPTER 75. 
517 
Abstract 517
INTRODUCTION 517
ACKNOWLEDGEMENTS 518
REFERENCES 518
CHAPTER 76. 
520 
DOUBLE INVERTED PENDULUM 521
REFERENCES 521
CHAPTER 77. 
522 
Abstract 522
Keywords 522
INTRODUCTION 522
CLASSES OF PROBLEMS WHICH ARE PARTICULARLYCHALLENGING FOR THE DESIGNPROBLEM 524
CONCLUSIONS 528
REFERENCES 528
CHAPTER 77. 
532 
ABSTRACT 532
INTRODUCTION 532
THE METHOD 532
EXAMPLE OF USE 534
EVALUATION, 535
CONCLUSIONS 535
REFERENCES 535
APPENDIX 535
CHAPTER 78. 
540 
Abstract 540
Keywords 540
INTRODUCTION 540
CONCLUSIONS 545
REFERENCES 545
CHAPTER 79. 
546 
Abstract 546
Keywords 546
INTRODUCTION 546
STRUCTURE OF PACKAGE 546
INTERACTIVE COMMUNICATION 547
DESIGN EXAMPLE 548
CONCLUDING REMARKS 548
Acknowledgments 549
REFERENCES 549
CHAPTER 80. 
552 
Abstract 552
Keywords 552
INTRODUCTION 552
BASIC CONCEPT OF THE CATPAC SOFTWARE SYSTEM 552
REALIZATION OF THE CONCEPTION 553
CATALOGUE CONCEPTION 554
MODELS 554
PROCEDURES 555
MODEL OUTPUT 555
DOCUMENTATION AND PROVISIONSTO ENSURE PORTABILITY OF THESOFTWARE SYSTEM 557
CONCLUSION 558
REFERENCES 558
CHAPTER 81. 
560 
Abstract 560
Keywords 560
INTRODUCTION 560
STRUCTURE AND FUNCTIONS 560
MAIN PRINCIPLES AND ALGORITHMSIN MCSCAD-SJD 562
CONCLUSION 565
APPENDIX 1 565
APPENDIX 2 566
REFERENCES 565
CHAPTER 82. 
568 
Abstract 568
Keywords 568
INTRODUCTION 568
THE COMPOSITION OF ADAPTIVECONTROL CONSTRAINT SYSTEM 568
THE CONTROL ALGORITHMSAND THE CONTROLCHARACTERISTICS FORCOMPENSATION 570
EXPERIMENTS 577
CONCLUSIONS 577
REFERENCES 579
CHAPTER 83. 
580 
Abstract 580
Keywords 580
INTRODUCTION 580
THE MULTIMICROPROCESSOR CNCCONFIGURATION 581
REAL TIME CONTROL OP POSITION LOOP 583
NUMERICAL CONTROL OP DC MOTOR FORPEED DRIVE 584
CONCLUSIONS 585
REFERENCES 585
CHAPTER 84. 
590 
Abstract 590
Keywords 590
INTRODUCTION 590
PRINCIPLES OF THE CAPP SYSTEMS 590
EXISTING CAPP SYSTEMS 594
REFERENCES 606
CHAPTER 85. 
608 
Abstract 608
Keywords 608
INTRODUCTION 608
VARIABLES AND ACTIONS-BLOCKS 608
THE CONTROL PROBLEM IN FMS 611
CONCLUSION 613
REFERENCES 613
CHAPTER 86. 
614 
Abstract 614
Keywords 614
INTRODUCTION 614
FORMULATION OF THE PROBLEM 614
DERIVATION OF THE SIMPLIFICATION ALGORITHM 615
AN ILLUSTRATIVE EXAMPLE 616
COMMENTS AND COMPARISON OF RESULTS 617
CONCLUSIONS 617
REFERENCES 617
CHAPTER 87. 
620 
INTRODUCTION 620
A SPECIAL CASE 621
THE CASE WHEN RANK(CBB' C ) < m
AN EXAMPLE 623
CONCLUSION 623
BIBLIOGRAPHY 623
CHAPTER 88. 
626 
Abstract 626
Keywords 626
INTRODUCTION 626
THE GMDH ALGORITHM 627
APPLICATIONS 629
CONCLUSION 631
REFERENCES 632
APPENDIX 632
CHAPTER 89. 
634 
Abstrac 634
Keywords 634
INTRODUCTION 634
MILLING MACHINE FRAMEAND REDUCED MODEL 635
MULTIDEGREE FREEDOM VIBRATING SYSTEM 636
GENERAL COMPUTATIONAL PROCEDURE 637
CONCLUSIONS 639
REFERENCES 640
APPENDIX 1 . 641
APPENDIX 2. 641
CHAPTER 90. 
642 
Abstract 642
Keywords 642
INTRODUCTION 642
PROBLEM STATEMENT 642
ALGORITHM DESCRIPTION 643
REFERENCES 645
CHAPTER 91. 
646 
Abstract 646
Keywords 646
1. INTRODUCTION 646
2. PRELIMINARY RESULTS 647
3. EXPLICIT GLOBAL PARAMETRIZATION OFALL STABILIZING DYNAMIC OUTPUT FEEDBACKCOMPENSATORS 648
4. GLOBAL PARAMETRIZATIONS OF ALLSTABILIZING STATE-FEEDBACK LAWSAND ALL OBSERVERS 652
5. CONCLUSIONS 654
ACKNOWLEDGMENT. 654
6. REFERENCES 654
CHAPTER 92. 
656 
Abstract 656
Keywords 656
INTRODUCTION 656
THE METHOD 657
THE LINEAR SYSTEM 657
THE NONLINEAR SYSTEM 658
THE DETERMINATION OF X 658
COMPUTATIONAL PROCEDURES 658
EXAMPLE OF USE 659
EVALUATION AND EXTENSIONS 660
REFERENCES 660
APPENDIX 1 660
APPENDIX 2 661
CHAPTER 93. 
664 
Abstract 664
Keywords. 664
INTRODUCTION 664
REVIEW OF THEORY 664
MULTIVARIABLE MODEL WITHINPUT OUTPUT DYNAMICS 665
STABILITY 665
EQUIVALENT DISCRETE MODEL 666
CAD USING A NONLINEAR MODEL 667
REFERENCES 667
CHAPTER 94. 
668 
Abstract 668
Keywords 668
INTRODUCTION 668
PREPARATION 669
BODE DIAGRAM 670
ROBUSTNESS CRITERION 670
SHAPING BODE DIAGRAM 671
AN ILLUSTRATIVE EXAMPLE 671
CONCLUDING REMARKS 672
APPENDIX 672
REFERENCES 672
CHAPTER 95. 
674 
Abstract 674
Keywords 674
INTRODUCTION 674
THE CIRCLE CRITERION 674
CIRCLE CRITERION FORCRITICAL CASES 677
AN EXAMPLE 680
COUCLUSIOIT 680
REFERENCES 680
CHAPTER 96. 
682 
Abstract 682
Keywords 682
INTRODUCTION 682
NUMERICAL CONCEPTS 683
COMPUTING BASIC CONTROL SYSTEM PROPERTIES 684
USE IN CONTROL SYSTEM DESIGN 685
SUBROUTINE LIBRARY IN CONTROL ENGINEERING 686
CONCLUSIONS 686
REFERENCES 686
CHAPTER 97. 
688 
Abstract 688
Keywords 688
I INTRODUCTION 688
II MODELING OF DYNAMIC SYSTEMS 688
Ill ROBUSTNESS ANALYSIS 689
IV DISPLAY OF INFORMATION ANDUSER INTERACTION 691
V NUMERICAL CONSIDERATIONS 692
VI EXAMPLES 693
VII ACKNOWLEDGMENTS 693
REFERENCES 693
CHAPTER 98. 
696 
Abstract 696
Keywords 696
INTRODUCTION 696
THE DESIGN METHOD OFHOROWITZ/SIDI 696
CALCULATION OF THE a). -BOUNDARY 697
CONTROLLER DESIGN 698
INTERACTIVE DESIGN 698
EXAMPLE 699
CONCLUSION 699
REFERENCES 700
CHAPTER 99. 
704 
Abstract 704
Keywords 704
INTRODUCTION 704
TIME DOMAIN TO FREOUENCY DOMAINSPECIFICATIONS 704
INTERACTION INDUCED PLANT IGN0PANCE 705
THEOREM 1. 705
SYSTEM SYNTHESIS 706
CONCLUSIONS 707
REFEFENCES 707
CHAPTER 100. 
712 
ABSTRACT 712
AUTHOR INDEX 714