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Mechatronic Systems Analysis, Design, and Implementation by El-Kebir Boukas and Fouad M. AL-Sunni | PDF Free Download.
Nowadays most of the systems are computer-controlled among them we quote mechatronic systems where the intelligence is implemented in microcontrollers.
The discipline that deals with such systems is mechatronics that we define as the synergistic combination of mechanical engineering, electronic engineering, and software engineering.
The purpose of this interdisciplinary engineering field is to control complex systems by providing hardware and software solutions. The engineers working in this field must master concepts in electronics, control, and programming.
Examples of such systems can be found in different industrial areas ranging from aerospace to automobile industries. In the mechanical part, the engineer must follow a rigorous procedure to design the mechatronic system.
He must build the mechanical part of the system and choose the appropriate sensors and actuators that have to be used in the functioning of the mechatronic system. At this phase, we must think about the place where the electronic circuit will be integrated.
In the electronics part, the engineer must design the electronic circuit around microcontrollers that will assure the functioning of the mechatronics systems.
It covers the integration of the required electronics components such as resistors, capacitors, integrated circuits, sensors, and the chosen microcontrollers. The required regulated voltage for the different components is also part of this step.
In the control part, the engineer must analyze the system under study and design the appropriate controller to get the desired performances.
In the analysis part, we should start by establishing an acceptable model that gives the relationship between the inputs and the outputs.
Once the dynamics are mastered a sampling period is chosen and the model is converted to a discrete-time form and an appropriate controller can be chosen among the classical proportional integral and derivative (PID) controller or the state feedback controller or any other controller that can give the desired performances.
In the programming part, the engineer must develop the code of the appropriate algorithms and then upload it in the memory of the chosen microcontroller.
Many languages can be used for this purpose. In the rest of this volume, the C language is used to implement the developed algorithms.
The field of mechatronics is blooming and due to its interdisciplinarity, many universities around the world have introduced complete programs on mechatronics in their curriculum. Also, the number of students that are attracted by this field is also blooming and many research directions related to this have emerged recently.
Huge efforts have been done to structure research in this discipline and we have seen recently many international conferences totally dedicated to this. Also, some journals have been created to report interesting results on the subject.
Unfortunately, the number of the book dealing with such discipline is limited and sometimes inappropriate for some courses in the different programs around the world.
This book provides some tools that engineers working on the mechatronics discipline can use. It can be considered as a reference for the second course in mechatronics curriculum where the students are supposed to have a prerequisite course in which the structure and the different components on mechatronics systems have been presented.
It focuses only on the analysis, design, and implementation of continuous-time systems controlled by microcontrollers using advanced algorithms to get the desired performances. The hardware design of the mechatronic systems represents the hearth of the mechatronics field.
It consists of designing the different parts of the mechatronic systems. Mainly beside the electronic circuit, we should select the appropriate sensors and actuators that we can use for our mechatronic system.
The choice of microcontroller is also important for the success of the desired system. In the modeling part, a model to describe the behavior of the system is developed either using the transfer function or the state space representation.
In the transfer function approach part, the model of the continuous-time systems is converted to a discrete-time system, and different techniques for analysis and synthesis of controllers to guarantee some desired performances are developed.
In the state space approach part, the model of the continuous-time systems is converted to a discrete-time state-space representation and different techniques for analysis and synthesis of controllers to assure some desired performances are developed.
The part on implementation will focus on how we can implement the control algorithm we developed either using the transfer function tools or the ones based on state space.
Both the hardware and software parts will be covered to give an idea for the reader on how to deal with such problems.
Mainly the selection of the sensors and the actuators that may be used in the mechatronic system will be covered. In the advance control part, a flavor of how to design controllers that handle uncertainties and external disturbances in the dynamics is presented.
This will give an idea to the reader on a robust control technique and get familiar with the implementation of these techniques. Stability and stabilization problems and their robustness are covered.
Different controllers (state feedback, static output feedback, and dynamic output feedback) are used and linear matrix inequality (LMI) condition is developed to design such controllers.
In the case studies part, a certain number of practical examples are presented to show how the concepts we presented earlier are implemented to obtain a functional mechatronics system. More detail is given to help the reader to design his own mechatronic system in the future.
The rest of this book is organized into seven parts and divided into eleven chapters and one appendix. In the introduction, a general overview of the mechatronics fields is given and the main concepts are recalled to make the book self-contained.
In Chapter 2, the structure of mechatronic systems is detailed and some examples are given. Chapter 3 which is a part of the modeling part, deals with the modeling problem of the class of linear continuous-time systems. Both the physical laws and identification approaches are covered.
The concepts of the transfer function and state-space representations are presented. Chapter 4 treats the Z-transform and its properties and how the transfer function is obtained from a model that is given in a set of differential equations.
Other techniques for analysis of such systems are also covered. In Chapter 5, some design approaches based on transfer functions are developed. Chapter 6 deals with the state space approach for analyzing linear discrete-time systems.
The concepts of stability, controllability, and observability are covered. In Chapter 7, the state feedback, static output, and dynamic output stabilization techniques are tackled.
Chapter 8 deals with the implementation problem of the control algorithm we may develop for controlling a given continuous-time system.
The focus will be made on all the steps. Mainly the hardware and software parts are covered in detail to help the reader to develop his own expertise.
Chapter 9 presents some ideas on robust control. Stability and stabilization problems for systems with uncertainties and external disturbances are tackled.
Chapter 10 covers the guaranteed cost control problem. Different types of controllers are used for this purpose. In Chapter 11 some selected systems are considered and all the concepts we developed in this book are applied to give the whole picture for the reader.
An appendix that contains some relevant tools is also provided to try to make the book self-contained.
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