The rapid evolution of computer science, communication, and information technology has enabled the application of control techniques to systems beyond the possibilities of control theory just a decade ago. Critical infrastructures such as electricity, water, traffic and intermodal transport networks are now in the scope of control engineers. The sheer size of such large-scale systems requires the adoption of advanced distributed control approaches. Distributed model predictive control (MPC) is one of the promising control methodologies for control of such systems. This book provides a state-of-the-art overview of distributed MPC approaches, while at the same time making clear directions of research that deserve more attention. The core and rationale of 35 approaches are carefully explained. Moreover, detailed step-by-step algorithmic descriptions of each approach are provided. These features make the book a comprehensive guide both for those seeking an introduction to distributed MPC as well as for those who want to gain a deeper insight in the wide range of distributed MPC techniques available.

This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities. The material is presented in an approachable fashion by considering concrete configuration manifolds of increasing complexity, which then motivates and naturally leads to the more general formulation that follows. Understanding of the material is enhanced by numerous in-depth examples throughout the book, culminating in non-trivial applications involving multi-body systems. This book is written for a general audience of mathematicians, engineers, and physicists with a basic knowledge of mechanics. Some basic background in differential geometry is helpful, but not essential, as the relevant concepts are introduced in the book, thereby making the material accessible to a broad audience, and suitable for either self-study or as the basis for a graduate course in applied mathematics, engineering, or physics.

This book describes in detail the physical and mathematical foundations of ultrasonic phased array measurements. The book uses linear systems theory to develop a comprehensive model of the signals and images that can be formed with phased arrays. Engineers working in the field of ultrasonic nondestructive evaluation (NDE) will find in this approach a wealth of information on how to design, optimize and interpret ultrasonic inspections with phased arrays. The fundamentals and models described in the book will also be of significant interest to other fields, including the medical ultrasound and seismology communities. A unique feature of this book is that it presents a unified theory of imaging with phased arrays that shows how common imaging methods such as the synthetic aperture focusing technique (SAFT), the total focusing method (TFM), and the physical optics far field inverse scattering (POFFIS) imaging method are all simplified versions of more fundamental and quantitative imaging approaches, called imaging measurement models. To enhance learning, this book first describes the fundamentals of phased array systems using 2-D models, so that the complex 3-D cases normally found in practice can be more easily understood. In addition to giving a detailed discussion of phased array systems, Fundamentals of Ultrasonic Phased Arrays also provides MATLAB® functions and scripts, allowing the reader to conduct simulations of ultrasonic phased array transducers and phased array systems with the latest modeling technology.

This book develops a uniform accurate method which is capable of dealing with vibrations of laminated beams, plates and shells with arbitrary boundary conditions including classical boundaries, elastic supports and their combinations. It also provides numerous solutions for various configurations including various boundary conditions, laminated schemes, geometry and material parameters, which fill certain gaps in this area of reach and may serve as benchmark solutions for the readers. For each case, corresponding fundamental equations in the framework of classical and shear deformation theory are developed. Following the fundamental equations, numerous free vibration results are presented for various configurations including different boundary conditions, laminated sequences and geometry and material properties. The proposed method and corresponding formulations can be readily extended to static analysis.

An advanced level introduction to a new method of analyzing multibody dynamics An advanced level introduction to a new method of analyzing multibody dynamics for engineers Provides a logical development of the transfer matrix method as applied to the dynamics of multibody systems that consist of interconnected bodies Provides a useful reference for science and technology researchers and engineers with applications in weaponry, aeronautics, astronautics, vehicles and robotics Written by an internationally renowned author and research team with many years experience in multibody systems

Rotordynamics of automotive turbochargers is dealt with in this book encompassing the widely working field of small turbomachines under real operating conditions at the very high rotor speeds up to 300000 rpm. The broadly interdisciplinary field of turbocharger rotordynamics involves 1) Thermodynamics and Turbo-Matching of Turbochargers 2) Dynamics of Turbomachinery 3) Stability Analysis of Linear Rotordynamics with the Eigenvalue Theory 4) Stability Analysis of Nonlinear Rotordynamics with the Bifurcation Theory 5) Bearing Dynamics of the Oil Film using the Two-Phase Reynolds Equation 6) Computation of Nonlinear Responses of a Turbocharger Rotor 7) Aero and Vibroacoustics of Turbochargers 8) Shop and Trim Balancing at Two Planes of the Rotor 9) Tribology of the Bearing Surface Roughness 10) Design of Turbocharger Platforms using the Similarity Laws The rotor response of an automotive turbocharger at high rotor speeds is studied analytically, computationally, and experimentally. Due to the nonlinear characteristics of the oil-film bearings, some nonlinear responses of the rotor besides the harmonic response 1X, such as oil whirl, oil whip, and modulated frequencies occur in Waterfall diagram. Additionally, the influences of the surface roughness and oil characteristics on the rotor behavior, friction, and wear are discussed. This book is written by an industrial R&D expert with many years of experience in the automotive and turbocharger industries. The all-in-one book of turbochargers is intended for scientific and engineering researchers, practitioners working in the rotordynamics field of automotive turbochargers, and graduate students in applied physics and mechanical engineering.

This concise textbook for students preferably of a postgraduate level, but also for engineers in practice, contains the basic kinematical and kinetic structures of dynamics together with carefully selected applications. The book is a condensed introduction to the fundamental laws of kinematics and kinetics, on the most important principles of mechanics and presents the equations of motion in the form of Lagrange and Newton-Euler. Selected problems of linear and nonlinear dynamics are treated, as well as problems of vibration formation. The presented selection of topics gives a useful basis for stepping into more advanced problems of dynamics. The contents of this book represent the result of a regularly revised course, which has been and still is given for masters students at the Technische Universität München.

This book reports on the latest advances in the study of Networked Control Systems (NCSs). It highlights novel research concepts on NCSs; the analysis and synthesis of NCSs with special attention to their networked character; self- and event-triggered communication schemes for conserving limited network resources; and communication and control co-design for improving the efficiency of NCSs. The book will be of interest to university researchers, control and network engineers, and graduate students in the control engineering, communication and network sciences interested in learning the core principles, methods, algorithms and applications of NCSs.

Structural Health Monitoring & Damage Detection, Volume 7: Proceedings of the 33rd IMAC, A Conference and Exposition on Structural Dynamics, 2015, the seventh volume of ten from the Conference brings together contributions to this important area of research and engineering.  The collection presents early findings and case studies on fundamental and applied aspects of Structural Dynamics, including papers on:   Structural Health Monitoring Damage Detection Energy Harvesting

This eighth volume of eight from the IMAC - XXXII Conference, brings together contributions to this important area of research and engineering. The collection presents early findings and case studies on fundamental and applied aspects of Structural Dynamics, including papers on: Linear Systems Substructure Modelling Adaptive Structures Experimental Techniques Analytical Methods Damage Detection Damping of Materials & Members Modal Parameter Identification Modal Testing Methods System Identification Active Control Modal Parameter Estimation Processing Modal Data

This book provides a comprehensive discussion of nonlinear multi-modal structural vibration problems, and shows how vibration suppression can be applied to such systems by considering a sample set of relevant control techniques. It covers the basic principles of nonlinear vibrations that occur in flexible and/or adaptive structures, with an emphasis on engineering analysis and relevant control techniques. Understanding nonlinear vibrations is becoming increasingly important in a range of engineering applications, particularly in the design of flexible structures such as aircraft, satellites, bridges, and sports stadia. There is an increasing trend towards lighter structures, with increased slenderness, often made of new composite materials and requiring some form of deployment and/or active vibration control. There are also applications in the areas of robotics, mechatronics, micro electrical mechanical systems, non-destructive testing and related disciplines such as structural health monitoring. Two broader themes cut across these application areas: (i) vibration suppression – or active damping – and, (ii) adaptive structures and machines. In this expanded 2nd edition, revisions include: An additional section on passive vibration control, including nonlinear vibration mounts. A more in-depth description of semi-active control, including switching and continuous schemes for dampers and other semi-active systems. A complet e reworking of normal form analysis, which now includes new material on internal resonance, bifurcation of backbone curves and stability analysis of forced responses.Further analysis of the nonlinear dynamics of cables including internal resonance leading to whirling. Additional material on the vibration of systems with impact friction. The book is accessible to practitioners in the areas of application, as well as students and researchers working on related topics. In particular, the aim is to introduce the key concepts of nonlinear vibration to readers who have an understanding of linear vibration and/or linear control, but no specialist knowledge in nonlinear dynamics or nonlinear control.

The VETOMAC-X Conference covered a holistic plethora of relevant topics in vibration and engineering technology including condition monitoring, machinery and structural dynamics, rotor dynamics, experimental techniques, finite element model updating, industrial case studies, vibration control and energy harvesting, and signal processing. These proceedings contain not only all of the nearly one-hundred peer-reviewed presentations from authors representing more than twenty countries, but also include six invited lectures from renowned experts: Professor K. Gupta, Mr W. Hahn, Professor A.W. Lees, Professor John Mottershead, Professor J.S. Rao, and Dr P. Russhard. This work is of interest to researchers and practitioners alike, and is an essential book for most of libraries of higher academic institutes.

This unique book explores both theoretical and experimental aspects of nonlinear vibrations and stability of shells and plates. It is ideal for researchers, professionals, students, and instructors. Expert researchers will find the most recent progresses in nonlinear vibrations and stability of shells and plates, including advanced problems of shells with fluid-structure interaction. Professionals will find many practical concepts, diagrams, and numerical results, useful for the design of shells and plates made of traditional and advanced materials. They will be able to understand complex phenomena such as dynamic instability, bifurcations, and chaos, without needing an extensive mathematical background. Graduate students will find (i) a complete text on nonlinear mechanics of shells and plates, collecting almost all the available theories in a simple form, (ii) an introduction to nonlinear dynamics, and (iii) the state of art on the nonlinear vibrations and stability of shells and plates, including fluid-structure interaction problems.

Rotor dynamics is an important branch of dynamics that deals with behavior of rotating machines ranging from very large systems like power plant rotors, for example, a turbogenerator, to very small systems like a tiny dentist's drill, with a variety of rotors such as pumps, compressors, steam/gas turbines, motors, turbopumps etc. as used for example in process industry, falling in between. The speeds of these rotors vary in a large range, from a few hundred RPM to more than a hundred thousand RPM. Complex systems of rotating shafts depending upon their specific requirements, are supported on different types of bearings. There are rolling element bearings, various kinds of fluid film bearings, foil and gas bearings, magnetic bearings, to name but a few. The present day rotors are much lighter, handle a large amount of energy and fluid mass, operate at much higher speeds, and therefore are most susceptible to vibration and instability problems. This have given rise to several interesting physical phenomena, some of which are fairly well understood today, while some are still the subject of continued investigation. Research in rotor dynamics started more than one hundred years ago. The progress of the research in the early years was slow. However, with the availability of larger computing power and versatile measurement technologies, research in all aspects of rotor dynamics has accelerated over the past decades. The demand from industry for light weight, high performance and reliable rotor-bearing systems is the driving force for research, and new developments in the field of rotor dynamics.

The symposium proceedings contain papers on various important aspects of rotor dynamics such as, modeling, analytical, computational and experimental methods, developments in bearings, dampers, seals including magnetic bearings, rub, impact and foundation effects, turbomachine blades, active and passive vibration control strategies including control of instabilities, nonlinear and parametric effects, fault diagnostics and condition monitoring, and cracked rotors.

This volume is of immense value to teachers, researchers in educational institutes, scientists, researchers in R&D laboratories and practising engineers in industry. "

Nonlinear dynamics has been enjoying a vast development for nearly four decades resulting in a range of well established theory, with the potential to significantly enhance performance, effectiveness, reliability and safety of physical systems as well as offering novel technologies and designs. By critically appraising the state of the art, it is now time to develop design criteria and technology for new generation products/processes operating on principles of nonlinear interaction and in the nonlinear regime, leading to more effective, sensitive, accurate, and durable methods than what is currently available. This new approach is expected to radically influence the design, control and exploitation paradigms, in a magnitude of contexts. With a strong emphasis on experimentally calibrated and validated models, contributions by top-level international experts will foster future directions for the development of engineering technologies and design using robust nonlinear dynamics modelling and analysis.

Experimental Techniques, Rotating Machinery & Acoustics, Volume 8: Proceedings of the 33rd IMAC, A Conference and Exposition on Structural Dynamics, 2015, the eighth volume of ten from the Conference brings together contributions to this important area of research and engineering.  The collection presents early findings and case studies on fundamental and applied aspects of Structural Dynamics, including papers on:   Experimental Techniques Processing Modal Data Rotating Machinery Acoustics Adaptive Structures Biodynamics Damping

The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

The present monograph defines, interprets and uses the matrix of partial derivatives of the state vector with applications for the study of some common categories of engineering. The book covers broad categories of processes that are formed by systems of partial derivative equations (PDEs), including systems of ordinary differential equations (ODEs). The work includes numerous applications specific to Systems Theory based on Mpdx, such as parallel, serial as well as feed-back connections for the processes defined by PDEs. For similar, more complex processes based on Mpdx with PDEs and ODEs as components, we have developed control schemes with PID effects for the propagation phenomena, in continuous media (spaces) or discontinuous ones (chemistry, power system, thermo-energetic) or in electro-mechanics (railway - traction) and so on. The monograph has a purely engineering focus and is intended for a target audience working in extremely diverse fields of application (propagation phenomena, diffusion, hydrodynamics, electromechanics) in which the use of PDEs and ODEs is justified.

The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

This fourth volume of eight from the IMAC - XXXII Conference, brings together contributions to this important area of research and engineering. The collection presents early findings and case studies on fundamental and applied aspects of Structural Dynamics, including papers on: Linear Systems Substructure Modelling Adaptive Structures Experimental Techniques Analytical Methods Damage Detection Damping of Materials & Members Modal Parameter Identification Modal Testing Methods System Identification Active Control Modal Parameter Estimation Processing Modal Data

This text is a short yet complete course on nonlinear dynamics of deterministic systems. Conceived as a modular set of 15 concise lectures it reflects the many years of teaching experience by the authors. The lectures treat in turn the fundamental aspects of the theory of dynamical systems, aspects of stability and bifurcations, the theory of deterministic chaos and attractor dimensions, as well as the elements of the theory of Poincare recurrences.Particular attention is paid to the analysis of the generation of periodic, quasiperiodic and chaotic self-sustained oscillations and to the issue of synchronization in such systems. This book is aimed at graduate students and non-specialist researchers with a background in physics, applied mathematics and engineering wishing to enter this exciting field of research.

Vibration of Hydraulic Machinery deals with the vibration problem which has significant influence on the safety and reliable operation of hydraulic machinery. It provides new achievements and the latest developments in these areas, even in the basic areas of this subject. The present book covers the fundamentals of mechanical vibration and rotordynamics as well as their main numerical models and analysis methods for the vibration prediction. The mechanical and hydraulic excitations to the vibration are analyzed, and the pressure fluctuations induced by the unsteady turbulent flow is predicted in order to obtain the unsteady loads. This book also discusses the loads, constraint conditions and the elastic and damping characters of the mechanical system, the structure dynamic analysis, the rotor dynamic analysis and the system instability of hydraulic machines, including the illustration of monitoring system for the instability and the vibration in hydraulic units. All the problems are necessary for vibration prediction of hydraulic machinery.

The 5th International Congress on Design and Modeling of Mechanical Systems (CMSM) was held in Djerba, Tunisia on March 25-27, 2013 and followed four previous successful editions, which brought together international experts in the fields of design and modeling of mechanical systems, thus contributing to the exchange of information and skills and leading to a considerable progress in research among the participating teams. The fifth edition of the congress (CMSM2013), organized by the Unit of Mechanics, Modeling and Manufacturing (U2MP) of the National School of Engineers of Sfax, Tunisia, the Mechanical Engineering Laboratory (MBL) of the National School of Engineers of Monastir, Tunisia and the Mechanics Laboratory of Sousse (LMS) of the National School of Engineers of Sousse, Tunisia, saw a significant increase of the international participation. This edition brought together nearly 300 attendees who exposed their work on the following topics: mechatronics and robotics, dynamics of mechanical systems, fluid structure interaction and vibroacoustics, modeling and analysis of materials and structures, design and manufacturing of mechanical systems. This book is the proceedings of CMSM2013 and contains a careful selection of high quality contributions, which were exposed during various sessions of the congress. The original articles presented here provide an overview of recent research advancements accomplished in the field mechanical engineering.

The articles in this volume present the state-of-the-art in noise prediction, modeling and measurement. The articles are partially based on class notes provided during the course `Noise sources in turbulent shear flows', given at CISM on April 2011. The first part contains general concepts of aero acoustics, including vortex sound theory and acoustic analogies, in the second part particular emphasis is put into arguments of interest for engineers and relevant for aircraft design: jet noise, airfoil broadband noise, boundary layer noise (including interior noise and its control) and the concept of noise sources, their theoretical modeling and identification in turbulent lows. All these arguments are treated extensively with the inclusion of many practical examples and references to engineering applications.

It is well established that the sliding mode control strategy provides an effective and robust method of controlling the deterministic system due to its well-known invariance property to a class of bounded disturbance and parameter variations. Advances in microcomputer technologies have made digital control increasingly popular among the researchers worldwide. And that led to the study of discrete-time sliding mode control design and its implementation. This brief presents, a method for multi-rate frequency shaped sliding mode controller design based on switching and non-switching type of reaching law. In this approach, the frequency dependent compensator dynamics are introduced through a frequency-shaped sliding surface by assigning frequency dependent weighing matrices in a linear quadratic regulator (LQR) design procedure. In this way, the undesired high frequency dynamics or certain frequency disturbance can be eliminated. The states are implicitly obtained by measuring the output at a faster rate than the control. It is also known that the vibration control of smart structure is a challenging problem as it has several vibratory modes. So, the frequency shaping approach is used to suppress the frequency dynamics excited during sliding mode in smart structure. The frequency content of the optimal sliding mode is shaped by using a frequency dependent compensator, such that a higher gain can be obtained at the resonance frequencies. The brief discusses the design methods of the controllers based on the proposed approach for the vibration suppression of the intelligent structure. The brief also presents a design of discrete-time reduced order observer using the duality to discrete-time sliding surface design. First, the duality between the coefficients of the discrete-time reduced order observer and the sliding surface design is established and then, the design method for the observer using Riccati equation is explained. Using the proposed method, the observer for the Power System Stabilizer (PSS) for Single Machine Infinite Bus (SMIB) system is designed and the simulation is carried out using the observed states. The discrete-time sliding mode controller based on the proposed reduced order observer design method is also obtained for a laboratory experimental servo system and verified with the experimental results.