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This book presents an innovative control system design process
motivated by renewable energy electric grid integration problems.
The concepts developed result from the convergence of research and
development goals which have important concepts in common: exergy
flow, limit cycles, and balance between competing power flows. A
unique set of criteria is proposed to design controllers for a
class of nonlinear systems. A combination of thermodynamics with
Hamiltonian systems provides the theoretical foundation which is
then realized in a series of connected case studies. It allows the
process of control design to be viewed as a power flow control
problem, balancing the power flowing into a system against that
being dissipated within it and dependent on the power being stored
in it - an interplay between kinetic and potential energies. Human
factors and the sustainability of self-organizing systems are dealt
with as advanced topics.
This book is the result of over ten (10) years of research and
development in flexible robots and structures at Sandia National
Laboratories. The authors de cided to collect this wealth of
knowledge into a set of viewgraphs in order to teach a graduate
class in Flexible Robot Dynamics and Controls within the Mechanical
En gineering Department at the University of New Mexico (UNM).
These viewgraphs, encouragement from several students, and many
late nights have produced a book that should provide an upper-level
undergraduate and graduate textbook and a reference for experienced
professionals. The content of this book spans several disciplines
including structural dynam ics, system identification,
optimization, and linear, digital, and nonlinear control theory
which are developed from several points of view including
electrical, me chanical, and aerospace engineering as well as
engineering mechanics. As a result, the authors believe that this
book demonstrates the value of solid applied theory when developing
hardware solutions to real world problems. The reader will find
many real world applications in this book and will be shown the
applicability of these techniques beyond flexible structures which,
in turn, shows the value of mul tidisciplinary education and
teaming.
This book is the result of over ten (10) years of research and
development in flexible robots and structures at Sandia National
Laboratories. The authors de cided to collect this wealth of
knowledge into a set of viewgraphs in order to teach a graduate
class in Flexible Robot Dynamics and Controls within the Mechanical
En gineering Department at the University of New Mexico (UNM).
These viewgraphs, encouragement from several students, and many
late nights have produced a book that should provide an upper-level
undergraduate and graduate textbook and a reference for experienced
professionals. The content of this book spans several disciplines
including structural dynam ics, system identification,
optimization, and linear, digital, and nonlinear control theory
which are developed from several points of view including
electrical, me chanical, and aerospace engineering as well as
engineering mechanics. As a result, the authors believe that this
book demonstrates the value of solid applied theory when developing
hardware solutions to real world problems. The reader will find
many real world applications in this book and will be shown the
applicability of these techniques beyond flexible structures which,
in turn, shows the value of mul tidisciplinary education and
teaming."
This book presents an innovative control system design process
motivated by renewable energy electric grid integration problems.
The concepts developed result from the convergence of research and
development goals which have important concepts in common: exergy
flow, limit cycles, and balance between competing power flows. A
unique set of criteria is proposed to design controllers for a
class of nonlinear systems. A combination of thermodynamics with
Hamiltonian systems provides the theoretical foundation which is
then realized in a series of connected case studies. It allows the
process of control design to be viewed as a power flow control
problem, balancing the power flowing into a system against that
being dissipated within it and dependent on the power being stored
in it - an interplay between kinetic and potential energies. Human
factors and the sustainability of self-organizing systems are dealt
with as advanced topics.
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