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The Whirling Blade and the Steaming Cauldron

Bodenheimer, Robert Edward, Jr. (1995) The Whirling Blade and the Steaming Cauldron. California Institute of Technology , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:1995.019

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Abstract

Ths dissertation applies recent theoretical developments in control to two practical examples. The first example is control of the primary circuit of a pressurized water nuclear reactor. This is an interesting example because the plant is complex and its dynamics vary greatly over the operating range of interest. The second example is a thrust-vectored ducted fan engine, a nonlinear flight control experiment at Caltech. The main part of this dissertation is the application of linear parameter-dependent control techniques to the examples. The synthesis technique is based on the solution of linear matrix inequalities (LMIs) and produces a controller whch acheves specified performance against the worst-case time variation of measurable parameters entering the plant in a linear fractional manner. Thus the plant can have widely varying dynamics over the operating range, a quality possessed by both examples. The controllers designed with these methods perform extremely well and are compared to H∞, gain-scheduled, and nonlinear controllers. Additionally, an in-depth examination of the model of the ducted fan is performed, including system identification. From this work, we proceed to apply various techniques to examine what they can tell us in the context of a practical example. The primary technique is LMI-based model validation. The contribution ths dissertation makes is to show that parameter-dependent control techniques can be applied with great effectiveness to practical applications. Moreover, the trade-off between modelling and controller performance is examined in some detail. Finally, we demonstrate the applicability of recent model validation techruques in practice, and discuss stabilizability issues.


Item Type:Report or Paper (Technical Report)
Additional Information:In Partial Fulfillment of the Requirements for the Degree of Doctor of Phlosophy With high spirits I undertook to thank the many people who have helped me during my graduate tenure at Caltech. I have had the opportunity and pleasure of meeting many very talented people during ths period, but unfortunately I am unable to thank them all. I hope those not mentioned here will not take umbrage - be sure that I have not forgotten. John Doyle was always quick to point out the "big picture" and helped me not to lose sight of the forest for the trees. His profound understanding of control theory coupled with his research advice has been a constant and reassuring source of support throughout. John is an interesting and unique advisor. A good deal of my control education was due to Andy Packard. He's always been willing to explain things to me in as much detail as I required. These discussions often occurred over midnight hot dogs with hot peppers when he was here at Caltech. Much of the work in this dissertation was possible because he spent the time to make the theory clear to me. I especially appreciate his effort to be on my committee. Richard Murray kept me on the right track with his constant encouragement. His keen perception and enthusiasm have been an invaluable asset. While ths small encomium is wholly inadequate to express my gratitude, I trust he's aware of it. I'm beholden to Drs. Pietro Perona and Robert McEliece for serving on my dissertation committee. I thank them both very much. Special thanks are due to my fellow students at Caltech. Matt Newlin has been an unwavering beacon of insight and enlightenment. Carolyn Beck worked very hard with me and our collaboration has been a true pleasure. John Morris and I have spent hours discussing control and helping one another throughout our graduate careers. Both Carolyn and John's thoughtful criticisms on ths manuscript aided me greatly. Mike Kantner has always been eager to help me with the ducted fan, both now and when I was first learning to use it. It pleases me more than I can say to count these people as friends as well as colleagues. The control group at Caltech is a very open and cooperative one, and I have benefitted tremendously from this atmosphere. The enlightening conversations I've had with Jorge Tierno, Raff D'Andrea, Wei-Min Lu, and Fernando Paganini have certainly clarified my understanding of control and systems theory and I hope that it's reflected in this work. Jorge and Fernando, in particular, have a penchant for rigor and precision which is always helpful and very refreshng. Heather Sherman gave of her time and energy in a very careful reading of a draft of this dissertation. She also told me what the cow was doing in the powder room during the opera, and whch opera it was. Finally, my heartfelt gratitude goes to Pascale Bendotti. Her drive and determination have been a fountain of inspiration. Most of the results in this work are based on our long collaboration, and I am deeply indebted to her. Merci, mille fois.
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:1995.019
Persistent URL:http://resolver.caltech.edu/CaltechCDSTR:1995.019
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28097
Collection:CaltechCDSTR
Deposited By: Imported from CaltechCDSTR
Deposited On:13 Oct 2006
Last Modified:26 Dec 2012 14:30

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