Dynamic System Modeling and Analysis with MATLAB and Python: For Control Engineers

333 Pages·2022·7.938 MB·English

by  Jongrae Kim

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DynamicSystemModellingandAnalysiswithMATLABandPython
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IEEEPress
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IEEEPressEditorialBoard
SarahSpurgeon,EditorinChief
JónAtliBenediktsson AndreasMolisch DiomidisSpinellis
AnjanBose SaeidNahavandi AhmetMuratTekalp
AdamDrobot JeffreyReed
Peter(Yong)Lian ThomasRobertazzi
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Dynamic System Modelling and Analysis
with MATLAB and Python
For Control Engineers
Jongrae Kim
UniversityofLeeds
Leeds,UK
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IEEEPressSeriesonControlSystemsTheoryandApplications
MariaDomenicaDiBenedetto,SeriesEditor
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Copyright©2023byTheInstituteofElectricalandElectronicsEngineers,Inc.Allrights
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Setin9.5/12.5ptSTIXTwoTextbyStraive,Chennai,India
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ToMiyoung
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vii
Contents
Preface xiii
Acknowledgements xv
Acronyms xvii
AbouttheCompanionWebsite xix
1 Introduction 1
1.1 ScopeoftheBook 1
1.2 MotivationExamples 2
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1.2.1 Free-FallingObject 2
1.2.1.1 FirstPrograminMatlab 4
1.2.1.2 FirstPrograminPython 10
1.2.2 Ligand–ReceptorInteractions 14
1.3 OrganizationoftheBook 21
Exercises 21
Bibliography 22
2 AttitudeEstimationandControl 23
2.1 AttitudeKinematicsandSensors 23
2.1.1 SolveQuaternionKinematics 26
2.1.1.1 MATLAB 26
2.1.1.2 Python 29
2.1.2 GyroscopeSensorModel 33
2.1.2.1 Zero-MeanGaussianWhiteNoise 33
2.1.2.2 GenerateRandomNumbers 34
2.1.2.3 StochasticProcess 40
2.1.2.4 MATLAB 41
2.1.2.5 Python 45
2.1.2.6 GyroscopeWhiteNoise 49
2.1.2.7 GyroscopeRandomWalkNoise 50
2.1.2.8 GyroscopeSimulation 53
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viii Contents
2.1.3 OpticalSensorModel 57
2.2 AttitudeEstimationAlgorithm 64
2.2.1 ASimpleAlgorithm 64
2.2.2 QUESTAlgorithm 65
2.2.3 KalmanFilter 66
2.2.4 ExtendedKalmanFilter 75
2.2.4.1 ErrorDynamics 76
2.2.4.2 BiasNoise 77
2.2.4.3 NoisePropagationinErrorDynamics 78
2.2.4.4 StateTransitionMatrix,Φ 84
2.2.4.5 VectorMeasurements 84
2.2.4.6 Summary 86
2.2.4.7 KalmanFilterUpdate 86
2.2.4.8 KalmanFilterPropagation 87
2.3 AttitudeDynamicsandControl 88
2.3.1 DynamicsEquationofMotion 88
2.3.1.1 MATLAB 91
2.3.1.2 Python 94
2.3.2 ActuatorandControlAlgorithm 95
2.3.2.1 MATLABProgram 98
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2.3.2.2 Python 101
2.3.2.3 AttitudeControlAlgorithm 103
2.3.2.4 AltitudeControlAlgorithm 105
2.3.2.5 Simulation 106
2.3.2.6 MATLAB 107
2.3.2.7 RobustnessAnalysis 107
2.3.2.8 ParallelProcessing 110
Exercises 113
Bibliography 115
3 AutonomousVehicleMissionPlanning 119
3.1 PathPlanning 119
3.1.1 PotentialFieldMethod 119
3.1.1.1 MATLAB 122
3.1.1.2 Python 126
3.1.2 GraphTheory-BasedSamplingMethod 126
3.1.2.1 MATLAB 128
3.1.2.2 Python 129
3.1.2.3 Dijkstra’sShortestPathAlgorithm 130
3.1.2.4 MATLAB 130
3.1.2.5 Python 131
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