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Buildings account for almost half of total primary energy use and related greenhouse emissions worldwide. Although current energy systems are improving, they still fall disappointingly short of meeting acceptable limits for efficiency.

Well-trained energy auditors are essential to the success of building energy efficiency programs—and Energy Audit of Building Systems: An Engineering Approach, Second Edition updates a bestselling guide to helping them improve their craft. This book outlines a systematic, proven strategy to employ analysis methods to assess the effectiveness of a wide range of technologies and techniques that can save energy and reduce operating costs in residential and commercial buildings.

Useful to auditors, managers, and students of energy systems, material is organized into 17 self-contained chapters, each detailing a specific building subsystem or energy efficiency technology. Rooted in established engineering principles, this volume:

Explores state-of-the-art techniques and technologies to reduce energy consumption in buildings

Lays out innovative energy efficiency technologies and strategies, as well as more established methods, to estimate energy savings from conservation measures

Provides several calculation examples to outline applications of methods

To help readers execute and optimize real building energy audits, the author presents several case studies of existing detailed energy audit reports. These include results from field testing, building energy simulation, and retrofit analysis of existing buildings, with recommendations based on sound economic analysis. Examining various subsystems, such as lighting, heating, and cooling systems, it provides an overview of basic engineering methods used to verify and measure actual energy savings attributed to energy efficiency projects. The author presents simplified calculation methods to evaluate their effectiveness and ultimately improve on them. Ideal either as a professional reference or a text for continuing education courses, this book fortifies readers’ understanding of building energy systems, paving the way for future breakthroughs.

Building on the last edition, (dedicated to exploring alternatives to coal- and oil-based energy conversion methods and published more than ten years ago), Thermodynamics and Heat Power, Eighth Edition updates the status of existing direct energy conversion methods as described in the previous work. Offering a systems approach to the analysis of energy conversion methods, this text focuses on the fundamentals involved in thermodynamics, and further explores concepts in the areas of ideal gas flow, engine analysis, air conditioning, and heat transfer. It examines energy, heat, and work in relation to thermodynamics, and also explores the properties of temperature and pressures. The book emphasizes practical mechanical systems, and incorporates problems at the end of the chapters to advance the application of the material.

What’s New in the Eighth Edition:

An emphasis on a systems approach to problems More discussion of the types of heat and of entropy Added explanations for understanding pound mass and the mole Analysis of steady flow gas processes, replacing the compressible flow section The concept of paddle work to illustrate how frictional effects can be analyzed A clearer discussion of the psychrometric chart and its usage in analyzing air conditioning systems Updates of the status of direct energy conversion systems A description of how the cooling tower is utilized in high-rise buildings Practical automotive engine analysis Expanded Brayton cycle analysis including intercooling, reheat, and regeneration and their effect on gas turbine efficiency A description of fins and how they improve heat transfer rates Added illustrative problems and new homework problems Availability of a publisher’s website for fluid properties and other reference materials Properties of the latest in commercial refrigerants

This text presents an understanding of basic concepts on the subject of thermodynamics and is a definitive resource for undergraduate students in engineering programs, most specifically, students studying engineering technology.

With its uncommon presentation of instructional material regarding mathematical modeling, measurements, and solution of inverse problems, Thermal Measurements and Inverse Techniques is a one-stop reference for those dealing with various aspects of heat transfer.

Progress in mathematical modeling of complex industrial and environmental systems has enabled numerical simulations of most physical phenomena. In addition, recent advances in thermal instrumentation and heat transfer modeling have improved experimental procedures and indirect measurements for heat transfer research of both natural phenomena and manmade applications. These new resources and methods help theoretical, computational, and experimental researchers synergistically interact to better understand the physical phenomena being studied. This book explores how inverse analysis can be used to increase understanding of interactions between technological systems and nature, by bridging the gap between data derived from measurements and information from theoretical predictions.

Assembled in three parts—Modeling and Measurements in Heat Transfer, Inverse Heat Transfer Problems, and Applications—this self-contained resource:

Explores theoretical background and examples

Outlines practical applications, including sample test cases

Presents inverse techniques to estimate spatially and time-varying functions (such as heat sources, fluxes, and thermophysical properties), as well as constant parameters in heat transfer problems

Written by international experts, this book assumes basic heat transfer knowledge, presenting a balanced approach suitable for advanced undergraduates and graduate students, as well as practicing engineers and academic and industrial researchers. With coverage of modeling at the micro- and nanoscales, this book covers classic and novel approaches to help readers understand and solve heat transfer problems of all kinds.

The JUT AMlIACM Symposium on Discretization Methods in Structural Mechanics was nd th held in Vienna, Austria, from 2 to 6 June 1997. The site of the Symposium was the "Theatersaal" of the Austrian Academy of Sciences. The Symposium was attended by 71 persons from 23 countries. In addition, several Austrian graduate students and research associates participated in the meeting. In the 5-day Symposium a total of 48 papers were presented. All of them were invited and accorded equal weight in the programme. The following topics were covered: • Error-controlled adaptivity of finite element methods • Large deformations and buckling, including inelastic deformations • Inelastic brittle or ductile localization, phase transition and system failure, resulting from monotonic, cyclic or impact loading • Sensitivity analysis and inverse problems with special emphasis on identification of material parameters • Development of linear and nonlinear finite element methods for thin-walled structures and composites • Implicit integration schemes for nonlinear dynamics • Coupling of rigid and deformable structures; fluid-structures and acoustic-structure interaction • Competitive numerical methods (finite element methods, boundary element methods, coupling ofthese two methods) • Identification of material and structural data. Comments on details of the treatment of these topics are contained in the Concluding Remarks. The Editors would like to express their appreciation to E. Stein who has prepared these Concluding Remarks.
Optimal analysis is defined as an analysis that creates and uses sparse, well-structured and well-conditioned matrices. The focus is on efficient methods for eigensolution of matrices involved in static, dynamic and stability analyses of symmetric and regular structures, or those general structures containing such components. Powerful tools are also developed for configuration processing, which is an important issue in the analysis and design of space structures and finite element models.
Different mathematical concepts are combined to make the optimal analysis of structures feasible. Canonical forms from matrix algebra, product graphs from graph theory and symmetry groups from group theory are some of the concepts involved in the variety of efficient methods and algorithms presented.
The algorithms elucidated in this book enable analysts to handle large-scale structural systems by lowering their computational cost, thus fulfilling the requirement for faster analysis and design of future complex systems. The value of the presented methods becomes all the more evident in cases where the analysis needs to be repeated hundreds or even thousands of times, as for the optimal design of structures by different metaheuristic algorithms.
The book is of interest to anyone engaged in computer-aided analysis and design and software developers in this field. Though the methods are demonstrated mainly through skeletal structures, continuum models have also been added to show the generality of the methods. The concepts presented are not only applicable to different types of structures but can also be used for the analysis of other systems such as hydraulic and electrical networks.
Lean burning of premixed gases is considered to be a promising combustion technology for future clean and highly efficient gas turbine combustors. Yet researchers face several challenges in dealing with premixed turbulent combustion, from its nonlinear multiscale nature and the impact of local phenomena to the multitude of competing models. Filling a gap in the literature, Fundamentals of Premixed Turbulent Combustion introduces the state of the art of premixed turbulent combustion in an accessible manner for newcomers and experienced researchers alike.

To more deeply consider current research issues, the book focuses on the physical mechanisms and phenomenology of premixed flames, with a brief discussion of recent advances in partially premixed turbulent combustion. It begins with a summary of the relevant knowledge needed from disciplines such as thermodynamics, chemical kinetics, molecular transport processes, and fluid dynamics. The book then presents experimental data on the general appearance of premixed turbulent flames and details the physical mechanisms that could affect the flame behavior. It also examines the physical and numerical models for predicting the key features of premixed turbulent combustion.

Emphasizing critical analysis, the book compares competing concepts and viewpoints with one another and with the available experimental data, outlining the advantages and disadvantages of each approach. In addition, it discusses recent advances and highlights unresolved issues. Written by a leading expert in the field, this book provides a valuable overview of the physics of premixed turbulent combustion. Combining simplicity and topicality, it helps researchers orient themselves in the contemporary literature and guides them in selecting the best research tools for their work.

Explore the Radiative Exchange between Surfaces

Further expanding on the changes made to the fifth edition, Thermal Radiation Heat Transfer, 6th Edition continues to highlight the relevance of thermal radiative transfer and focus on concepts that develop the radiative transfer equation (RTE).

The book explains the fundamentals of radiative transfer, introduces the energy and radiative transfer equations, covers a variety of approaches used to gauge radiative heat exchange between different surfaces and structures, and provides solution techniques for solving the RTE.

What’s New in the Sixth Edition

This revised version updates information on properties of surfaces and of absorbing/emitting/scattering materials, radiative transfer among surfaces, and radiative transfer in participating media. It also enhances the chapter on near-field effects, addresses new applications that include enhanced solar cell performance and self-regulating surfaces for thermal control, and updates references.

Comprised of 17 chapters, this text:

Discusses the fundamental RTE and its simplified forms for different medium properties Presents an intuitive relationship between the RTE formulations and the configuration factor analyses Explores the historical development and the radiative behavior of a blackbody Defines the radiative properties of solid opaque surfaces Provides a detailed analysis and solution procedure for radiation exchange analysis Contains methods for determining the radiative flux divergence (the radiative source term in the energy equation)

Thermal Radiation Heat Transfer, 6th Edition explores methods for solving the RTE to determine the local spectral intensity, radiative flux, and flux gradient. This book enables you to assess and calculate the exchange of energy between objects that determine radiative transfer at different energy levels.

The finite element method (FEM) is the dominant tool for numerical analysis in engineering, yet many engineers apply it without fully understanding all the principles. Learning the method can be challenging, but Mike Gosz has condensed the basic mathematics, concepts, and applications into a simple and easy-to-understand reference.

Finite Element Method: Applications in Solids, Structures, and Heat Transfer navigates through linear, linear dynamic, and nonlinear finite elements with an emphasis on building confidence and familiarity with the method, not just the procedures. This book demystifies the assumptions made, the boundary conditions chosen, and whether or not proper failure criteria are used. It reviews the basic math underlying FEM, including matrix algebra, the Taylor series expansion and divergence theorem, vectors, tensors, and mechanics of continuous media.

The author discusses applications to problems in solid mechanics, the steady-state heat equation, continuum and structural finite elements, linear transient analysis, small-strain plasticity, and geometrically nonlinear problems. He illustrates the material with 10 case studies, which define the problem, consider appropriate solution strategies, and warn against common pitfalls. Additionally, 35 interactive virtual reality modeling language files are available for download from the CRC Web site.

For anyone first studying FEM or for those who simply wish to deepen their understanding, Finite Element Method: Applications in Solids, Structures, and Heat Transfer is the perfect resource.
The rigorous treatment of combustion can be so complex that the kinetic variables, fluid turbulence factors, luminosity, and other factors cannot be defined well enough to find realistic solutions. Simplifying the processes, The Coen & Hamworthy Combustion Handbook provides practical guidance to help you make informed choices about fuels, burners, and associated combustion equipment—and to clearly understand the impacts of the many variables. Editors Stephen B. Londerville and Charles E. Baukal, Jr, top combustion experts from John Zink Hamworthy Combustion and the Coen Company, supply a thorough, state-of-the-art overview of boiler burners that covers Coen, Hamworthy, and Todd brand boiler burners.

A Refresher in Fundamentals and State-of-the-Art Solutions for Combustion System Problems

Roughly divided into two parts, the book first reviews combustion engineering fundamentals. It then uses a building-block approach to present specific computations and applications in industrial and utility combustion systems, including those for

Transport and introduction of fuel and air to a system Safe monitoring of the combustion system Control of flows and operational parameters Design of a burner/combustion chamber to achieve performance levels for emissions and heat transfer Avoidance of excessive noise and vibration and the extension of equipment life under adverse conditions

Coverage includes units, fluids, chemistry, and heat transfer, as well as atomization, computational fluid dynamics (CFD), noise, auxiliary support equipment, and the combustion of gaseous, liquid, and solid fuels. Significant attention is also given to the formation, reduction, and prediction of emissions from combustion systems. Each chapter builds from the simple to the more complex and contains a wealth of practical examples and full-color photographs and illustrations.

Practical Computations and Applications for Industrial and Utility Combustion Systems

A ready reference and refresher, this unique handbook is designed for anyone involved in combustion equipment selection, sizing, and emissions control. It will help you make calculations and decisions on design features, fuel choices, emissions, controls, burner selection, and burner/furnace combinations with more confidence.

This monograph is intended to provide a snapshot of the status and opportunities for advan cement in the technologies of dynamics and control oflarge flexible spacecraft structures. It is a reflection ofthe serious dialog and assessments going on all over the world,across a wide variety of scientific and technical disciplines, as we contemplate the next major milestone in mankind's romance with space: the transition from exploration and experimentation to commercial and defense exploitation. This exploitation is already in full swing in the space communications area. Both military and civilian objectives are being pursued with increasingly more sophisticated systems such as large antenna reflectors with active shape control. Both the NATO and Warsaw pact alliances are pursuing permanent space stations in orbit: large structural systems whose development calls for in-situ fabrication and/or assembly and whose operation will demand innovations in controls technology. The last ten years have witnessed a fairly brisk research activity in the dynamics and control oflarge space structures in orderto establish a technology base forthe development of advanced spacecraft systems envisioned for the future. They have spanned a wide spectrum of activity from fundamental methods development to systems concept studies and laboratory experimentation and demonstrations. Some flight experiments have also been conducted for various purposes such as the characterization of the space enviroment, durability of materials and devices in that environment, assembly and repair operations, and the dynamic behavior of flexible structures. It is this last area that has prompted this monogram.
Widely used for power generation, gas turbine engines are susceptible to faults due to the harsh working environment. Most engine problems are preceded by a sharp change in measurement deviations compared to a baseline engine, but the trend data of these deviations over time are contaminated with noise and non-Gaussian outliers. Gas Turbine Diagnostics: Signal Processing and Fault Isolation presents signal processing algorithms to improve fault diagnosis in gas turbine engines, particularly jet engines. The algorithms focus on removing noise and outliers while keeping the key signal features that may indicate a fault.

The book brings together recent methods in data filtering, trend shift detection, and fault isolation, including several novel approaches proposed by the author. Each method is demonstrated through numerical simulations that can be easily performed by the reader. Coverage includes:

Filters for gas turbines with slow data availability Hybrid filters for engines equipped with faster data monitoring systems Nonlinear myriad filters for cases where monitoring of transient data can lead to better fault detection Innovative nonlinear filters for data cleaning developed using optimization methods An edge detector based on gradient and Laplacian calculations A process of automating fault isolation using a bank of Kalman filters, fuzzy logic systems, neural networks, and genetic fuzzy systems when an engine model is available An example of vibration-based diagnostics for turbine blades to complement the performance-based methods

Using simple examples, the book describes new research tools to more effectively isolate faults in gas turbine engines. These algorithms may also be useful for condition and health monitoring in other systems where sharp changes in measurement data indicate the onset of a fault.

This book has grown out of lectures and courses given at Linköping University, Sweden, over a period of 15 years. It gives an introductory treatment of problems and methods of structural optimization. The three basic classes of geometrical - timization problems of mechanical structures, i. e. , size, shape and topology op- mization, are treated. The focus is on concrete numerical solution methods for d- crete and (?nite element) discretized linear elastic structures. The style is explicit and practical: mathematical proofs are provided when arguments can be kept e- mentary but are otherwise only cited, while implementation details are frequently provided. Moreover, since the text has an emphasis on geometrical design problems, where the design is represented by continuously varying—frequently very many— variables, so-called ?rst order methods are central to the treatment. These methods are based on sensitivity analysis, i. e. , on establishing ?rst order derivatives for - jectives and constraints. The classical ?rst order methods that we emphasize are CONLIN and MMA, which are based on explicit, convex and separable appro- mations. It should be remarked that the classical and frequently used so-called op- mality criteria method is also of this kind. It may also be noted in this context that zero order methods such as response surface methods, surrogate models, neural n- works, genetic algorithms, etc. , essentially apply to different types of problems than the ones treated here and should be presented elsewhere.
Considered as particularly difficult by generations of students and engineers, thermodynamics applied to energy systems can now be taught with an original instruction method. Energy Systems applies a completely different approach to the calculation, application and theory of multiple energy conversion technologies. It aims to create the reader’s foundation for understanding and applying the design principles to all kinds of energy cycles, including renewable energy. Proven to be simpler and more reflective than existing methods, it deals with energy system modeling, instead of the thermodynamic foundations, as the primary objective. Although its style is drastically different from other textbooks, no concession is done to coverage: with encouraging pace, the complete range from basic thermodynamics to the most advanced energy systems is addressed.

The accompanying ThermoptimTM portal (http://direns.mines-paristech.fr/Sites/Thopt/en/co/_Arborescence_web.html) presents the software and manuals (in English and French) to solve over 200 examples, and programming and design tools for exercises of all levels of complexity. The reader is explained how to build appropriate models to bridge the technological reality with the theoretical basis of energy engineering. Offering quick overviews through e-learning modules moreover, the portal is user-friendly and enables to quickly become fully operational. Students can freely download the ThermoptimTM modeling software demo version (in seven languages) and extended options are available to lecturers. A professional edition is also available and has been adopted by many companies and research institutes worldwide - www.thermoptim.org

This volume is intended as for courses in applied thermodynamics, energy systems, energy conversion, thermal engineering to senior undergraduate and graduate-level students in mechanical, energy, chemical and petroleum engineering. Students should already have taken a first year course in thermodynamics. The refreshing approach and exceptionally rich coverage make it a great reference tool for researchers and professionals also. Contains International Units (SI).

The Boundary Element Method (BEM) has been established as a powerful numerical tool for the analysis of continua in recent years. The method is based on an attempt to transfer the governing differential equations into integral equations over the boundary. Thus, the discretization scheme or the intro duction of any approximations must be done over the boundary. This book presents a BEM for two-dimensional elastic, thermo -elastic and body-force contact problems. The formulation is implemented for the general case of contact with various fric tional conditions. The analysis is limited to linear elasto statics and small strain theory. Following a review of the basic nature of contact problems, the analytical basis of the direct formulation of the BEM method is described. The numerical implementation employs three-noded isoparametric line elements for the representa tion of the boundary of the bodies in contact. Opposite nodal points in equi-Iength element-pairs are defined on the two surfaces in the area which is expected to come into contact under an increasing load. The use of appropriate contact IV conditions enables the integral equations for the two bodies to be coupled together. To find the proper contact dimensions and the contact load a combined incremental and iterative approach is utilised. With this approach, the loads are applied progressively, and the sliding and adhering portion of the contact region is established for each load increment using an iterative procedure. A coulomb type of friction law is assumed.
The European Turbulence Conferences have been organized under the auspices of the European Mechanics Committee (Euromech) to provide a forum for discussion and exchange of recent and new results in the field of turbulence. The first conference was organized in Lyon in 1986 with 152 participants. The second and third conferences were held in Berlin (1988) and Stockholm (1990) with 165 and 172 participants respectively. The fourth was organized in Delft from 30 June to 3 July 1992 by the J.M. Burgers Centre. There were 214 participants from 22 countries. This steadily growing number of participants demonstrates both the success and need for this type of conference. The main topics of the Fourth European Turbulence Conference were: Dynamical Systems and Transition; Statistical Physics and Turbulence; Experiments and Novel Experimental Techniques; Particles and Bubbles in Turbulence; Simulation Methods; Coherent Structures; Turbulence Modelling and Compressibility Effects. In addition a special session was held on the subject of CeBular Automata. Each of the sessions was introduced with a survey lecture. The lecturers were: W. Eckhaus, AJ. Libchaber, L. Katgerman, F. Durst, M. Lesieur, B. Legras, D.G. Dritschel and P. Bradshaw. The contributions of the participants were subdivided into oral and poster presentations. In addition to the normal program, some Speciai Interest Groups of Ercoftac (European Research Community on Flow, Turbulence and Combustion) presented their research activities in the form of a poster.
This book contains the edited version of the lectures presented at the NATO ADVANCED STUDY INSTITUTE on "COMPUTER AIDED ANALYSIS OF RIGID AND FLEXIBLE MECHANICAL SYSTEMS". held in Troia. Portugal. from the 27 June to 9 July. 1993. and organized by the Instituto de Engenharia Mecanica. Instituto Superior Tecnico. This ASI addressed the state-of-art in the field of multibody dynamics. which is now a well developed subject with a great variety of formalisms. methods and principles. Ninety five participants. from twenty countries. representing academia. industry. government and research institutions attended this Institute. This contributed greatly to the success of the Institute since it encouraged the interchange of experiences between leading scientists and young scholars and promoted discussions that helped to generate new ideas and to defme directions of research and future developments. The full program of the Institute included also contributed presentations made by participants where different topics have been explored. Such topics include: formulations and numerical aspects in rigid and flexible mechanical systems; object-oriented paradigms; optimal design and synthesis; robotics; kinematics; path planning; control; impact dynamics; and several application oriented developments in weapon systems. vehicles and crash worthiness. These papers have been revised and will be published by Kluwer in a special issue of the Journal of Nonlinear Dynamics and in a forthcoming companion book. This book brings together. in a tutorial and review manner. a comprehensive summary of current work and is therefore suitable for a wide range of interests.
This text book is intended for studies in wind engineering, with focus on the stochastic theory of wind induced dynamic response calculations for slender bridges or other line ?like civil engineering type of structures. It contains the background assumptions and hypothesis as well as the development of the computational theory that is necessary for the prediction of wind induced fluctuating displacements and cross sectional forces. The simple cases of static and quasi-static structural response calculations are for the sake of completeness also included. The text is at an advanced level in the sense that it requires a fairly comprehensive knowledge of basic structural dynamics, particularly of solution procedures in a modal format. None of the theory related to the determination of eigen ?values and the corresponding eigen ?modes are included in this book, i. e. it is taken for granted that the reader is familiar with this part of the theory of structural dynamics. Otherwise, the reader will find the necessary subjects covered by e. g. Clough & Penzien [2] and Meirovitch [3]. It is also advantageous that the reader has some knowledge of the theory of statistical properties of stationary time series. However, while the theory of structural dynamics is covered in a good number of text books, the theory of time series is not, and therefore, the book contains most of the necessary treatment of stationary time series (chapter 2). The book does not cover special subjects such as rain-wind induced cable vibrations.
As the theories and methods have evolved over the years, the mechanics of solid bodies has become unduly fragmented. Most books focus on specific aspects, such as the theories of elasticity or plasticity, the theories of shells, or the mechanics of materials. While a narrow focus serves immediate purposes, much is achieved by establishing the common foundations and providing a unified perspective of the discipline as a whole.

Mechanics of Solids and Shells accomplishes these objectives. By emphasizing the underlying assumptions and the approximations that lead to the mathematical formulations, it offers a practical, unified presentation of the foundations of the mechanics of solids, the behavior of deformable bodies and thin shells, and the properties of finite elements. The initial chapters present the fundamental kinematics, dynamics, energetics, and behavior of materials that build the foundation for all of the subsequent developments. These are presented in full generality without the usual restrictions on the deformation. The general principles of work and energy form the basis for the consistent theories of shells and the approximations by finite elements. The final chapter views the latter as a means of approximation and builds a bridge between the mechanics of the continuum and the discrete assembly.

Expressly written for engineers, Mechanics of Solids and Shells forms a reliable source for the tools of analysis and approximation. Its constructive presentation clearly reveals the origins, assumptions, and limitations of the methods described and provides a firm, practical basis for the use of those methods.
This book is an adventure into the computer analysis of three dimensional composite structures using the finite element method (FEM). It is designed for Universities, for advanced undergraduates, for graduates, for researchers, and for practising engineers in industry. The text advances gradually from the analysis of simple beams to arbitrary anisotropic and composite plates and shells; it treats both linear and nonlinear behavior. Once the basic philosophy of the method is understood, the reader may expand its application and modify the computer programs to suit particular needs. The book arose from four years research at the University of Stuttgart, Germany. We present the theory and computer programs concisely and systematically so that they can be used both for teaching and applications. We have tried to make the book simple and clear, and to show the underlying physical and mathematical ideas. The FEM has been in existence for more than 50 years. One of the authors, John Argyris, invented this technique in World War II in the course of the check on the analysis of the swept back wing of the twin engined Meteor Jet Fighter. In this work, he also consistently applied matrix calculus and introduced triangular membrane elements in conjunction with two new definitions of triangular stresses and strains which are now known as the component and total measures. In fact, he was responsible for the original formulation of the matrix force and displacement methods, the forerunners of the FEM.
Integrating feedforward control with feedback control can significantly improve the performance of control systems compared to using feedback control alone. Focusing on feedforward control techniques, Optimal Reference Shaping for Dynamical Systems: Theory and Applications lucidly covers the various algorithms for attenuating residual oscillations that are excited by reference inputs to dynamical systems. The reference shaping techniques presented in the book require the system to be stable or marginally stable, including systems where feedback control has been used to stabilize the system.

Illustrates Techniques through Benchmark Problems

After developing models for applications in which the dynamics are dominated by lightly damped poles, the book describes the time-delay filter (input shaper) design technique and reviews the calculus of variations. It then focuses on four control problems: time-optimal, fuel/time-optimal, fuel limited time-optimal, and jerk limited time-optimal control. The author explains how the minimax optimization problem can help in the design of robust time-delay filters and explores the input-constrained design of open-loop control profiles that account for friction in the design of point-to-point control profiles. The final chapter presents numerical techniques for solving the problem of designing shaped inputs.

Supplying MATLAB® code and a suite of real-world problems, this book provides a rigorous yet accessible presentation of the theory and numerical techniques used to shape control system inputs for achieving precise control when modeling uncertainties exist. It includes up-to-date techniques for the design of command-shaped profiles for precise, robust, and rapid point-to-point control of underdamped systems.

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