Engineering Books

More than half of the total electrical energy produced in developed coun-tries is converted into mechanical energy in electric motors, freeing the society from the tedious burden of physical labor. Among many types of the motors, three-phase induction machines still enjoy the same unparalleled popularity as they did a century ago. At least 90% of industrial drive systems employ induction motors.

Most of the motors are uncontrolled, but the share of adjustable speed induction motor drives fed from power electronic converters is steadily increasing, phasing out dc drives. It is estimated that more than 50 billion dollars could be saved annually by replacing all ‘‘dumb’’ motors with controlled ones.

However, control of induction machines is a much more challenging task than control of dc motors. Two major difficulties are the necessity of providing adjustable-frequency voltage (dc motors are controlled by adjusting the magnitude of supply voltage) and the nonlinear-ity and complexity of analytical model of the motor, aggrandized by parameter uncertainty.

As indicated by the title, this book is devoted to various aspects of control of induction motors. In contrast to the several existing monographs on adjustable speed drives, a great effort was made to make the covered topics easy to understand by nonspecialists. Although primarily addressed to practicing engineers, the book may well be used as a graduate textbook or an auxiliary reference source in undergraduate courses on electrical machinery, power electronics, or electric drives.

Beginning with a general background, the book describes construction and steady-state operation of induction motors and outlines basic issues in uncontrolled drives. Power electronic converters, especially pulse width modulated inverters, constitute an important part of adjustable speed drives. 

Therefore, a whole chapter has been devoted to them. The part of the book dealing with control topics begins with scalar control methods used in low-performance drive systems. The dynamic model of the induc- tion machine is introduced next, as a base for presentation of more ad- vanced control concepts. 

Principles of the field orientation, a fundamental idea behind high-performance, vector controlled drives, are then eluci-dated. The book also shows in detail another common approach to induc-tion motor control, the direct torque and flux control, and use of inductionmotors in speed and position control systems is illustrated.

Finally, the important topic of sensorless control is covered, including a brief review of the commercial drives available on today’s market. Certain topics encountered in the literature on induction motor drives have been left out. The issue of control of this machine is so intellectually challenging that some researchers attempt approaches fundamentally dif-ferent from the established methods. As of now, such ideas as feedback linearization or passivity based control have not yet found their way to practical ASDs. Time will show whether these theoretical concepts repre-sent a sufficient degree of improvement over the existing techniques to enter the domain of commercial drives.

Selected literature, a glossary of symbols, and an index complete the book. Easy-to-follow examples illustrate the presented ideas. Numerous figures facilitate understanding of the text. Each chapter begins with a short abstract and ends with a summary, following the three tenets of good teaching philosophy: (1) Tell what you are going to tell, (2) tell, and (3) then tell what you just told.

I want to thank Professor J. David Irwin of Auburn University for the encouragement to undertake this serious writing endeavor. My wife, Dorota, and children, Bart and Nicole, receive my deep gratitude for their sustained support.

Engineering Fluid Mechanics

Chapter 1 concerns the fundamentals of continuum mechanics. The chapter involves a description of the nature of continuum, and the basis of kinematic fluid flow. Mathematical treatments necessary for describing quantities of fluid motion, which lay the groundwork for proceeding chap- ters, are also dealt with at this stage.

Chapter 2 encompasses the general conservation laws of fluid flow, in- volving mass, linear momentum, angular momentum and energy conserva- tion. These will allow us to provide constitutive equations (relations) for the (unconstituted) conservation equations; thus, a closed system of equa- tions, namely the governing equations of a specified fluid flow, can be ob- tained. Newtonian fluid, non-Newtonian fluid, viscoelastic fluid, and mag- netic fluid are developed in later chapters.

Chapters 3 and 4 provide the basic theory for fluid engineering in an inviscid flow, from which hydrostatics, potential flows and incompressible flows are derived for practical use in Chapter 3. Thermodynamics equa- tions are also introduced for analysis in this chapter. Specific engineering terms and concepts are defined in the proceeding chapters when appropri- ate. The importance in derivation of the Bernoulli equation is considered from the view of applying the equation to various engineering problems. In consideration of engineering applications, 

Chapter 4 deals with fun- damental methods to characterize turbomachines, and provides definitions of efficiencies. The concept of efficiencies is largely based on energy transfer and conversion. This chapter in particular explicates the basic treatments of hydraulic machineries, which are widely used in engineering

Chapter 5 is concerned with basic theory for compressible flow. In par- ticular, unidirectional steady state flow process is considered. Fanno and Rayleigh processes in compressible flows are treated in more detail in view of wider applications to engineering practice. Shock waves are also touched on in this chapter.

Chapter 6 focuses on Newtonian flow. Viscosity, the most important concept in fluid mechanics is brought into the discussion, which leads us to the derivation of Navier-Stokes equations. Viscous flows are the objective in this chapter. Basic flows in many engineering applications are intro- duced, in which boundary layer theories are more thoroughly examined.

Chapter 7 explores some of the more advanced topics in fluid engineer- ing so that the student wishing to further develop their interest in research fields or gain perspective for their future careers may glean some insight from these discussions. This chapter concerns non-Newtonian fluid flow in particular, which cannot be characterized in the same way as Newtonian fluids. The topic chiefly discussed here is polymeric fluid in light of more advanced applications, involving not only non-Newtonian viscosity, but also elasticity in regard to the rheological properties of fluids. Some con- stitutive equations of viscoelastic fluids are introduced in this chapter, for the purpose of applying them to numerical work.

In the final chapter, Chapter 8, ferrohydrodynamics is introduced along side recent developments in magnetic fluids. The fundamental treatment of magnetic fluids is based on the modeling of suspensions of magnetic grains, whose scale is in the order of 10nm. The novel idea of suspension through the process of magnetization is introduced in deriving a closure system of ferrohydrodynamics equations. Some engineering applications of magnetic fluids are outlined.

There are four appendixes in which further details have been included. The appendixes are arranged in such a way that readers can, when neces- sary, refer to basic mathematical treatments and extend their understanding on a specific subject in the main text. Tables of physical properties are also provided as reference for readers requiring data for solving problems in the text or for more practical designing works. References are provided at the end of each chapter, some of which are to be regarded as suggestions for further reading and others as cited sources.

Design and Analysis of Simulation Experiments

Preface

This book is the successor of several other books that I wrote on (roughly) the same topic. My first book consisted of two volumes, and was published in 1974/1975 (and translated into Russian in 1978). Its successor was pub- lished in 1987. In 1992, Willem van Groenendaal and I wrote a more general book on simulation, which included an update of parts of my 1987 book.

So I thought that it was high time to write down all I know about the statistical Design and Analysis of Simulation Experiments, which I abbre- viate to DASE (and pronounce as the girl’s name Daisy). This acronym is inspired by DACE, which stands for Design and Analysis of Computer Experiments; the acronym DACE is popular in deterministic simulation.

In this book, I will focus on those DASE aspects that I have a certain expertise in—I think. Though I focus on DASE for discrete-event simulation (which includes queueing and inventory simulations), I also discuss DASE for deterministic simulation (applied in engineering, physics, etc.).

I discuss both computationally expensive and cheap simulations. I assume that the readers already have a basic knowledge of simulation; e.g., they know concepts such as terminating simulation and steady-state simulation. They should also have a basic understanding of mathematical statistics, including concepts such as distribution functions, averages, and variances.

This book contains more than four hundred references. Yet, I have tried to eliminate older references that are mentioned in more recent references— unless the older reference is the origin of some important idea (so the readers may get a historical perspective). To improve the book’s readability,I try to collect references at the end of paragraphs—as much as seems reasonable.

Preface

This monograph presents new constructive design methods for boundary stabi-lization and boundary estimation for several classes of benchmark problems for flow control, with potential applications in turbulence control, weather forecast- ing, and plasma control. 

The basis of our approach is the recently developed continuous backstepping method for parabolic PDEs [90]. We expand the appli-cability of boundary controllers for flow systems from low Reynolds number  to high Reynolds number conditions.

Efforts in flow control over the last few years have led to a wide range of develop- ments in many different directions, reflecting the interdisciplinary character of the research community (composed of control theorists, specialists in fluid me- chanics, mathematicians, and physicists). However, most implementable devel- opments so far have been obtained using discretized versions of the plant mod- els and finite-dimensional control techniques. In contrast, our design method is based on the “continuum” version of the backstepping approach, applied to the PDE model of the flow. 

The postponement of the spatial discretization until the implementation stage offers advantages that range from numerical to analytical. In fact, our methods offer a rather unparalleled physical intuition by forcing the closed-loop systems to dynamically behave as well-damped heat equation PDEs.

This constructive design philosophy is particularly rewarded in terms of the ob- server and control gains that we derive. In all cases these gains are presented as explicitly computable formulas such as rapidly convergent symbolic recursions, solutions to well-posed solvable linear PDEs, or even directly as closed-form analytical expressions. 

For all designs we state and prove mathematical results guaranteeing closed-loop stability and observer convergence. This constructive approach has allowed us to obtain the first nontrivial closed-loop explicit solu- tion for the 2D Navier–Stokes channel flow model.

Penghantar

Ada yang mengatakan bahwa sejarah merupa- kan riwayat hidup orang-orang besar. Tidak selalu demikian, memang, akan tetapi sulit diingkari bahwa riwayat orang-orang besar itu sendiri merupakan se- bagian (mungkin yang terbesar) dari grand narrative sejarah.

Abad 20 bagi Indonesia merupakan abad yang sangat bersejarah, karena di masa itulah kita meraih kemerdekaan setelah tiga setengah abad terjajah. Se- lain Proklamasi Kemerdekaan 17 Agustus 1945, cu- kup banyak peristiwa bersejarah yang terjadi dalam abad 20. Misalnya terbentuknya Boedi Oetomo pada tanggal 20 Mei 1908 (yang menandai pergeseran pola gerakan anti-kolonialisme dari gerakan bersenjata menuju perjuangan melalui organisasi); Soempah Pemoeda tanggal 28 Oktober 1928 (tonggak sejarah yang menandai kesadaran untuk bersatu dalarn per- juangan rnerebut kemerdekaan); perginya Belanda dan datangnya penjajah }epang pada tahun 1942; perang kernerdekaan 1945-1949; pernbunuhan para jenderal Angkatan Darat pada subuh 1 Oktober 1965 yang diikuti pernbantaian kaum komunis di Indone- sia; hingga people power yang mernaksa rezim Orde Baru meletakkan kekuasaan pad a tahun 1998. Abad 20 juga dihiasi dengan keberhasilan putera-puteri bangsa di bidang ilmu pengetahuan dan teknologi, seni dan budaya, maupun di bidang bisnis.

Di balik peristiwa-peristiwa bersejarah itu, terdapat sosok- sosok berjiwa besar (great personalities) yang mempu- nyai karakter kuat, bercita-cita tinggi, dan rela ber- korban untuk meneapai tujuan. Mereka memanfaat- kan momentum sejarah untuk mewujudkan apa yang menjadi gagasan mereka. Merekalah yang men- ciptakan sejarah. Merekalah yang mengubah Indo- nesia menjadi apa yang kita kenaI sekarang.

Sejarah membuktikan, bahwa pergolakan untuk melawan penjajahan merupakan sesuatu yang berproses 11 dari atas ke bawah" (top down). Di abad- abad sebelumnya, perlawanan melawan penjajah sangat tergantung pada pemimpin. Memang ada sedikit perbedaan yang muneul di abad 20, yaitu eorak perlawanan melalui organisasi. Namun demikian, karakter top-down masih eukup terasa. Kebanyakan organisasi yang memperjuangkan kemerdekaan dimotori oleh elit pribumi, kebanyakan keluarga bangsawan, khususnya mereka yang memiliki kesempatan mencicipi pendidikan di Barat.

Setelah setengah abad, barulah bermuneulan tokoh- tokoh pengubah sejarah Indonesia yang muneul dari kalangan rakyat bawah (grass root). Buku ini bermaksud merangkum riwayat hidup tokoh-tokoh besar bangsa Indonesia yang paling ber- pengaruh di abad keduapuluh. Mereka bisa merupa- kan tokoh protagonis, bisa juga tokoh antagonis. Me- reka bisa saja seorang pahlawan pemersatu bangsa, bisa pula seorang tokoh gerakan separatis. Mereka bisa seorang tokoh politik, bisa pula datang dari du- nia seni atau bisnis.

Kriterianya, apa yang yang telah mereka perbuat memberi pengaruh bagi bangsa ini dalam kurun waktu yang lama, barangkali jauh lebih lama dibandingkan hidup mereka sendiri. Pemuatan nama-nama tokoh diurutkan berdasarkan alfabet, dan tidak didasarkan pada besar atau kecilnya pe- ngaruh mereka terhadap sejarah Indonesia. Penyusunan dan penerbitan buku ini tentu saja tidak dimaksudkan untuk membangkitkan kultus individu atau pemujaan berlebihan terhadap sosok tertentu, melainkan sebagai upaya mencegah amne- sia sejarah (khususnya di kalangan generasi muda).

Banyak hal yang bisa diteladani dari mereka yang telah mengubah sejarah bangs a ini. Misalnya totali- tas dalam perjuangan seperti yang ditunjukkan oleh Jenderal Soedirman, idealisme tinggi dan semangat perubahan seperti yang ada pada diri Soe Hok Gie maupun Chairil Anwar, ketekunan dan konsistensi dari H.B. Jassin, dan sebagainya. Bahkan dari me- reka yang mendapat tempat kurang baik dalam seja- rah bangsa (seperti Abdul Qahhar Mudzakar, Daud Beureuh, Kartosoewirjo, D.N. Aidit dan Tan Malaka), kita selalu bisa mendapatkan pelajaran berharga.

Tokoh-tokoh yang dimuat dalam buku ini me- mang hanya memiliki peran kuat dalam sejarah ne- geri ini di abad 20. Oleh karena itu, jiwa-jiwa besar seperti Pangeran Diponegoro, Teuku Umar, Tuanku Imam BonjoI, Gadjah Mada, Pattimura, dan banyak nama lain yang berkiprah sebelum abad 20, belum karni cantumkan dalam buku ini. Begitu pula mereka yang mendapatkan momentum perjuangannya baru datang setelah abad 20 berakhir, seperti Susilo Bam- bang Yudhoyono, belum dimuat di sini. Bukan berarti apa yang mereka lakukan tidak cukup berharga, na- mun kami memiliki rencana menerbitkan volume khusus untuk memuat seluruh tokoh bangsa dalam sejarah Nusantara.

Napoleon Bonaparte was a military and political leader who rose to power during the French Revolution in the late 18th century. He was born on August 15, 1769, in Corsica, a French island in the Mediterranean Sea. Napoleon was educated in France and joined the French army as an artillery officer in 1785. During the French Revolution, Napoleon quickly rose through the ranks and became a general at the age of 24. He played a significant role in several military campaigns, including the Italian Campaign and the Egyptian Campaign. In 1804, he declared himself Emperor of France and began a period of consolidation and expansion.

Napoleon's military campaigns were both successful and controversial. He conquered much of Europe, including Italy, Spain, and the Netherlands, and fought against countries such as Austria, Prussia, and Russia. However, his aggressive policies led to the eventual downfall of his empire.

Napoleon's reign ended in 1815 when he was defeated at the Battle of Waterloo and exiled to the island of Saint Helena in the South Atlantic. He died there on May 5, 1821, at the age of 51.

Despite his controversial legacy, Napoleon is remembered as a significant figure in French and European history. He implemented several reforms that modernized France, including the Napoleonic Code, which established civil law and influenced legal systems around the world. His military tactics and strategies also influenced future generations of military leaders.