Digital control of dynamic systems
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Bibliographic Information
Digital control of dynamic systems
Addison Wesley, c1998
3rd ed
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Includes index
Description and Table of Contents
Description
This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Both classical and modern control methods are described and applied to illustrative examples. The strengths and limitations of each method are explored to help the reader develop solid designs with the least effort. Two new chapters have been added to the third edition offering a review of feedback control systems and an overview of digital control systems. Updated to be fully compatible with MATLAB versions 4 and 5, the text thoroughly integrates MATLAB statements and problems to offer readers a complete design picture. The new edition contains up-to-date material on state-space design and twice as many end- of-chapter problems to give students more opportunities to practice the material.
Table of Contents
1. Introduction.
Problem Definition. Overview of Design Approach. Computer-Aided Design. Suggestions for Further Reading. Summary. Problems.
2. Review of Continuous Control.
Dynamic Response. Basic Properties of Feedback. Root Locus. Frequency Response Design. Compensation. State-Space Design. Summary. Problems.
3. Introductory Digital Control.
Digitization. Effect of Sampling. PID Control. Summary. Problems.
4. Discrete Systems Analysis.
Linear Difference Equations. The Discrete Transfer Function. Discrete Models of Sampled-Data Systems. Signal Analysis and Dynamic Response. Frequency Response. Properties of the z-Transform. Summary. Problems.
5. Sampled-Data Systems.
Analysis of the Sample and Hold. Spectrum of a Sampled Signal. Data Extrapolation. Block-Diagram Analysis of Sampled-Data Systems. Calculating the System Output Between Samples: The Ripple. Summary. Problems. Appendix.
6. Discrete Equivalents.
Design of Discrete Equivalents via Numerical Integration. Zero-Pole Matching Equivalents. Hold Equivalents. Summary. Problems.
7. Design Using Transform Techniques.
System Specifications. Design by Emulation. Direct Design by the Root Locus in the z-Plane. Frequency Response Methods. Direct Design Method of Ragazzini. .Summary. Problems.
8. Design Using State-Space Methods.
Control Law Design. Estimator Design. Regulator Design: Combined Control Law and Estimator. Introduction of the Reference Input. Integral Control and Disturbance Estimation. Effect of Delays. Controllability and Observability. Summary. Problems.
9. Multivariable and Optimal Control.
Decoupling. Time-Varying Optimal Control. LQR Steady-State Optimal Control. Optimal Estimation. Multivariable Control Design. Summary. Problems.
10. Quantization Effects.
Analysis of Round-Off Error. Effects of Parameter Round-Off. Limit Cycles and Dither Summary. Problems.
11. Sample Rate Selection.
The Sampling Theorem's Limit. Time Response and Smoothness. Errors Due to Random Plant Disturbances. Sensitivity to Parameter Variations. Measurement Noise and Antialiasing Filters. Multirate Sampling. Summary. Problems.
12. System Identification.
Defining the Model Set for Linear Systems. Identification of Nonparametric Models. Models and Criteria for Parametric Identification. Deterministic Estimation. Stochastic Least Squares. Maximum Likelihood. Numerical Search for the Maximum Likelihood Estimate. Subspace Identification Methods. Summary. Problems.
13. Nonlinear Control.
Analysis Techniques.
14. Design of a Disk Drive Servo: A Case Study.
Overview of Disk Files. Components and Models. Design Specifications. Disk Servo Design. Summary.
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