Control Basics for Mechatronics

Cover
Half Title
Title Page
Copyright Page
Table of Contents
Preface
Author
Chapter 1 Why do you Need Control Theory?
	1.1 Control is Not Just About Algorithms
	1.2 The Origins of Simulation
	1.3 Discrete Time
	1.4 The Concept of Feedback
Chapter 2 Modelling Time
	2.1 Introduction
	2.2 A Simple System
	2.3 Simulation
	2.4 Choosing a Computing Platform
Chapter 3 A Simulation Environment
	3.1 Jollies
	3.2 More on Graphics
	3.3 More Choices
	3.4 Drawing Graphs
	3.5 More Details of Jollies
Chapter 4 Step Length Considerations
	4.1 Choosing a Step Length
	4.2 Discrete Time Solution of a First-Order System
Chapter 5 Modelling a Second-Order System
	5.1 A Servomoter Example
	5.2 Real-Time Simulation
Chapter 6 The Complication of Motor Drive Limits
	6.1 Drive Saturation
	6.2 The Effect of a Disturbance
	6.3 A Different Visualisation
	6.4 Meet the Phase Plane
	6.5 In Summary
Chapter 7 Practical Controller Design
	7.1 Overview
	7.2 The Velodyne Loop
	7.3 Demand Limitation
	7.4 Riding a Bicycle
	7.5 Nested Loops and Pragmatic Control
Chapter 8 Adding Dynamics to the Controller
	8.1 Overview
	8.2 Noise and Quantisation
	8.3 Discrete Time Control
	8.4 Position Control with a Real Motor
	8.5 In Conclusion
Chapter 9 Sensors and Actuators
	9.1 Introduction
	9.2 The Nature of Sensors
	9.3 The Measurement of Position and Displacement
	9.4 Velocity and Acceleration
	9.5 Output Devices
Chapter 10 Analogue Simulation
	10.1 History
	10.2 Analogue Circuitry
	10.3 State Equations
Chapter 11 Matrix State Equations
	11.1 Introduction
	11.2 Feedback
	11.3 A Simpler Approach
Chapter 12 Putting it Into Practice
	12.1 Introduction
	12.2 A Balancing Trolley
	12.3 Getting Mathematical
	12.4 Pole Assignment
Chapter 13 Observers
	13.1 Introduction
	13.2 Laplace and Heaviside
	13.3 Filters
	13.4 The Kalman Filter
	13.5 The Balancing Trolley Example
	13.6 Complementary Filtering
	13.7 A Pragmatic Approach
Chapter 14 More About the Mathematics
	14.1 Introduction
	14.2 How Did the Exponentials Come in?
	14.3 More About Roots
	14.4 Imaginary Roots
	14.5 Complex Roots and Stability
Chapter 15 Transfer Functions
	15.1 Introduction
	15.2 Phase Advance
		15.2.1 Mathematical Aside
	15.3 A Transfer-Function Matrix
Chapter 16 Solving the State Equations
	16.1 Introduction
	16.2 Vectors and More
	16.3 Eigenvectors
	16.4 A General Approach
	16.5 Equal Roots
Chapter 17 Discrete Time and the z Operator
	17.1 Introduction
	17.2 Formal Methods
	17.3 z and Code
	17.4 Lessons Learned From z
	17.5 Quantisation
	17.6 Discrete Transfer Function
Chapter 18 Root Locus
	18.1 Introduction
	18.2 The Complex Frequency Plane
	18.3 Poles and Zeroes
	18.4 A Root Locus Plotter
	18.5 A Better Plot
	18.6 Root Locus for Discrete Time
	18.7 Moving the Controller Poles and Zeroes
Chapter 19 More About the Phase Plane
	19.1 Drawing Phase-Plane Trajectories
	19.2 Phase Plane for Saturating Drive
	19.3 Bang-Bang Control and Sliding Mode
	19.4 More Uses of the Phase Plane
Chapter 20 Optimisation and an Experiment
	20.1 Introduction
	20.2 Time-Optimal Control
	20.3 Predictive Control
	20.4 A Tilting Plank Experiment – Nostalgia
	20.5 Ball and Beam: A Modern Version
Chapter 21 Problem Systems
	21.1 Introduction
	21.2 A System with a Time Delay
	21.3 Integral Action
	21.4 The Bathroom Shower Approach
Chapter 22 Final Comments
	22.1 Introduction
	22.2 Multi-Rate Systems
	22.3 Motor Control with a Two-Phase Encoder
	22.4 And Finally
Now Read On
Index