Digital Control of Dynamic Systems, 3rd Edition

Cover
Contents
Preface
1 Introduction
	1. 1 Problem Definition
	1.2 Overview of Design Approach
	1.3 Computer-Aided Design
	1.4 Suggestions for Further Reading
	1.5 Summary
	1.6 Problems
2 Review of Continuous Control
	2.1 Dynamic Response
	2.2 Basic Properties of Feedback
	2.3 Root Locus
	2.4 Frequency Response Design
	2.5 Compensation
	2.6 State-Space Design
	2.7 Summary
	2.8 Problems
3 Introductory Digital Control
	3.1 Digitization
	3.2 Effect of Sampling
	3.3 PID Control
	3.4 Summary
	3.5 Problems
4 Discrete Systems Analysis
	4 .1 Linear Difference Equations
	4.2 The Discrete Transfer Function
	4.3 Discrete Models of Sampled-Data Systems
	4.4 Signal Analysis and Dynamic Response
	4 .5 Frequency Response
	4 .6 Properties of the z-Transform
	4.7 Summary
	4.8 Problems
5 Sampled-Data Systems
	5.1 Analysis of the Sample and Hold
	5.2 Spectrum of a Sampled Signal
	5 .3 Data Extrapolation
	5.4 Block-Diagram Analysis of Sampled-DataSystems
	5.5 Calculating the System Output BetweenSamples: The Ripple
	5.6 Summary
	5. 7 Problems
6 Discrete Equivalents
	6 .1 Design of Discrete Equivalents via NumericalIntegration
	6.2 Zero-Pole Matching Equivalents
	6.3 Hold Equivalents
	6.4 Summary
	6.5 Problems
7 Design Using Transform Techniques
	7 .1 System Specifications
	7 .2 Design by Emulation
	7 .3 Direct Design by Root Locus in the z-Plane
	7 .4 Frequency Response Methods
	7 .5 Direct Design Method of Ragazzini
	7 .. 6 Summary
	7. 7 Problems
8 Design Using State-Space Methods
	8.1 Control Law Design
	8.2 Estimator Design
	8.3 Regulator Design: Combined Control Lawand Estimator
	8.4 Introduction of the Reference Input
	8.5 Integral Control and Disturbance Estimation
	8 .. 6 Effect of Delays
	8. 7 *Controllability and Observability
	8.8 Summary
	8.9 Problems
9 Multivariable and Optimal Control
	9.1 Decoupling
	9.2 Time-Varying Optimal Control
	9.3 LQR Steady-State Optimal Control
	9.4 Optimal Estimation
	9 .5 Multivariable Control Design
	9.6 Summary
	9. 7 Problems
10 Quantization Effects
	IO .1 Analysis of Round-Off Error
	10 .2 Effects of Parameter Round-Off
	10.3 Limit Cycles and Dither
	10.4 Summary
	10.5 Problems
11 Sample Rate Selection
	11.1 The Sampling Theorem\'s Limit
	11.2 Time Response and Smoothness
	11.3 Errors Due to Random Plant Disturbances
	11 .. 4 Sensitivity to Parameter Variations
	11.5 Measurement Noise and Antialiasing Filters
	11.6 Multirate Sampling
	11.7 Summary
	11.8 Problems
12 System Identification
	12.1 Defining the Model Set for Linear Systems
	12.2 Identification of Nonparametric Models
	12.3 Models and Criteria for ParametricIdentification
	12.4 Deterministic Estimation
	12.5 Stochastic Least Squares
	12.6 Maximum Likelihood
	12. 7 Numerical Search for the Maximum-LikelihoodEstimate
	12.8 Subspace Identification Methods
	12.9 Summary
	12 .. 10 Problems
13 Nonlinear Control
	13.1 Analysis Techniques
	13.2 Nonlinear Control Structures: Design
	13.3 Design with Nonlinear Cost Functions
	13.4 Summary
	13.5 Problems
14 Design of a Disk Drive Servo: A Case Study
	14.1 Overview of Disk Drives
	14 .2 Components and Models
	14 .3 Design Specifications
	14.4 Disk Servo Design
	14.5 Summary
	14.6 Problems
A Examples
B Tables
C A Few Results from Matrix Analysis
D Summary of Facts from the Theory of Probability and Stochastic Processes
E Matlab Functions
F Differences Between Matlab v5 and v4
References
Index