DIGITAL CONTROL OF DYNAMIC SYSTEMS 3RD EDITION
Ouvrage 0-201-33153-5 : DIGITAL CONTROL OF DYNAMIC SYSTEMS 3RD EDITION
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.
Booknews, Inc. , August 1, 1990
Textbook about the use of digital computers in the
real-time control of dynamic systems
such as servomechanisms, chemical processes, and
vehicles that move over water, land,
air, or space. Requires some understanding of the
Laplace transform and assumes a first
course in linear feedback controls.
Table of 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
2.1.1 Differential Equations
2.1.2 Laplace Transforms and Transfer Functions
2.1.3 Output Time Histories
2.1.4 The Final Value Theorem
2.1.5 Block Diagrams
2.1.6 Response versus Pole Locations
2.1.7 Time-Domain Specifications
2.2 Basic Properties of Feedback
2.2.1 Stability
2.2.2 Steady-State Errors
2.2.3 PID Control
2.3 Root Locus
2.3.1 Problem Definition
2.3.2 Root Locus Drawing Rules
2.3.3 Computer-Aided Loci
2.4 Frequency Response Design
2.4.1 Specifications
2.4.2 Bode Plot Techniques
2.4.3 Steady-State Errors
2.4.4 Stability Margins
2.4.5 Bode's Gain-Phase Relationship
2.4.6 Design
2.5 Compensation
2.6 State-Space Design
2.6.1 Control Law
2.6.2 Estimator Design
2.6.3 Compensation: Combined Control and
Estimation
2.6.4 Reference Input
2.6.5 Integral Control
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
4.2.1 The z-Transform
4.2.2 The Transfer Function
4.2.3 Block Diagrams and State-Variable
Descriptions
4.2.4 Relation of Transfer Function to Pulse
Response
4.2.5 External Stability
4.3 Discrete Models of Sampled-Data Systems
4.3.1 Using the z-Transform
4.3.2 (*)Continuous Time Delay
4.3.3 State-Space Form
4.3.4 (*)State-Space Models for Systems
with Delay
4.3.5 (*)Numerical Considerations in
Computing XXX and
4.3.6 (*)Nonlinear Models
4.4 Signal Analysis and Dynamic Response
4.4.1 The Unit Pulse
4.4.2 The Unit Step
4.4.3 Exponential
4.4.4 General Sinusoid
4.4.5 Correspondence with Continuous Signals
4.4.6 Step Response
4.5 Frequency Response
4.5.1 (*)The Discrete Fourier Transform (DFT)
4.6 Properties of the z-Transform
4.6.1 Essential Properties
4.6.2 (*)Convergence of z-Transform
4.6.3 (*)Another Derivation of the Transfer
Function
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-Data Systems
5.5 Calculating the System Output Between Samples:
The Ripple
5.6 Summary
5.7 Problems
5.8 Appendix
6 Discrete Equivalents
6.1 Design of Discrete Equivalents via
Numerical Integration
6.2 Zero-Pole Matching Equivalents
6.3 Hold Equivalents
6.3.1 Zero-Order Hold Equivalent
6.3.2 A Non-Causal First-Order-Hold Equivalent:
The Triangle-Hold Equivalent
6.4 Summary
6.5 Problems
7 Design Using Transform Techniques
7.1 System Specifications
7.2 Design by Emulation
7.2.1 Discrete Equivalent Controllers
7.2.2 Evaluation of the Design
7.3 Direct Design by Root Locus in the z-Plane
7.3.1 z-Plane Specifications
7.3.2 The Discrete Root Locus
7.4 Frequency Response Methods
7.4.1 Nyquist Stability Criterion
7.4.2 Design Specifications in the
Frequency Domain
7.4.3 Low Frequency Gains and Error
Coefficients
7.4.4 Compensator Design
7.5 Direct Design Method of Ragazzini
7.6 Summary
7.7 Problems
8 Design Using State-Space Methods
8.1 Control Law Design
8.1.1 Pole Placement
8.1.2 Controllability
8.1.3 Pole Placement Using CACSD
8.2 Estimator Design
8.2.1 Prediction Estimators
8.2.2 Observability
8.2.3 Pole Placement Using CACSD
8.2.4 Current Estimators
8.2.5 Reduced-Order Estimators
8.3 Regulator Design: Combined Control Law and
Estimator
8.3.1 The Separation Principle
8.3.2 Guidelines for Pole Placement
8.4 Introduction of the Reference Input
8.4.1 Reference Inputs for Full-State Feedback
8.4.2 Reference Inputs with Estimators: The
State-Command Structure
8.4.3 Output Error Command
8.4.4 A Comparison of the Estimator
Structure and Classical Methods
8.5 Integral Control and Disturbance Estimation
8.5.1 Integral Control by State Augmentation
8.5.2 Disturbance Estimation
8.6 Effect of Delays
8.6.1 Sensor Delays
8.6.2 Actuator 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
9.3.1 Reciprocal Root Properties
9.3.2 Symmetric Root Locus
9.3.3 Eigenvector Decomposition
9.3.4 Cost Equivalents
9.3.5 Emulation by Equivalent Cost
9.4 Optimal Estimation
9.4.1 Least-Squares Estimation
9.4.2 The Kalman Filter
9.4.3 Steady-State Optimal Estimation
9.4.4 Noise Matrices and Discrete Equivalents
9.5 Multivariable Control Design
9.5.1 Selection of Weighting Matrices
XXX(1) and
9.5.2 Pincer Procedure
9.5.3 Paper-Machine Design Example
9.5.4 Magnetic-Tape-Drive Design Example
9.6 Summary
9.7 Problems
10 Quantization Effects
10.1 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 Parametric
Identification
12.3.1 Parameter Selection
12.3.2 Error Definition
12.4 Deterministic Estimation
12.4.1 Least Squares
12.4.2 Recursive Least Squares
12.5 Stochastic Least Squares
12.6 Maximum Likelihood
12.7 Numerical Search for the
Maximum-Likelihood Estimate
12.8 Subspace Identification Methods
12.9 Summary
12.10 Problems
13 Nonlinear Control
13.1 Analysis Techniques
13.1.1 Simulation
13.1.2 Linearization
13.1.3 Describing Functions
13.1.4 Equivalent Gains
13.1.5 Circle Criterion
13.1.6 Lyapunov's Second Method
13.2 Nonlinear Control Structures: Design
13.2.1 Large Signal Linearization:
Inverse Nonlinearities
13.2.2 Time-Optimal Servomechanisms
13.2.3 Extended PTOS for Flexible Structures
13.2.4 Introduction to Adaptive Control
13.3 Design with Nonlinear Cost Functions
13.3.1 Random Neighborhood Search
13.4 Summary
13.5 Problems
14 Design of a Disk Drive Servo: A Case Study
14.1 Overview of Disk Drives
14.1.1 High Performance Disk Drive Servo Profile
14.1.2 The Disk-Drive Servo
14.2 Components and Models
14.2.1 Voice Coil Motors
14.2.2 Shorted Turn
14.2.3 Power Amplifier Saturation
14.2.4 Actuator and HDA Dynamics
14.2.5 Position Measurement Sensor
14.2.6 Runout
14.3 Design Specifications
14.3.1 Plant Parameters for Case Study
Design
14.3.2 Goals and Objectives
14.4 Disk Servo Design
14.4.1 Design of the Linear Response
Auteur : FRANKLIN
Editeur : ADDISON WESLEY
Nombre de pages : 850
Date de publication : 03 1999
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