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Introduction | |
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Problem Definition | |
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Overview of Design Approach | |
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Computer-Aided Design | |
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Suggestions for Further Reading | |
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Summary | |
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Problems | |
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Review of Continuous Control | |
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Dynamic Response | |
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Basic Properties of Feedback | |
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Root Locus | |
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Frequency Response Design | |
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Compensation | |
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State-Space Design | |
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Summary | |
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Problems | |
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Introductory Digital Control | |
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Digitization | |
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Effect of Sampling | |
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PID Control | |
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Summary | |
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Problems | |
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Discrete Systems Analysis | |
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Linear Difference Equations | |
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The Discrete Transfer Function | |
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Discrete Models of Sampled-Data Systems | |
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Signal Analysis and Dynamic Response | |
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Frequency Response | |
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Properties of the z-Transform | |
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Summary | |
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Problems | |
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Sampled-Data Systems | |
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Analysis of the Sample and Hold | |
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Spectrum of a Sampled Signal | |
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Data Extrapolation | |
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Block-Diagram Analysis of Sampled-Data Systems | |
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Calculating the System Output Between Samples: The Ripple | |
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Summary | |
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Problems | |
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Appendix | |
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Discrete Equivalents | |
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Design of Discrete Equivalents via Numerical Integration | |
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Zero-Pole Matching Equivalents | |
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Hold Equivalents | |
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Summary | |
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Problems | |
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Design Using Transform Techniques | |
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System Specifications | |
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Design by Emulation | |
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Direct Design by the Root Locus in the z-Plane | |
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Frequency Response Methods | |
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Direct Design Method of Ragazzini | |
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Summary | |
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Problems | |
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Design Using State-Space Methods | |
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Control Law Design | |
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Estimator Design | |
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Regulator Design: Combined Control Law and Estimator | |
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Introduction of the Reference Input | |
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Integral Control and Disturbance Estimation | |
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Effect of Delays | |
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Controllability and Observability | |
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Summary | |
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Problems | |
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Multivariable and Optimal Control | |
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Decoupling | |
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Time-Varying Optimal Control | |
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LQR Steady-State Optimal Control | |
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Optimal Estimation | |
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Multivariable Control Design | |
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Summary | |
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Problems | |
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Quantization Effects | |
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Analysis of Round-Off Error | |
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Effects of Parameter Round-Off | |
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Limit Cycles and Dither Summary | |
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Problems | |
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Sample Rate Selection | |
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The Sampling Theorem's Limit | |
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Time Response and Smoothness | |
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Errors Due to Random Plant Disturbances | |
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Sensitivity to Parameter Variations | |
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Measurement Noise and Antialiasing Filters | |
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Multirate Sampling | |
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Summary | |
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Problems | |
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System Identification | |
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Defining the Model Set for Linear Systems | |
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Identification of Nonparametric Models | |
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Models and Criteria for Parametric Identification | |
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Deterministic Estimation | |
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Stochastic Least Squares | |
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Maximum Likelihood | |
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Numerical Search for the Maximum Likelihood Estimate | |
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Subspace Identification Methods | |
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Summary | |
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Problems | |
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Nonlinear Control | |
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Analysis Techniques | |
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Design of a Disk Drive Servo: A Case Study | |
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Overview of Disk Files | |
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Components and Models | |
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Design Specifications | |
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Disk Servo Design | |
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Summary | |