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| Computer Control | |
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| Computer Technology | |
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| Computer-Control Theory | |
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| Inherently Sampled Systems | |
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| How Theory Developed | |
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| Discrete-Time Systems | |
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| Sampling Continuous-Time Signals | |
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| Sampling a Continuous-Time State-Space System | |
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| Discrete-Time Systems | |
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| Changing Coordinates in State-Space System | |
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| Input-Output Models | |
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| The z-Transform | |
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| Poles and Zeros | |
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| Selection of Sampling Rate | |
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| Problems | |
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| Analysis of Discrete-Time Systems | |
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| Stability | |
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| Sensitivity and Robustness | |
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| Controllability, Reachability, Observability, and Detectability | |
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| Analysis of Simple Feedback Loops | |
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| Problems | |
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| Pole-Placement Design: A State-Space Approach | |
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| Control-System Design | |
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| Regulation by State Feedback | |
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| Observers | |
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| Output Feedback | |
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| The Servo Problem | |
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| A Design Example | |
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| Conclusions | |
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| Problems | |
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| Pole-Placement Design: A Polynomial Approach | |
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| A Simple Design Problem | |
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| The Diophantine Equation | |
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| More Realistic Assumptions | |
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| Sensitivity to Modeling Errors | |
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| A Design Procedure | |
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| Design of a Controller for the Double Integrator | |
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| Design of a Controller for the Harmonic Oscillator | |
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| Design of a Controller for a Flexible Robot Arm | |
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| Relations to Other Design Methods | |
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| Conclusions | |
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| Problems | |
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| Design: An Overview | |
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| Operational Aspects | |
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| Principles of Structuring | |
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| A Top-Down Approach | |
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| A Bottum-Up Approach | |
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| Design of Simple Loops | |
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| Conclusions | |
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| Problems | |
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| Process-Oriented Models | |
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| A Computer-Controlled System | |
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| Sampling and Reconstruction | |
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| Aliasing or Frequency Folding | |
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| Designing Controllers with Predictive First-Order Hold | |
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| The Modulation Model | |
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| Frequency Response | |
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| Pulse-Transfer-Function Formalism | |
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| Multirate Sampling | |
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| Problems | |
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| Approximating Continuous-Time Controllers | |
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| Approximations Based on Transfer Functions | |
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| Approximations Based on State Models | |
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| Frequency-Response Design Methods | |
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| Digital PID-Controllers | |
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| Conclusions | |
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| Problems | |
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| Implementation of Digital Controllers | |
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| An Overview | |
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| Prefiltering and Computational Delay | |
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| Nonlinear Actuators | |
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| Operational Aspects | |
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| Numerics | |
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| Realization of Digital Controllers | |
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| Programming | |
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| Conclusions | |
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| Problems | |
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| Disturbance Models | |
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| Reduction of Effects of Disturbances | |
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| Piecewise Deterministic Disturbances | |
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| Stochastic Models of Disturbances | |
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| Continuous-Time Stochastic Processes | |
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| Sampling a Stochastic Differential Equation | |
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| Conclusions | |
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| Problems | |
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| Optimal Design Methods: A State-Space Approach | |
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| Linear Quadratic Control | |
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| Prediction and Filtering Theory | |
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| Linear Quadratic Gaussian Control | |
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| Practical Aspects | |
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| Conclustions | |
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| Problems | |
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| Optimal Design Methods: A Polynomial Approach | |
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| Problem Formulation | |
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| Optimal Prediction | |
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| Minimum-Variance Control | |
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| Linear Quadratic Gaussian (LQG) Control | |
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| Practical Aspects | |
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| Conclusions | |
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| Problems | |
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| Identification | |
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| Mathematical Model Building | |
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| System Identification | |
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| The Principle of Least Squares | |
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| Recursive Computations | |
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| Examples | |
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| Summary | |
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| Problems | |
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| Examples | |
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| Matrices | |
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| Matrix Functions | |
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| Matrix-Inversion Lemma | |
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| Notes and References | |
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| Bibliography | |
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| Index | |