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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 | |