Digital Control System Analysis & Design

✍ Scribed by Phillips, Charles L;Nagle, Troy;Brickley, James A;Chakrabortty, Aranya

• Publisher: Pearson
• Year: 2014
• Tongue: English
• Leaves: 529
• Edition: 3rd Edition
• Category: Library

✦ Synopsis

This revision of a text in digital controls is a significant update with the integration of MATLAB software and new coverage in several areas.

✦ Table of Contents

Cover......Page 1
Dedication......Page 4
Contents......Page 5
Preface......Page 10
1.1 Overview......Page 12
1.2 Digital Control System......Page 13
1.3 The Control Problem......Page 16
1.4 Satellite Model......Page 17
1.5 Servomotor System Model......Page 19
Antenna Pointing System......Page 21
Robotic Control System......Page 22
1.6 Temperature Control System......Page 23
1.7 Single-Machine Infinite Bus Power System......Page 25
Problems......Page 28
2.2 Discrete-Time Systems......Page 36
2.3 Transform Methods......Page 38
Multiplication by a Constant......Page 41
Real Translation......Page 42
Complex Translation......Page 44
Final Value......Page 45
2.5 Finding z-Transforms......Page 46
2.6 Solution of Difference Equations......Page 49
Power Series Method......Page 52
Partial-Fraction Expansion Method......Page 53
Inversion-Formula Method......Page 57
Discrete Convolution......Page 58
2.8 Simulation Diagrams and Flow Graphs......Page 60
2.9 State Variables......Page 64
2.10 Other State-Variable Formulations......Page 72
2.11 Transfer Functions......Page 81
Recursive Solution......Page 85
z-Transform Method......Page 87
Numerical Method via Digital Computer......Page 88
Properties of the State Transition Matrix......Page 89
2.13 Linear Time-Varying Systems......Page 90
Problems......Page 91
3.2 Sampled-Data Control Systems......Page 101
3.3 The Ideal Sampler......Page 104
3.4 Evaluation of E(s)......Page 106
3.5 Results from the Fourier Transform......Page 109
3.6 Properties of E(s)......Page 111
3.7 Data Reconstruction......Page 114
Zero-Order Hold......Page 115
First-Order Hold......Page 119
Fractional-Order Holds......Page 120
References and Further Readings......Page 122
Problems......Page 123
4.2 The Relationship Between E(z) and E(s)......Page 127
4.3 The Pulse Transfer Function......Page 128
4.4 Open-Loop Systems Containing Digital Filters......Page 134
4.5 The Modified z-Transform......Page 137
4.6 Systems with Time Delays......Page 140
4.7 Nonsynchronous Sampling......Page 143
4.8 State-Variable Models......Page 146
4.9 Review of Continuous-Time State Variables......Page 147
4.10 Discrete-Time State Equations......Page 151
4.11 Practical Calculations......Page 155
Problems......Page 157
5.2 Preliminary Concepts......Page 168
5.3 Derivation Procedure......Page 172
5.4 State-Variable Models......Page 179
References and Further Readings......Page 188
Problems......Page 189
6.2 System Time Response......Page 199
6.3 System Characteristic Equation......Page 208
6.4 Mapping the s-Plane into the z-Plane......Page 209
6.5 Steady-State Accuracy......Page 216
6.6 Simulation......Page 219
6.8 Summary......Page 224
Problems......Page 225
7.2 Stability......Page 231
7.3 Bilinear Transformation......Page 235
7.4 The Routh–Hurwitz Criterion......Page 237
7.5 Jury’s Stability Test......Page 240
7.6 Root Locus......Page 245
7.7 The Nyquist Criterion......Page 249
7.8 The Bode Diagram......Page 258
7.9 Interpretation of the Frequency Response......Page 260
7.10 Closed-Loop Frequency Response......Page 262
Problems......Page 271
8.2 Control System Specifications......Page 280
Transient Response......Page 281
Relative Stability......Page 283
Sensitivity......Page 284
Disturbance Rejection......Page 285
8.3 Compensation......Page 286
8.4 Phase-Lag Compensation......Page 288
8.5 Phase-Lead Compensation......Page 295
8.6 Phase-Lead Design Procedure......Page 296
8.7 Lag-Lead Compensation......Page 304
8.8 Integration and Differentiation Filters......Page 308
8.9 PID Controllers......Page 310
8.10 PID Controller Design......Page 314
8.11 Design by Root Locus......Page 322
References and Further Readings......Page 335
Problems......Page 336
9.2 Pole Assignment......Page 344
Observer Model......Page 353
Error Dynamics......Page 355
Controller Transfer Function......Page 360
Closed-Loop Characteristic Equation......Page 363
Closed-Loop State Equations......Page 364
9.4 Reduced-Order Observers......Page 365
9.5 Current Observers......Page 370
9.6 Controllability and Observability......Page 375
9.7 Systems with Inputs......Page 379
9.8 Summary......Page 384
Problems......Page 385
10.1 Introduction......Page 391
10.2 Identification of Static Systems......Page 392
10.4 Black-Box Identification......Page 395
10.5 Least-Squares System Identification......Page 402
10.6 Estimating Transfer Functions with Partly Known Poles and Zeros......Page 408
10.7 Recursive Least-Squares System Identification......Page 410
Choice of Input......Page 413
Choice of Signal Scaling......Page 414
Problems......Page 415
11.1 Introduction......Page 419
11.2 The Quadratic Cost Function......Page 420
11.3 The Principle of Optimality......Page 422
11.4 Linear Quadratic Optimal Control......Page 425
11.5 The Minimum Principle......Page 434
11.6 Steady-State Optimal Control......Page 435
11.7 Optimal State Estimation— Kalman Filters......Page 441
11.9 Summary......Page 447
References and Further Readings......Page 448
Problems......Page 449
12.1 Introduction......Page 455
12.2 Servomotor System......Page 456
System Model......Page 457
Design......Page 460
12.3 Environmental Chamber Control System......Page 462
Temperature Control System......Page 464
12.4 Aircraft Landing System......Page 468
Design......Page 469
Plant Transfer Function......Page 475
Taube’s PID Controller......Page 477
MATLAB pidtool PIDF Controllers......Page 478
12.6 Topology Identification in Electric Power System Models......Page 485
References......Page 489
Appendix I: Design Equations......Page 491
Appendix II: Mason’s Gain Formula......Page 492
References......Page 496
Appendix III: Evaluation of E(s)......Page 497
References......Page 501
Appendix IV: Review of Matrices......Page 502
Other Relationships......Page 506
References......Page 508
Introduction......Page 509
Properties of the Laplace Transform......Page 514
Differential Equations and Transfer Functions......Page 517
Problems......Page 520
Appendix VI: z-Transform Tables......Page 523
Index......Page 526