Preface
Approach
Features
New to this edition
Organization of text
Supporting material
Acknowledgments
Chapter 1. Introduction to Digital Control
Objectives
1.1 Why digital control?
1.2 The structure of a digital control system
1.3 Examples of digital control system
Resources
Chapter 2. Discrete-Time Systems
Objectives
2.1 Analog systems with piecewise constant inputs
2.2 Difference equations
2.3 The z-transform
2.4 Computer-aided design
2.5 z-Transform solution of difference equations
2.6 The time response of a discrete-time system
2.7 The modified z-transform
2.8 Frequency response of discrete-time systems
2.9 The sampling theorem
Resources
Chapter 3. Modeling of Digital Control Systems
Objectives
3.1 ADC model
3.2 DAC model
3.3 The transfer function of the ZOH
3.4 Effect of the sampler on the transfer function of a cascade
3.5 DAC, analog subsystem, and ADC combination transfer function
3.6 Systems with transport lag
3.7 The closed-loop transfer function
3.8 Analog disturbances in a digital system
3.9 Steady-state error and error constants
3.10 MATLAB commands
Resources
Chapter 4. Stability of Digital Control Systems
Objectives
4.1 Definitions of stability
4.2 Stable z-domain pole locations
4.3 Stability conditions
4.4 Stability determination
4.5 Jury test
4.6 Nyquist criterion
Resources
Chapter 5. Analog Control System Design
Objectives
5.1 Root locus
5.2 Root locus using MATLAB
5.3 Design specifications and the effect of gain variation
5.4 Root locus design
5.5 Empirical tuning of PID controllers
Resources
Chapter 6. Digital Control System Design
Objectives
6.1 z-Domain root locus
6.2 z-Domain digital control system design
6.3 Digital implementation of analog controller design
6.4 Direct z-domain digital controller design
6.5 Frequency response design
6.6 Direct control design
6.7 Finite settling time design
Resources
Chapter 7. State–Space Representation
Objectives
7.1 State variables
7.2 State–space representation
7.3 Linearization of nonlinear state equations
7.4 The solution of linear state–space equations
7.5 The transfer function matrix
7.6 Discrete-time state–space equations
7.7 Solution of discrete-time state–space equations
7.8 z-Transfer function from state–space equations
7.9 Similarity transformation
Resources
Chapter 8. Properties of State–Space Models
Objectives
8.1 Stability of state–space realizations
8.2 Controllability and stabilizability
8.3 Observability and detectability
8.4 Poles and zeros of multivariable systems
8.5 State–space realizations
8.6 Duality
8.7 Hankel realization
Resources
Chapter 9. State Feedback Control
Objectives
9.1 State and output feedback
9.2 Pole placement
9.3 Servo problem
9.4 Invariance of system zeros
9.5 State estimation
9.6 Observer state feedback
9.7 Pole assignment using transfer functions
Resources
Chapter 10. Optimal Control
Objectives
10.1 Optimization
10.2 Optimal control
10.3 The linear quadratic regulator
10.4 Steady-state quadratic regulator
10.5 Hamiltonian system
Resources
Chapter 11. Elements of Nonlinear Digital Control Systems
Objectives
11.1 Discretization of nonlinear systems
11.2 Nonlinear difference equations
11.3 Equilibrium of nonlinear discrete-time systems
11.4 Lyapunov stability theory
11.5 Stability of analog systems with digital control
11.6 State plane analysis
11.7 Discrete-time nonlinear controller design
11.8 Input-output stability and the small gain theorem
Resources
Chapter 12. Practical Issues
Objectives
12.1 Design of the hardware and software architecture
12.2 Choice of the sampling period
12.3 Controller structure
12.4 PID control
12.5 Sampling period switching
Resources
APPENDIX I: Table of Laplace and z-Transforms*
APPENDIX II: Properties of the z-Transform
APPENDIX III: Review of Linear Algebra
A.1 Matrices
A.2 Equality of matrices
A.3 Matrix arithmetic
A.4 Determinant of a matrix
A.5 Inverse of a matrix
A.6 Trace of a matrix
A.7 Rank of a matrix
A.8 Eigenvalues and eigenvectors
A.9 Partitioned matrix
A.10 Norm of a vector
A.11 Matrix norms
A.12 Quadratic forms
A.13 Singular value decomposition and pseudoinverses
A.14 Matrix differentiation/integration
A.15 Kronecker product
Resources
Index
