Computer Controlled Systems
By Robert A.Paz
To be published by John Wiley & Sons, 1996
By Robert A.Paz
To be published by John Wiley & Sons, 1996
A. A Historical Perspective
B. The Value of Computer Control
B.1 A Comparison of Discrete and Continuous Systems
B.2 Naturally Discrete Systems
C. The Design Process
D. The Purpose of this Text
D.1 The Importance of Theory
D.2 The Importance of Practical Application
A. Sampling of Continuous-Time Signals
B. The Sampling Mechanism
C. The Zero-Order Hold (ZOH)
D. Generalized Sampled-Data Holds
E. Practical Signal Conversion: AnalogŠtoŠDigital
F. Practical Signal Conversion: DigitalŠtoŠAnalog
G. Aliasing
H. Sample Period Selection
I. Software Considerations
J. Timing Considerations
A. The Mathematics of Sequences
B. Convergence of Sequences
C. Infinite Series
D. Difference Equations
E. The Laplace Transform
F. The z -Transform
G. Properties of the z -transform
H. The Inverse z -Transform
I. The HŠTransform
J. Properties of the HŠtransform
K. Commutativity of the Sample and Hold
A. Model Conversions
A.1. Motivation for the State-Space
A.2. The General Multi-Input, Multi-Output State-Space System
A.3 The General Difference Equation
A.4. The Difference Equation and the Transfer Function
A.5. The Transfer Function and the All-Delay Diagram
A.6. The All-Delay Diagram and the State-Space Model
A.7. The Initial Condition for the State-Space Model
A.8. The Diagonal Form
A.9. Obtaining the Transfer Function From the State Space Model
A.10. Similar Systems
B. Sampled-Data Models
B.1. Open Loop Discrete Approximations
B.2 Other Computational Issues
B.3. Closed-Loop Discrete Approximations
C. Stability of Discrete-Time Systems
C.1. Polynomial Tests for Stability
D. Time Responses of Sampled-Data Systems
E. Important System Properties
A. Continuous Design with Discrete Approximation
B. Model Reference Control Design
C. The First-Order Prototype
D. The Second-Order Prototype
D.1 Time Domain Properties of the Second-Order Prototype
D.2. Frequency Domain Properties of the Second-Order Prototype
E. Optimal Models for Model Reference Control
F. Model-Reference Design Approach
F.1. Design using the Second-Order Prototype
F.2. Design using an Optimal Model
F.3. Control of Plants With Unstable Dynamics
G. The Control Magnitude Constraint
G.1 Analytical Methods for Determining the Maximum Control Magnitude
G.2 Determining the Maximum Control Magnitude By Simulation
I. Mappings Between the Laplace and z Domains
J. Design Examples
A. Deadbeat Systems
B. Intersample Ripple
C. Time Domain Approach to Ripple-Free Control
C.1 The Settling Time Constraints
C.2. The Necessary Control Sequence
C.3. Obtaining the Input-Output Behavior of the Controller
C.4. Obtaining the Controller From the Input/Output Behavior
D. Properties of the Controller
D.1 Cancellations in the Controller
D.2 Control of a Type 1 System
D.3 Control with Non Zero Initial Conditions
E. Control with a Constraint on the Control Magnitude
F. Deadbeat Tracking of Other Inputs
G. A Transfer Function Approach to Ripple-Free Deadbeat Control
G.1 The Solution to the Ripple-Free Control Problem
G.2 The Reference Signal
G.3 The Diophantine Equation
G.4 Properties of the Controller
A. Pole Placement by State Feedback
B. Ackermann's Formula for Pole Placemen
C. Tracking of a Step Input
D. The Robust Servomechanism
E. Tracking Other Inputs
F. The General Servomechanism
A. Observer Design
B. Current Observer Design
C. Observer-Based Output Feedback Design
D. The Output Feedback Robust Servomechanism
E. Controller Formulae
F. A Prestabilizing Controller
A. The Value of Design Projects
B. Introduction to Sampled Data
B.1 AnalogŠtoŠDigital Conversion
B.2 DigitalŠtoŠAnalog Conversion
B.3 A Digital Filter
C. Implementation of a Computer Controller
D. Implementing a Digital Controller for an Emission Control System
D.1 Simulation of the Hybrid System
D.2. Real-Time Testing of the Controller
D.3 Options
E. Evaluation of an Automobile Cruise Control
E.1 Simulation of the Control System
E.2 Implementation of the Controller
E.3 Options
F. Design of an Automobile Cruise Control
F.1 Design of the Control System
F.2 Implementation of the Controller
F.3 Options
G. Computer Control of a Hot-Air Balloon
G.1 Design and Simulation of a Computer Control
G.2 Real-Time Testing of the Controller
H. Stabilization of a Rocket
H.1 Control Design
H.2 Implementation
I. Attitude Control of the TDRS Satellite
I.1 Modeling
I.2 Control Design and Implementation
J. Introduction to the Control of Nonlinear Systems
J.1 Equilibrium
J.2 Linearization
J.3 Control of the Nonlinear System
J.4 Simulation
K. Magnetic Levitation
K.1 Nonlinear Dynamic Equations
K.2 Linearization
K.3 Controller Design