Scribd
Upload
25 views4 pages

Contents

This document provides an outline of the contents of a textbook on digital control systems. It contains 13 chapters that cover topics such as discrete-time systems, modeling of digital control systems, stability analysis, state-space representation, optimal control, nonlinear digital control systems, and practical issues in digital control. Each chapter provides an overview of the key concepts and methods that are discussed in more detail within that chapter.

Uploaded by

NGUYÊN NGUYỄN TRUNG
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
25 views4 pages

Contents

This document provides an outline of the contents of a textbook on digital control systems. It contains 13 chapters that cover topics such as discrete-time systems, modeling of digital control systems, stability analysis, state-space representation, optimal control, nonlinear digital control systems, and practical issues in digital control. Each chapter provides an overview of the key concepts and methods that are discussed in more detail within that chapter.

Uploaded by

NGUYÊN NGUYỄN TRUNG
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

CONTENTS

CHAPTER 1. Introduction to Digital Control 1


1.1 Why digital control? 2
1.2 The structure of a digital control system 3
1.3 Examples of digital control systems 3

CHAPTER 2. Discrete-Time Systems 9


2.1 Analog systems with piecewise constant inputs 10
2.2 Difference equations 12
2.3 The z-transform 13
2.4 Computer-aided design 33
2.5 z-transform solution of difference equations 34
2.6 The time response of a discrete-time system 35
2.7 The modified z-transform 41
2.8 Frequency response of discrete-time systems 44
2.9 The sampling theorem 50

CHAPTER 3. Modeling of Digital Control Systems 61


3.1 Analog-to-digital converter (ADC) model 62
3.2 Digital-to-analog converter (DAC) model 63
3.3 The transfer function of the zero-order hold (ZOH) 63
3.4 Effect of the sampler on the transfer function of a cascade 65
3.5 DAC, ADC combination transfer function 68
3.6 Systems with transport lag 76
3.7 The closed-loop transfer function 78
3.8 Analog disturbances in a digital system 80
3.9 Steady-state error and error constants 82
3.10 MATLAB commands 86
3.11 Sensitivity analysis 93

CHAPTER 4. Stability of Digital Control Systems 103


4.1 Definitions of stability 104
4.2 Stable z-domain pole locations 105
4.3 Stability conditions 106
4.4 Stability determination 114
4.5 Jury test 117
4.6 Nyquist criterion 122

CHAPTER 5. Analog Control System Design 141


5.1 Root locus 142
5.2 Root locus using MATLAB 146
5.3 Design specifications and the effect of gain variation 147
5.4 Root locus design 149
5.5 Empirical tuning of PID controllers 171

CHAPTER 6. Digital Control System Design 181


6.1 z-domain root locus 182
6.2 z-domain digital control system design 184
6.3 Digital implementation of analog controller design 195
6.4 Direct z-domain digital controller design 216
6.5 Frequency response design 221
6.6 Direct control design 229
6.7 Finite settling time design 234

CHAPTER 7. State - Space Representation 253


7.1 State variables 254
7.2 State space representation 257
7.3 Linearization of nonlinear state equations 262
7.4 The solution of linear state space equations 265
7.5 The transfer function matrix 285
7.6 Discrete-time state space equations 289
7.7 Solution of discrete-time state space equations 293
7.8 z-transfer function from state space equations 300
7.9 Similarity transformation 303

CHAPTER 8. Properties of State-Space Models 319


8.1 Stability of state space realizations 320
8.2 Controllability and stabilizability 329
8.3 Observability and detectability 343
8.4 Poles and zeros of multivariable systems 350
8.5 State space realizations 357
8.6 Duality 370
8.7 Hankel realization 372
8.8 Realizations for continuous-time systems 377

CHAPTER 9. State Feedback Control 387


9.1 State and output feedback 388
9.2 Pole placement 389
9.3 Servo problem 407
9.4 Invariance of system zeros 411
9.5 State estimation 413
9.6 Observer state feedback 421
9.7 Pole assignment using transfer functions 429

CHAPTER 10. Optimal Control 441


10.1 Optimization 442
10.2 Optimal control 447
10.3 The linear quadratic regulator 453
10.4 Steady-state quadratic regulator 466
10.5 Hamiltonian system 473
10.6 Return difference equality and stability margins 481
10.7 Model predictive control 488
10.8 Modification of the reference signal 491

CHAPTER 11. Elements of Nonlinear Digital Control Systems 507


11.1 Discretization of nonlinear systems 508
11.2 Nonlinear difference equations 517
11.3 Equilibrium of nonlinear discrete-time systems 518
11.4 Lyapunov stability theory 522
11.5 Stability of analog systems with digital control 537
11.6 State plane analysis 539
11.7 Discrete-time nonlinear controller design 543
11.8 Input – output stability and the small gain theorem 548

CHAPTER 12. Practical Issues 567


12.1 Design of the hardware and software architecture 568
12.2 Choice of the sampling period 572
12.3 Controller structure 585
12.4 Proportional – integral – derivative control 588
12.5 Sampling period switching 598
CHAPTER 13. Linear matrix inequalities 615
13.1 Linear matrix inequalities (LMI) from matrix equation 615
13.2 The Schur complement 617
13.3 Decision variables 620
13.4 MATLAB LMI commands 620

APPENDIX I Table of Laplace and z-transforms 633


APPENDIX II Properties of the z-transform 635
APPENDIX III Review of Linear Algebra 637

You might also like