Digital Control System Analysis & Design

Inbunden, Engelska, 2014

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Beskrivning

Digital Control Systems Analysis and Design is appropriate for a one semester/two-quarter senior-level course in digital or discrete-time controls. It is also a suitable reference for practicing engineers.

This best-selling text places emphasis on the practical aspects of designing and implementing digital control systems.

This program presents a better teaching and learning experience—for you and your students.

Provide MATLAB programs to students: Short MATLAB programs have been included in many of the examples, which allow students to experiment and learn more skills.
Motivate students with running applications that are featured throughout the book: Simple physical systems are introduced in one chapter and then used again later to illuminate more advanced material.
Reinforce core concepts with examples and problems: Numerous problems and worked examples help students grasp the text’s concepts.
Keep your course current: A new chapter on system identification (Chapter 11) is included in this edition

Produktinformation

Utgivningsdatum:2014-11-04
Mått:10 x 10 x 10 mm
Vikt:780 g
Format:Inbunden
Språk:Engelska
Antal sidor:528
Upplaga:4
Förlag:Pearson Education
ISBN:9780132938310

Utforska kategorier

Energiteknik inom Naturvetenskap och teknik

Innehållsförteckning

Chapter 1 Introduction 1Overview 1Digital Control System 2The Control Problem 5Satellite Model 6Servomotor System Model 8Antenna Pointing System 10Robotic Control System 11Temperature Control System 12Single-Machine Infinite Bus Power System 14Summary 17References 17 • Problems 17Chapter 2 discrete-time systems and the z-transform 25Introduction 25Discrete-Time Systems 25Transform Methods 27Properties of the z-Transform 30Addition and Subtraction 30Multiplication by a Constant 30Real Translation 31Complex Translation 33Initial Value 34Final Value 34Finding z-Transforms 35Solution of Difference Equations 38The Inverse z-Transform 41Power Series Method 41Partial-Fraction Expansion Method 42Inversion-Formula Method 46Discrete Convolution 47Simulation Diagrams and Flow Graphs 49State Variables 53Other State-Variable Formulations 61Transfer Functions 70Solutions of the State Equations 74Recursive Solution 74z-Transform Method 76Numerical Method via Digital Computer 77Properties of the State Transition Matrix 78Linear Time-Varying Systems 79Summary 80References and Further Readings 80 • Problems 80Chapter 3 sampling and reconstruction 90Introduction 90Sampled-Data Control Systems 90The Ideal Sampler 93Evaluation of E*(S) 95Results from the Fourier Transform 98Properties of E*(S) 100Data Reconstruction 103Zero-Order Hold 104First-Order Hold 108Fractional-Order Holds 109Summary 111References and Further Readings 111 • Problems 112Chapter 4 open-loop discrete-time systems 116Introduction 116The Relationship Between E(Z) and E*(S) 116The Pulse Transfer Function 117Open-Loop Systems Containing Digital Filters 123The Modified z-Transform 126Systems with Time Delays 129Nonsynchronous Sampling 132State-Variable Models 135Review of Continuous-Time State Variables 136Discrete State Equations 140Practical Calculations 144Summary 146References and Further Readings 146 • Problems 146Chapter 5 closed-loop systems 157Introduction 157Preliminary Concepts 157Derivation Procedure 161State-Variable Models 168Summary 178References and Further Readings 178 • Problems 178Chapter 6 system time-response characteristics 188Introduction 188System Time Response 188System Characteristic Equation 197Mapping the s-Plane into the z-Plane 198Steady-State Accuracy 205Simulation 208Control Software 213Summary 213References and Further Readings 214 • Problems 214Chapter 7 stability analysis techniques 220Introduction 220Stability 220Bilinear Transformation 224The Routh-Hurwitz Criterion 226Jury’s Stability Test 229Root Locus 234The Nyquist Criterion 238The Bode Diagram 248Interpretation of the Frequency Response 249Closed-Loop Frequency Response 251Summary 260References and Further Readings 260 • Problems 260Chapter 8 digital controller design 269Introduction 269Control System Specifications 269Steady-State Accuracy 270Transient Response 270Relative Stability 272Sensitivity 273Disturbance Rejection 274Control Effort 275Compensation 275Phase-Lag Compensation 277Phase-Lead Compensation 284Phase-Lead Design Procedure 285Lag-Lead Compensation 293Integration and Differentiation Filters 297PID Controllers 299PID Controller Design 303Design by Root Locus 311Summary 324References and Further Readings 324 • Problems 325Chapter 9 pole-assignment design and state estImatIon 333Introduction 333Pole Assignment 333State Estimation 342Observer Model 342Errors in Estimation 344Error Dynamics 344Controller Transfer Function 349Closed-Loop Characteristic Equation 352Closed-Loop State Equations 353Reduced-Order Observers 354Current Observers 359Controllability and Observability 364Systems with Inputs 368Summary 373References and Further Readings 374 • Problems 374Chapter 10 system identification of discrete-time systems 380Introduction 380Identification of Static Systems 381Identification of Dynamic Systems 384Black-Box Identification 384Least-Squares System Identification 391Estimating Transfer Functions with Partly Known Poles and Zeros 397Recursive Least-Squares System Identification 399Practical Factors for Identification 402Choice of Input 402Choice of Sampling Frequency 403Choice of Signal Scaling 403Summary 404References and Further Readings 404 • Problems 404Chapter 11 linear quadratic optimal control 408Introduction 408The Quadratic Cost Function 409The Principle of Optimality 411Linear Quadratic Optimal Control 414The Minimum Principle 423Steady-State Optimal Control 424Optimal State Estimation–Kalman Filters 430Least-Squares Minimization 436Summary 436References and Further Readings 437 • Problems 438Chapter 12 case studies 444Introduction 444Servomotor System 444System Model 446Design 449Environmental Chamber Control System 451Temperature Control System 453Aircraft Landing System 456Plant Model 458Design 458Neonatal Fractional Inspired Oxygen 464Plant Transfer Function 464Taube’s PID Controller 466MATLAB pidtool PIDF Controllers 467Topology Identification in Electric Power System Models 474References 478Appendix I Design Equations 480Appendix II Mason’s Gain Formula 481Appendix III Evaluation of E*(s) 486Appendix IV Review of Matrices 491Appendix V The Laplace Transform 498Appendix VI z-Transform Tables 512Index 515