Digital controllers are part of nearly all modern personal, industrial, and transportation systems. Every senior or graduate student of electrical, chemical, or mechanical engineering should therefore be familiar with the basic theory of digital controllers. This new text covers the fundamental principles and applications of digital control engineering, with emphasis on engineering design.Fadali and Visioli cover analysis and design of digitally controlled systems and describe applications of digital control in a wide range of fields. With worked examples and Matlab applications in every chapter and many end-of-chapter assignments, this text provides both theory and practice for those coming to digital control engineering for the first time, whether as a student or practicing engineer.
1. Chapter 1. Introduction to digital control - p. 1 2. Chapter 2. Discrete-time systems - p. 9 3. 2.1. Analog systems with piecewise constant inputs - p. 10 4. 2.2. Difference equations - p. 12 5. 2.3. The z-transform - p. 13 6. 2.4. Computer-aided design - p. 33 7. 2.5. z-transform solution of difference equations - p. 34 8. 2.6. The time response of a discrete-time system - p. 35 9. 2.7. The modified z-transform - p. 41 10. 2.8. Frequency response of discrete-time systems - p. 44 11. 2.9. The sampling theorem - p. 50 12. Resources - p. 55 13. Problems - p. 55 14. Computer exercises - p. 59 15. Chapter 3. Modeling of digital control systems - p. 61 16. 3.1. Analog-to-digital converter (ADC) model - p. 62 17. 3.2. Digital-to-analog converter (DAC) model - p. 63 18. 3.3. The transfer function of the zero-order hold (ZOH) - p. 63 19. 3.4. Effect of the sampler on the transfer function of a cascade - p. 65 20. 3.5. DAC, analog subsystem, and analog-to-digital converter (ADC) combination transfer function - p. 68 21. 3.6. Systems with transport lag - p. 76 22. 3.7. The closed-loop transfer function - p. 78 23. 3.8. Analog disturbances in a digital system - p. 80 24. 3.9. Steady-state error and error constants - p. 82 25. 3.10. MATLAB commands - p. 86 26. 3.11. Sensitivity analysis - p. 93 27. Further reading - p. 97 28. Problems - p. 97 29. Chapter 4. Stability of digital control systems - p. 103 30. Chapter 5. Analog control system design - p. 141 31. Chapter 6. Digital control system design - p. 181 32. 6.1. z-domain root locus - p. 182 33. 6.2. z-domain digital control system design - p. 184 34. 6.3. Digital implementation of analog controller design - p. 195 35. 6.4. Direct z-domain digital controller design - p. 216 36. 6.5. Frequency response design - p. 221 37. 6.6. Direct control design - p. 229 38. 6.7. Finite settling time design - p. 234 39. Further reading - p. 248 40. Problems - p. 248 41. Computer exercises - p. 251 42. Chapter 7. State–space representation - p. 253 43. 7.1. State variables - p. 254 44. 7.2. State–space representation - p. 257 45. 7.3. Linearization of nonlinear state equations - p. 262 46. 7.4. The solution of linear state–space equations - p. 265 47. 7.5. The transfer function matrix - p. 285 48. 7.6. Discrete-time state–space equations - p. 289 49. 7.7. Solution of discrete-time state–space equations - p. 293 50. 7.8. z-transfer function from state–space equations - p. 300 51. 7.9. Similarity transformation - p. 303 52. Reference - p. 307 53. Further reading - p. 307 54. Problems - p. 308 55. Computer exercises - p. 315 56. Chapter 8. Properties of state–space models - p. 319 57. 8.1. Stability of state–space realizations - p. 320 58. 8.2. Controllability and stabilizability - p. 329 59. 8.3. Observability and detectability - p. 343 60. 8.4. Poles and zeros of multivariable systems - p. 350 61. 8.5. State–space realizations - p. 357 62. 8.6. Duality - p. 370 63. 8.7. Hankel realization - p. 372 64. 8.8. Realizations for continuous-time systems - p. 377 65. Further reading - p. 378 66. Problems - p. 379 67. Computer exercises - p. 385 68. Chapter 9. State feedback control - p. 387 69. 9.1. State and output feedback - p. 388 70. 9.2. Pole placement - p. 389 71. 9.3. Servo problem - p. 407 72. 9.4. Invariance of system zeros - p. 411 73. 9.5. State estimation - p. 413 74. 9.6. Observer state feedback - p. 421 75. 9.7. Pole assignment using transfer functions - p. 429 76. Further reading - p. 434 77. Problems - p. 435 78. Computer exercises - p. 439 79. Chapter 10. Optimal control - p. 441 80. 10.1. Optimization - p. 442 81. 10.2. Optimal control - p. 447 82. 10.3. The linear quadratic regulator - p. 453 83. 10.4. Steady-state quadratic regulator - p. 466 84. 10.5. Hamiltonian system - p. 473 85. 10.6. Return difference equality and stability margins - p. 481 86. 10.7. Model predictive control - p. 488 87. 10.8. Modification of the reference signal - p. 491 88. Further reading - p. 498 89. Problems - p. 498 90. Computer exercises - p. 502 91. Chapter 11. Elements of nonlinear digital control systems - p. 507 92. 11.1. Discretization of nonlinear systems - p. 508 93. 11.2. Nonlinear difference equations - p. 517 94. 11.3. Equilibrium of nonlinear discrete-time systems - p. 518 95. 11.4. Lyapunov stability theory - p. 521 96. 11.5. Stability of analog systems with digital control - p. 537 97. 11.6. State–plane analysis - p. 539 98. 11.7. Discrete-time nonlinear controller design - p. 543 99. 11.8. Input–output stability and the small gain theorem - p. 548 100. Further reading - p. 560 101. Problems - p. 561 102. Computer exercises - p. 565 103. Chapter 12. Practical issues - p. 567 104. 12.1. Design of the hardware and software architecture - p. 568 105. 12.2. Choice of the sampling period - p. 572 106. 12.3. Controller structure - p. 585 107. 12.4. Proportional–integral–derivative control - p. 588 108. 12.5. Sampling period switching - p. 598 109. Reference - p. 611 110. Further reading - p. 611 111. Problems - p. 611 112. Computer exercises - p. 613 113. Chapter 13. Linear matrix inequalities - p. 615 114. Appendix I. Table of Laplace and z-transforms - p. 633 115. Appendix II. Properties of the z-transform - p. 635 116. Appendix III. Review of linear algebra - p. 637 117. Index - p. 669
Digital controllers are part of nearly all modern personal, industrial, and transportation systems. Every senior or graduate student of electrical, chemical, or mechanical engineering should therefore be familiar with the basic theory of digital controllers. This new text covers the fundamental principles and applications of digital control engineering, with emphasis on engineering design.Fadali and Visioli cover analysis and design of digitally controlled systems and describe applications of digital control in a wide range of fields. With worked examples and Matlab applications in every chapter and many end-of-chapter assignments, this text provides both theory and practice for those coming to digital control engineering for the first time, whether as a student or practicing engineer.
1. Chapter 1. Introduction to digital control - p. 1 2. Chapter 2. Discrete-time systems - p. 9 3. 2.1. Analog systems with piecewise constant inputs - p. 10 4. 2.2. Difference equations - p. 12 5. 2.3. The z-transform - p. 13 6. 2.4. Computer-aided design - p. 33 7. 2.5. z-transform solution of difference equations - p. 34 8. 2.6. The time response of a discrete-time system - p. 35 9. 2.7. The modified z-transform - p. 41 10. 2.8. Frequency response of discrete-time systems - p. 44 11. 2.9. The sampling theorem - p. 50 12. Resources - p. 55 13. Problems - p. 55 14. Computer exercises - p. 59 15. Chapter 3. Modeling of digital control systems - p. 61 16. 3.1. Analog-to-digital converter (ADC) model - p. 62 17. 3.2. Digital-to-analog converter (DAC) model - p. 63 18. 3.3. The transfer function of the zero-order hold (ZOH) - p. 63 19. 3.4. Effect of the sampler on the transfer function of a cascade - p. 65 20. 3.5. DAC, analog subsystem, and analog-to-digital converter (ADC) combination transfer function - p. 68 21. 3.6. Systems with transport lag - p. 76 22. 3.7. The closed-loop transfer function - p. 78 23. 3.8. Analog disturbances in a digital system - p. 80 24. 3.9. Steady-state error and error constants - p. 82 25. 3.10. MATLAB commands - p. 86 26. 3.11. Sensitivity analysis - p. 93 27. Further reading - p. 97 28. Problems - p. 97 29. Chapter 4. Stability of digital control systems - p. 103 30. Chapter 5. Analog control system design - p. 141 31. Chapter 6. Digital control system design - p. 181 32. 6.1. z-domain root locus - p. 182 33. 6.2. z-domain digital control system design - p. 184 34. 6.3. Digital implementation of analog controller design - p. 195 35. 6.4. Direct z-domain digital controller design - p. 216 36. 6.5. Frequency response design - p. 221 37. 6.6. Direct control design - p. 229 38. 6.7. Finite settling time design - p. 234 39. Further reading - p. 248 40. Problems - p. 248 41. Computer exercises - p. 251 42. Chapter 7. State–space representation - p. 253 43. 7.1. State variables - p. 254 44. 7.2. State–space representation - p. 257 45. 7.3. Linearization of nonlinear state equations - p. 262 46. 7.4. The solution of linear state–space equations - p. 265 47. 7.5. The transfer function matrix - p. 285 48. 7.6. Discrete-time state–space equations - p. 289 49. 7.7. Solution of discrete-time state–space equations - p. 293 50. 7.8. z-transfer function from state–space equations - p. 300 51. 7.9. Similarity transformation - p. 303 52. Reference - p. 307 53. Further reading - p. 307 54. Problems - p. 308 55. Computer exercises - p. 315 56. Chapter 8. Properties of state–space models - p. 319 57. 8.1. Stability of state–space realizations - p. 320 58. 8.2. Controllability and stabilizability - p. 329 59. 8.3. Observability and detectability - p. 343 60. 8.4. Poles and zeros of multivariable systems - p. 350 61. 8.5. State–space realizations - p. 357 62. 8.6. Duality - p. 370 63. 8.7. Hankel realization - p. 372 64. 8.8. Realizations for continuous-time systems - p. 377 65. Further reading - p. 378 66. Problems - p. 379 67. Computer exercises - p. 385 68. Chapter 9. State feedback control - p. 387 69. 9.1. State and output feedback - p. 388 70. 9.2. Pole placement - p. 389 71. 9.3. Servo problem - p. 407 72. 9.4. Invariance of system zeros - p. 411 73. 9.5. State estimation - p. 413 74. 9.6. Observer state feedback - p. 421 75. 9.7. Pole assignment using transfer functions - p. 429 76. Further reading - p. 434 77. Problems - p. 435 78. Computer exercises - p. 439 79. Chapter 10. Optimal control - p. 441 80. 10.1. Optimization - p. 442 81. 10.2. Optimal control - p. 447 82. 10.3. The linear quadratic regulator - p. 453 83. 10.4. Steady-state quadratic regulator - p. 466 84. 10.5. Hamiltonian system - p. 473 85. 10.6. Return difference equality and stability margins - p. 481 86. 10.7. Model predictive control - p. 488 87. 10.8. Modification of the reference signal - p. 491 88. Further reading - p. 498 89. Problems - p. 498 90. Computer exercises - p. 502 91. Chapter 11. Elements of nonlinear digital control systems - p. 507 92. 11.1. Discretization of nonlinear systems - p. 508 93. 11.2. Nonlinear difference equations - p. 517 94. 11.3. Equilibrium of nonlinear discrete-time systems - p. 518 95. 11.4. Lyapunov stability theory - p. 521 96. 11.5. Stability of analog systems with digital control - p. 537 97. 11.6. State–plane analysis - p. 539 98. 11.7. Discrete-time nonlinear controller design - p. 543 99. 11.8. Input–output stability and the small gain theorem - p. 548 100. Further reading - p. 560 101. Problems - p. 561 102. Computer exercises - p. 565 103. Chapter 12. Practical issues - p. 567 104. 12.1. Design of the hardware and software architecture - p. 568 105. 12.2. Choice of the sampling period - p. 572 106. 12.3. Controller structure - p. 585 107. 12.4. Proportional–integral–derivative control - p. 588 108. 12.5. Sampling period switching - p. 598 109. Reference - p. 611 110. Further reading - p. 611 111. Problems - p. 611 112. Computer exercises - p. 613 113. Chapter 13. Linear matrix inequalities - p. 615 114. Appendix I. Table of Laplace and z-transforms - p. 633 115. Appendix II. Properties of the z-transform - p. 635 116. Appendix III. Review of linear algebra - p. 637 117. Index - p. 669
