Digital Control System Analysis & Design

This is the eBook of the printed book and may not include any media, website access codes, or print supplements that may come packaged with the bound book. 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

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