Digital control of dynamic systems /
Franklin, Gene F.
Digital control of dynamic systems / Gene F. Franklin, J. David Powell, Michael L. Workman. - 3rd - Menlo Park : Addison-Wesley, 1998 - 742 p.
CONTENIDO
1. Introduction 1
Problem Definition 1
Overview of Design Approach 5
Computer-Aided Design 7
2. Review of Continuous Control 11
Dynamic Response 11
Basic Properties of Feedback 22
Root Locus 24
Frequency Response Design 31
Compensation 39
State-Space Design 41
3. Introductory Digital Control 57
Digitization 58
Effect of Sampling 63
PID Control 66
4. Discrete Systems Analysis 73
Linear Difference Equations 73
The Discrete Transfer Function 78
Discrete Models of Sampled-Data Systems 96
Signal Analysis and Dynamic Response 119
Frequency Response 131
Properties of the z-Transform 137
5. Sampled-Data Systems 155
Analysis of the Sample and Hold 156
Spectrum of a Sampled Signal 160
Data Extrapolation 164
Block-Diagram Analysis of Sampled-Data Systems 170
Calculating the System Output Between Samples: The Ripple 180
6. Discrete Equivalents 187
Design of Discrete Equivalents via Numerical Integration 189
Zero-Pole Matching Equivalents 200
Hold Equivalents 202
7. Design Using Transform Techniques 211
System Specifications 212
Design by Emulation 214
Direct Design by the Root Locus in the z-Plane 222
Frequency Response Methods 234
Direct Design Method of Ragazzini 264
8. Design Using State-Space Methods 279
Control Law Design 280
Estimator Design 289
Regulator Design: Combined Control Law and Estimator 302
Introduction of the Reference Input 310
Integral Control and Disturbance Estimation 322
Effect of Delays 337
Controllability and Observability 345
9. Multivariable and Optimal Control 359
Decoupling 360
Time-Varying Optimal Control 364
LQR Steady-State Optimal Control 371
Optimal Estimation 382
Multivariable Control Design 400
10. Quantization Effects 425
Analysis of Round-Off Error 426
Effects of Parameter Round-Off 437
Limit Cycles and Dither 440
11. Sample Rate Selection 449
The Sampling Theorem's Limit 450
Time Response and Smoothness 451
Errors Due to Random Plant Disturbances 454
Sensitivity to Parameter Variations 461
Measurement Noise and Antialiasing Filters 465
Multirate Sampling 469
12. System Identification 479
Defining the Model Set for Linear Systems 481
Identification of Nonparametric Models 484
Models and Criteria for Parametric Identification 495
Deterministic Estimation 502
Stochastic Least Squares 510
Maximum Likelihood 521
Numerical Search for the Maximum Likelihood Estimate 526
Subspace Identification Methods 535
13. Nonlinear Control 543
Analysis Techniques 544
Nonlinear Control Structures: Design 582
Design with Nonlinear Cost Functions 635
14. Design of a Disk Drive Servo: A Case Study 649
Overview of Disk Files 650
Components and Models 655
Design Specifications 666
Disk Servo Design 670
0201820544
DIGITAL CONTROL SYSTEMS
DYNAMICS
CONTROL DIGITAL
ANALISIS DE SISTEMAS DISCRETOS
MATLAB
681.51 F854
Digital control of dynamic systems / Gene F. Franklin, J. David Powell, Michael L. Workman. - 3rd - Menlo Park : Addison-Wesley, 1998 - 742 p.
CONTENIDO
1. Introduction 1
Problem Definition 1
Overview of Design Approach 5
Computer-Aided Design 7
2. Review of Continuous Control 11
Dynamic Response 11
Basic Properties of Feedback 22
Root Locus 24
Frequency Response Design 31
Compensation 39
State-Space Design 41
3. Introductory Digital Control 57
Digitization 58
Effect of Sampling 63
PID Control 66
4. Discrete Systems Analysis 73
Linear Difference Equations 73
The Discrete Transfer Function 78
Discrete Models of Sampled-Data Systems 96
Signal Analysis and Dynamic Response 119
Frequency Response 131
Properties of the z-Transform 137
5. Sampled-Data Systems 155
Analysis of the Sample and Hold 156
Spectrum of a Sampled Signal 160
Data Extrapolation 164
Block-Diagram Analysis of Sampled-Data Systems 170
Calculating the System Output Between Samples: The Ripple 180
6. Discrete Equivalents 187
Design of Discrete Equivalents via Numerical Integration 189
Zero-Pole Matching Equivalents 200
Hold Equivalents 202
7. Design Using Transform Techniques 211
System Specifications 212
Design by Emulation 214
Direct Design by the Root Locus in the z-Plane 222
Frequency Response Methods 234
Direct Design Method of Ragazzini 264
8. Design Using State-Space Methods 279
Control Law Design 280
Estimator Design 289
Regulator Design: Combined Control Law and Estimator 302
Introduction of the Reference Input 310
Integral Control and Disturbance Estimation 322
Effect of Delays 337
Controllability and Observability 345
9. Multivariable and Optimal Control 359
Decoupling 360
Time-Varying Optimal Control 364
LQR Steady-State Optimal Control 371
Optimal Estimation 382
Multivariable Control Design 400
10. Quantization Effects 425
Analysis of Round-Off Error 426
Effects of Parameter Round-Off 437
Limit Cycles and Dither 440
11. Sample Rate Selection 449
The Sampling Theorem's Limit 450
Time Response and Smoothness 451
Errors Due to Random Plant Disturbances 454
Sensitivity to Parameter Variations 461
Measurement Noise and Antialiasing Filters 465
Multirate Sampling 469
12. System Identification 479
Defining the Model Set for Linear Systems 481
Identification of Nonparametric Models 484
Models and Criteria for Parametric Identification 495
Deterministic Estimation 502
Stochastic Least Squares 510
Maximum Likelihood 521
Numerical Search for the Maximum Likelihood Estimate 526
Subspace Identification Methods 535
13. Nonlinear Control 543
Analysis Techniques 544
Nonlinear Control Structures: Design 582
Design with Nonlinear Cost Functions 635
14. Design of a Disk Drive Servo: A Case Study 649
Overview of Disk Files 650
Components and Models 655
Design Specifications 666
Disk Servo Design 670
0201820544
DIGITAL CONTROL SYSTEMS
DYNAMICS
CONTROL DIGITAL
ANALISIS DE SISTEMAS DISCRETOS
MATLAB
681.51 F854