Digital Control Engineering (eBook)

Analysis and Design

M. Sami Fadali, Antonio Visioli (Autoren)

eBook Download: EPUB

2009 | 1. Auflage
552 Seiten
Elsevier Science (Verlag)
978-0-08-092286-7 (ISBN)

Infos

Digital Control Engineering covers the fundamental principles and applications of digital control engineering, with emphasis on engineering design.

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 book features Matlab sections at end of each chapter which show how to implement concepts from the chapter. Mathematics is used to help explain concepts, but throughout the text discussion is tied to design and implementation. It contains review material to aid understanding of digital control analysis and design.

Examples include discussions of discrete-time systems in time domain and frequency domain (reviewed from linear systems course), and root locus design in s-domain and z-domain (reviewed from feedback control course). In addition to the basic topics required for a one semester senior/graduate class, the text includes some advanced material to make it suitable for an introductory graduate level class or for two quarters at the senior/graduate level.

Examples of optional topics are state-space methods, which may receive brief coverage in a one semester course, and nonlinear discrete-time systems.

Extensive Use of computational tools: Matlab sections at end of each chapter show how to implement concepts from the chapter.
Frees the student from the drudgery of mundane calculations and allows him to consider more subtle aspects of control system analysis and design.
An engineering approach to digital controls: emphasis throughout the book is on design of control systems. Mathematics is used to help explain concepts, but throughout the text discussion is tied to design and implementation. For example coverage of analog controls in chapter 5 is not simply a review, but is used to show how analog control systems map to digital control systems.

Review of Background Material: contains review material to aid understanding of digital control analysis and design. Examples include discussion of discrete-time systems in time domain and frequency domain (reviewed from linear systems course) and root locus design in s-domain and z-domain (reviewed from feedback control course).
Inclusion of Advanced Topics
In addition to the basic topics required for a one semester senior/graduate class, the text includes some advanced material to make it suitable for an introductory graduate level class or for two quarters at the senior/graduate level. Examples of optional topics are state-space methods, which may receive brief coverage in a one semester course, and nonlinear discrete-time systems.
Minimal Mathematics Prerequisites
The mathematics background required for understanding most of the book is based on what can be reasonably expected from the average electrical, chemical or mechanical engineering senior. This background includes three semesters of calculus, differential equations and basic linear algebra. Some texts on digital control require more mathematical maturity and are therefore beyond the reach of the typical senior.


Professor and Chair of Department of Electrical & Biomedical Engineering, College of Engineering, University of Nevada, Reno, NV, USA.
M. Sami Fadali earned a BS in Electrical Engineering from Cairo University in 1974, an MS from the Control Systems Center, UMIST, England, in 1977 and a Ph. D. from the University of Wyoming in 1980. He was an Assistant Professor of Electrical Engineering at the University of King Abdul Aziz in Jeddah , Saudi Arabia 1981-1983. From 1983-85, he was a Post Doctoral Fellow at Colorado State University. In 1985, he joined the Electrical Engineering Dept. at the University of Nevada, Reno, where he is currently Professor of Electrical Engineering. In 1994 he was a visiting professor at Oakland University and GM Research and Development Labs. He spent the summer of 2000 as a Senior Engineer at TRW, San Bernardino. His research interests are in the areas of fuzzy logic stability and control, state estimation and fault detection, and applications to power systems, renewable energy, and physiological systems

Inhalt

Front cover 1
Title page 4
Copyright page 5
Table of contents 6
Preface 10
ACKNOWLEDGMENTS 16
Chapter 1 Introduction to Digital Control 18
1.1 Why Digital Control? 19
1.2 The Structure of a Digital Control System 19
1.3 Examples of Digital Control Systems 20
Resources 23
Chapter 2 Discrete-Time Systems 26
2.1 Analog Systems with Piecewise Constant Inputs 26
2.2 Difference Equations 28
2.3 The z-Transform 29
2.4 Computer-Aided Design 48
2.5 z-Transform Solution of Difference Equations 49
2.6 The Time Response of a Discrete-Time System 50
2.7 The Modified z-Transform 55
2.8 Frequency Response of Discrete-Time Systems 57
2.9 The Sampling Theorem 63
Resources 67
Chapter 3 Modeling of Digital Control Systems 72
3.1 ADC Model 72
3.2 DAC Model 73
3.3 The Transfer Function of the ZOH 74
3.4 Effect of the Sampler on the Transfer Function of a Cascade 75
3.5DAC, Analog Subsystem, and ADC Combination Transfer Function 79
3.6 Systems with Transport Lag 87
3.7 The Closed-Loop Transfer Function 89
3.8 Analog Disturbances in a Digital System 92
3.9 Steady-State Error and Error Constants 94
3.10 MATLAB Commands 97
Resources 98
Chapter 4 Stability of Digital Control Systems 104
4.1 Definitions of Stability 104
4.2 Stable z-Domain Pole Locations 106
4.3 Stability Conditions 106
4.4 Stability Determination 114
4.5 Jury Test 117
4.6 Nyquist Criterion 121
Resources 135
Chapter 5 Analog Control System Design 140
5.1 Root Locus 140
5.2 Root Locus Using MATLAB 145
5.3 Design Specifications and the Effect of Gain Variation 145
5.4 Root Locus Design 148
5.5 Empirical Tuning of PID Controllers 171
Resources 175
Chapter 6 Digital Control System Design 178
6.1 z-Domain Root Locus 178
6.2 z-Domain Digital Control System Design 181
6.3 Digital Implementation of Analog Controller Design 193
6.4 Direct z-Domain Digital Controller Design 213
6.5 Frequency Response Design 219
6.6 Direct Control Design 227
6.7 Finite Settling Time Design 232
Resources 242
Chapter 7 State–Space Representation 246
7.1 State Variables 246
7.2 State–Space Representation 249
7.3 Linearization of Nonlinear State Equations 254
7.4 The Solution of Linear State–Space Equations 257
7.5 The Transfer Function Matrix 273
7.6 Discrete-Time State–Space Equations 275
7.7 Solution of Discrete-Time State–Space Equations 278
7.8 Z-Transfer Function from State–Space Equations 285
7.9 Similarity Transformation 287
Resources 291
Problems 291
Computer Exercises 295
Chapter 8 Properties of State–Space Models 298
8.1 Stability of State–Space Realizations 299
8.2 Controllability and Stabilizability 307
8.3 Observability and Detectability 318
8.4 Poles and Zeros of Multivariable Systems 324
8.5 State–Space Realizations 330
8.6 Duality 343
Resources 344
Chapter 9 State Feedback Control 352
9.1 State and Output Feedback 352
9.2 Pole Placement 354
9.3 Servo Problem 366
9.4 Invariance of System Zeros 370
9.5 State Estimation 372
9.6 Observer State Feedback 379
9.7 Pole Assignment Using Transfer Functions 387
Resources 391
Chapter 10 Optimal Control 396
10.1 Optimization 396
10.2 Optimal Control 401
10.3 The Linear Quadratic Regulator 406
10.4 Steady-State Quadratic Regulator 416
10.5 Hamiltonian System 423
Resources 426
Chapter 11 Elements of Nonlinear Digital Control Systems 432
11.1 Discretization of Nonlinear Systems 432
11.2 Nonlinear Difference Equations 441
11.3 Equilibrium Of Nonlinear Discrete-Time Systems 442
11.4 Lyapunov Stability Theory 443
11.5 Stability of Analog Systems with Digital Control 456
11.6 State Plane Analysis 459
11.7 Discrete-Time Nonlinear Controller Design 464
Resources 469
Chapter 12 Practical Issues 474
12.1 Design of the hardware and software architecture 474
12.2 Choice of the Sampling Period 478
12.3 Controller Structure 485
12.4 PID Control 488
12.5 Sampling Period Switching 498
Resources 511
Appendix I Table of Laplace and z-Transforms 514
Appendix II Properties of the z-Transform 516
Appendix III Review of Linear Algebra 518
A.1 Matrices 518
A.2 Equality of Matrices 519
A.3 Matrix Arithmetic 519
A.4 Determinant of a Matrix 525
A.5 Inverse of a Matrix 526
A.6 Eigenvalues 529
A.7 Eigenvectors 530
A.8 Norm of a Vector 533
A.9 Matrix Norms 534
A.10 Quadratic Forms 535
A.11 Matrix Differentiation/Integration 537
A.12 Kronecker Product 539
Resources 540
Index 542

Produkt-Details

• Erscheint lt. Verlag: 3.2.2009
• Sprache: englisch
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• ISBN-10: 0-08-092286-4 / 0080922864
• ISBN-13: 978-0-08-092286-7 / 9780080922867