Fadali / Visioli Digital Control Engineering

Analysis and Design
1. Auflage 2009
ISBN: 978-0-08-092286-7
Verlag: Elsevier Science & Techn.
Format: EPUB
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 552 Seiten

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

Autoren/Hrsg.

Fadali, M. Sami

Visioli, Antonio

Inhaltsverzeichnis

1;Front cover;1
2;Title page;4
3;Copyright page;5
4;Table of contents;6
5;Preface;10
5.1;ACKNOWLEDGMENTS;16
6;Chapter 1 Introduction to Digital Control;18
6.1;1.1 Why Digital Control?;19
6.2;1.2 The Structure of a Digital Control System;19
6.3;1.3 Examples of Digital Control Systems;20
6.4;Resources;23
7;Chapter 2 Discrete-Time Systems;26
7.1;2.1 Analog Systems with Piecewise Constant Inputs;26
7.2;2.2 Difference Equations;28
7.3;2.3 The z-Transform;29
7.4;2.4 Computer-Aided Design;48
7.5;2.5 z-Transform Solution of Difference Equations;49
7.6;2.6 The Time Response of a Discrete-Time System;50
7.7;2.7 The Modified z-Transform;55
7.8;2.8 Frequency Response of Discrete-Time Systems;57
7.9;2.9 The Sampling Theorem;63
7.10;Resources;67
8;Chapter 3 Modeling of Digital Control Systems;72
8.1;3.1 ADC Model;72
8.2;3.2 DAC Model;73
8.3;3.3 The Transfer Function of the ZOH;74
8.4;3.4 Effect of the Sampler on the Transfer Function of a Cascade;75
8.5;3.5DAC, Analog Subsystem, and ADC Combination Transfer Function;79
8.6;3.6 Systems with Transport Lag;87
8.7;3.7 The Closed-Loop Transfer Function;89
8.8;3.8 Analog Disturbances in a Digital System;92
8.9;3.9 Steady-State Error and Error Constants;94
8.10;3.10 MATLAB Commands;97
8.11;Resources;98
9;Chapter 4 Stability of Digital Control Systems;104
9.1;4.1 Definitions of Stability;104
9.2;4.2 Stable z-Domain Pole Locations;106
9.3;4.3 Stability Conditions;106
9.4;4.4 Stability Determination;114
9.5;4.5 Jury Test;117
9.6;4.6 Nyquist Criterion;121
9.7;Resources;135
10;Chapter 5 Analog Control System Design;140
10.1;5.1 Root Locus;140
10.2;5.2 Root Locus Using MATLAB;145
10.3;5.3 Design Specifications and the Effect of Gain Variation;145
10.4;5.4 Root Locus Design;148
10.5;5.5 Empirical Tuning of PID Controllers;171
10.6;Resources;175
11;Chapter 6 Digital Control System Design;178
11.1;6.1 z-Domain Root Locus;178
11.2;6.2 z-Domain Digital Control System Design;181
11.3;6.3 Digital Implementation of Analog Controller Design;193
11.4;6.4 Direct z-Domain Digital Controller Design;213
11.5;6.5 Frequency Response Design;219
11.6;6.6 Direct Control Design;227
11.7;6.7 Finite Settling Time Design;232
11.8;Resources;242
12;Chapter 7 State–Space Representation;246
12.1;7.1 State Variables;246
12.2;7.2 State–Space Representation;249
12.3;7.3 Linearization of Nonlinear State Equations;254
12.4;7.4 The Solution of Linear State–Space Equations;257
12.5;7.5 The Transfer Function Matrix;273
12.6;7.6 Discrete-Time State–Space Equations;275
12.7;7.7 Solution of Discrete-Time State–Space Equations;278
12.8;7.8 Z-Transfer Function from State–Space Equations;285
12.9;7.9 Similarity Transformation;287
12.10;Resources;291
12.11;Problems;291
12.12;Computer Exercises;295
13;Chapter 8 Properties of State–Space Models;298
13.1;8.1 Stability of State–Space Realizations;299
13.2;8.2 Controllability and Stabilizability;307
13.3;8.3 Observability and Detectability;318
13.4;8.4 Poles and Zeros of Multivariable Systems;324
13.5;8.5 State–Space Realizations;330
13.6;8.6 Duality;343
13.7;Resources;344
14;Chapter 9 State Feedback Control;352
14.1;9.1 State and Output Feedback;352
14.2;9.2 Pole Placement;354
14.3;9.3 Servo Problem;366
14.4;9.4 Invariance of System Zeros;370
14.5;9.5 State Estimation;372
14.6;9.6 Observer State Feedback;379
14.7;9.7 Pole Assignment Using Transfer Functions;387
14.8;Resources;391
15;Chapter 10 Optimal Control;396
15.1;10.1 Optimization;396
15.2;10.2 Optimal Control;401
15.3;10.3 The Linear Quadratic Regulator;406
15.4;10.4 Steady-State Quadratic Regulator;416
15.5;10.5 Hamiltonian System;423
15.6;Resources;426
16;Chapter 11 Elements of Nonlinear Digital Control Systems;432
16.1;11.1 Discretization of Nonlinear Systems;432
16.2;11.2 Nonlinear Difference Equations;441
16.3;11.3 Equilibrium Of Nonlinear Discrete-Time Systems;442
16.4;11.4 Lyapunov Stability Theory;443
16.5;11.5 Stability of Analog Systems with Digital Control;456
16.6;11.6 State Plane Analysis;459
16.7;11.7 Discrete-Time Nonlinear Controller Design;464
16.8;Resources;469
17;Chapter 12 Practical Issues;474
17.1;12.1 Design of the hardware and software architecture;474
17.2;12.2 Choice of the Sampling Period;478
17.3;12.3 Controller Structure;485
17.4;12.4 PID Control;488
17.5;12.5 Sampling Period Switching;498
17.6;Resources;511
18;Appendix I Table of Laplace and z-Transforms;514
19;Appendix II Properties of the z-Transform;516
20;Appendix III Review of Linear Algebra;518
20.1;A.1 Matrices;518
20.2;A.2 Equality of Matrices;519
20.3;A.3 Matrix Arithmetic;519
20.4;A.4 Determinant of a Matrix;525
20.5;A.5 Inverse of a Matrix;526
20.6;A.6 Eigenvalues;529
20.7;A.7 Eigenvectors;530
20.8;A.8 Norm of a Vector;533
20.9;A.9 Matrix Norms;534
20.10;A.10 Quadratic Forms;535
20.11;A.11 Matrix Differentiation/Integration;537
20.12;A.12 Kronecker Product;539
20.13;Resources;540
21;Index;542