Preface
Chapter 1 Introduction to Discrete-Time Control Systems
1-1 INTRODUCTION
1-2 DIGITAL CONTROL SYSTEMS
1-3 QUANTIZING AND QUANTIZATION ERROR
1-4 DATA ACQUISITION,CONVERSION,AND DISTRIBUTION SYSTEMS
1-5 CONCLUDING COMMENTS
Chapter 2 The z Transform
2-1 INTRODUCTIONS
2-2 THE z TRANSFORM
2-3 z TRANSFORMS OF ELEMENTARY FUNCTIONS
2-4 IMPORTANT PROPERTIES AND THEOREMS OF THE z TRANSFORM
2-5 THE INVERSE z TRANSFORM
2-6 z TRANSFORM METHOD FOR SOLVING DIFFERENCE EQUATIONS
2-7 CONCLUDING COMMENTS
EXAMPLE EROBLEMS AND SOLUTIONS
PROBLEMS
Chapter 3 z-Plane Analysis of Discrete-Time Control Systems
3-1 INTRODUCTION
3-2 IMPULSE SAMPLING AND DATA HOLD
3-3 OBTAINING THE z TRANSFORM BY THE CONVOLUTION INTEGRAL METHOD
3-4 RECONSTRUCTING ORIGINAL SIGNALS FROM SAMPLED SIGNALS
3-5 THE PULSE TRANSFER FUNCTION
3-6 REALIZATION OF DIGITAL CONTROLLERS AND DIGITAL FILTERS
EXAMPLE EROBLEMS AND SOLUTIONS
PROBLEMS
Chapter 4 Design of Discrete-Time Control Systems by Conventional Methods
4-1 INTRODUCTION
4-2 MAPPING BETWEEN THE s PLANE AND THE z PLANE
4-3 STABILITY ANALYSIS OF CLOSED-LOOP SYSTEMS IN THE z PLANE
4-4 TRANSIENT AND STEADY-STATE RESPONSE ANALYSIS
4-5 DESIGN BASED ON THE ROOT-LOCUS METHOD
4-6 DESIGN BASED ON THE FREQUENCY-RESPONSE METHOD
4-7 ANALYTICAL DESIGN METHOD
EXAMPLE EROBLEMS AND SOLUTIONS
PROBLEMS
Chapter 5 State-Space Analysis
5-1 INTRODUCTION
5-2 STATE-SPACE REPRESENTATIONS OF DISCRETE-TIME SYSTEMS
5-3 SOLVING DISCRETE-TIME STATE-SPACE EQUATIONS
5-4 PULSE-TRANSFER-FUNCTION MATRIX
5-5 DISCRETIZATION OF CONTINUOUS-TIME STATE-SPACE EQUATIONS
5-6 LIAPUNOV STABILITY ANALYSIS
EXAMPLE EROBLEMS AND SOLUTIONS
PROBLEMS
Chapter 6 Pole Placement and Observer Design
6-1 INTRODUCTION
6-2 CONTROLLABILITY
6-3 OBSERVABILITY
6-4 USEFUL TRANSFORMATIONS IN STATE-SPACE ANALYSIS AND DESIGN
6-5 DESIGN VIA POLE PLAEMENT
6-6 STATE OBSERVERS
6-7 SERVO SYSTEMS
EXAMPLE EROBLEMS AND SOLUTIONS
PROBLEMS
Chapter 7 Polynomial Equations Approach to Control Systems Design
7-1 INTRODUCTION
7-2 DIOPHANTINE EQUATION
7-3 ILLUSTRATIVE EXAMPLE
7-4 POLYNOMIAL EQUATIONS APPROACH TO CONTROL SYSTEMS DESIGN
7-5 DESIGN OF MODEL MATCHING CONTROL SYSTEMS
EXAMPLE EROBLEMS AND SOLUTIONS
PROBLEMS
Chapter 8 Quadratic Optimal Control Systems
8-1 INTRODUCTION
8-2 QUADRATIC OPTIMAL CONTROL
8-3 STEADY-STATE QUADRATIC OPTIMAL CONTROL
8-4 QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM
EXAMPLE EROBLEMS AND SOLUTIONS
PROBLEMS
Appendix A Vector-Matrix Analysis
A-1 DEFINITIONS
A-2 DETERMINANTS
A-3 INVERSION OF MATRICES
A-4 RULES OF MATRIX OPERATIONS
A-5 VECTORS AND VECTOR ANALYSIS
A-6 EIGENVALUES,EIGENVECTORS,AND SIMILARITY TRANSFORMATION
A-7 QUADRATIC FORMS
A-8 PSEUDOINVERSES
EXAMPLE EROBLEMS AND SOLUTIONS
Appendix B z Transform Theory
B-1 INTRODUCTION
B-2 USEFUL THEOREMS OF THE z TRANSFORM THEORY
B-3 INVERSE z TRANSFORMATION AND INVERSION INTEGRAL METHOD
B-4 MODIFIED z TRANSFORM METHOD
EXAMPLE EROBLEMS AND SOLUTIONS
Appendix C Pole Placement Design with Vector Control
C-1 INTRODUCTION
C-2 PRELIMINARY DISCUSSIONS
C-3 POLE PLACEMENT DESIGN
EXAMPLE EROBLEMS AND SOLUTIONS
References
Index
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