Digital control engineering: analysis and design
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| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Amsterdam [u.a.]
Elsevier, Academic Press
2013
|
| Edition: | 2. ed. |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis Klappentext |
| Physical Description: | XVIII, 582 S. Ill., graph. Darst. |
| ISBN: | 9780123943910 |
Staff View
MARC
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| 020 | |a 9780123943910 |c (hbk.) |9 978-0-12-394391-0 | ||
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| 245 | 1 | 0 | |a Digital control engineering |b analysis and design |c M. Sami Fadali ; Antonio Visioli |
| 250 | |a 2. ed. | ||
| 264 | 1 | |a Amsterdam [u.a.] |b Elsevier, Academic Press |c 2013 | |
| 300 | |a XVIII, 582 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
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| 856 | 4 | 2 | |m Digitalisierung UB Bayreuth |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025415842&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |3 Klappentext |
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Record in the Search Index
| _version_ | 1804149671828914176 |
|---|---|
| adam_text | Contents
Preface
,
.χι
CHAPTER
1
Introduction to Digital Control
.............................................
ι
1.1
Why digital control?
......................................................................2
1.2
The structure of a digital control system
......................................2
1.3
Examples of digital control systems
.............................................3
1.3.1
Closed-loop drag delivery system
.......................................3
1.3.2
Computer control of an aircraft turbojet engine
.................4
1.3.3
Control of a robotic manipulator
.........................................4
Resources
...............................................................................................6
Problems
................................................................................................7
CHAPTER
2
Discrete-Time Systems
..........................................................9
2.1
Analog systems with piecewise constant inputs
...........................9
2.2
Difference equations
...................................................................11
2.3
The z-transform
...........................................................................12
2.3.1
¿-Transforms of standard discrete-time signals
.................13
2.3.2
Properties of the z-transform
.............................................15
2.3.3
Inversion of the z-transform
...............................................19
2.3.4
The final value theorem
.....................................................28
2.4
Computer-aided design
...............................................................29
2.5
z-Transform solution of difference equations
.............................31
2.6
The time response of a discrete-time system
.............................32
2.6.1
Convolution summation
.....................................................32
2.6.2
The convolution theorem
...................................................34
2.7
The modified z-transform
............................................................37
2.8
Frequency response of discrete-time systems
.............................39
2.8.1
Properties of the frequency response of
discrete-time systems
.........................................................42
2.8.2
MATLAB
commands for the discrete-time
frequency response
.............................................................44
2.9
The sampling theorem
.................................................................45
2.9.1
Selection of the sampling frequency
.................................46
Resources
.............................................................................................49
Problems
..............................................................................................49
Computer exercises
.............................................................................52
III
¡v
Contents
CHAPTER
3
Modeling of Digital Control Systems
..............................55
3.1
ADC model
.................................................................................55
3.2
DAC
model
.................................................................................56
3.3
The transfer function of the
ZOH
..............................................57
3.4
Effect of the sampler on the transfer function of a cascade
......58
3.5
DAC,
analog subsystem, and ADC combination
transfer function
..........................................................................61
3.6
Systems with transport lag
..........................................................69
3.7
The closed-loop transfer function
...............................................71
3.8
Analog disturbances in a digital system
.....................................74
3.9
Steady-state error and error constants
........................................75
3.9.1
Sampled step input
............................................................77
3.9.2
Sampled ramp input
..........................................................77
3.10
MATLAB
commands
.................................................................79
3.10.1
MATLAB
........................................................................79
3.10.2
Simulink
..........................................................................80
Resources
.............................................................................................85
Problems
..............................................................................................85
Computer exercises
.............................................................................89
CHAPTER
4
Stability of Digital Control Systems
................................91
4.1
Definitions of stability
................................................................91
4.2
Stable z-domain pole locations
...................................................93
4.3
Stability conditions
.....................................................................94
4.3.1
Asymptotic stability
..........................................................94
4.3.2
BIBO
stability
...................................................................95
4.3.3
Internal stability
.................................................................98
4.4
Stability determination
..............................................................101
4.4.1
MATLAB
........................................................................101
4.4.2
Routh-Hurwitz criterion
..................................................102
4.5
Jury test
.....................................................................................104
4.6
Nyquist criterion
.......................................................................109
4.6.1
Phase margin and gain margin
........................................114
Resources
...........................................................................................123
Problems
............................................................................................123
Computer exercises
...........................................................................125
CHAPTER
5
Analog Control System Design
........................................127
5.1
Root locus
.................................................................................127
5.2
Root locus using
MATLAB
.....................................................132
5.3
Design specifications and the effect of gain variation
.............132
Contents
5.4
Root locus design
......................................................................135
5.4.1
Proportional control
.........................................................137
5.4.2
PD control
........................................................................138
5.4.3
PI control
..........................................................................147
5.4.4 PID
control
.......................................................................153
5.5
Empirical tuning of
PID
controllers
.........................................156
Resources
...........................................................................................161
Problems
............................................................................................161
Computer exercises
...........................................................................163
CHAPTER
6
Digital Control System Design
.........................................165
6.1
г
-Domain
root locus
..................................................................165
6.2
z-Domain digital control system design
...................................168
6.2.1
z-Domain contours
...........................................................171
6.2.2
Proportional control design in the z-domain
...................175
6.3
Digital implementation of analog controller design
.................180
6.3.1
Differencing methods
.......................................................181
6.3.2
Pole-zero matching
..........................................................183
6.3.3
Bilinear transformation
....................................................186
6.3.4
Empirical digital
PID
controller tuning
...........................199
6.4
Direct z-domain digital controller design
.................................200
6.5
Frequency response design
.......................................................205
6.6
Direct control design
.................................................................213
6.7
Finite settling time design
.........................................................218
Resources
...........................................................................................230
Problems
............................................................................................230
Computer exercises
...........................................................................233
CHAPTER
7
State-Space Representation
..........................................235
7.1
State variables
...........................................................................235
7.2
State—space representation
.......................................................238
7.2.1
State-space representation in
MATLAB
........................240
7.2.2
Linear versus nonlinear state-space equations
...............240
7.3
Linearization of nonlinear state equations
................................243
7.4
The solution of linear state-space equations
...........................246
7.4.1
The Leverrier algorithm
...................................................251
7.4.2
Sylvester s expansion
.......................................................255
7.4.3
The state-transition matrix for a diagonal state matrix.
..257
7.4.4
Real form for complex conjugate eigenvalues
................262
7.5
The transfer function matrix
.....................................................264
7.5.1
MATLAB
commands
.......................................................265
vi
Contents
7.6
Discrete-time state—space equations
........................................266
7.6.1
MATLAB
commands for discrete-time
state—space equations
......................................................269
7.6.2
Complex conjugate eigenvalues
....................................269
7.7
Solution of discrete-time state—space equations
......................271
7.7.1
z-Transform solution of discrete-time state equations
......272
7.8
z-Transfer function from state—space equations
......................277
7.8.1
z-Transfer function in
MATLAB
.....................................279
7.9
Similarity Transformation
.........................................................279
7.9.1
Invariance
of transfer functions and
characteristic equations
....................................................282
Resources
...........................................................................................283
Problems
............................................................................................283
Computer exercises
...........................................................................289
CHAPTER
8
Properties of State-Space Models
...............................293
8.1
Stability of state-space realizations
.........................................294
8.1.1
Asymptotic stability
.......................................................294
8.1.2
BIBO
stability
..................................................................297
8.2
Controllability and stabilizability
............................................301
8.2.1
MATLAB
commands for controllability testing
.............307
8.2.2
Controllability of systems in normal form
......................308
8.2.3
Stabilizability
.................................................................309
8.3
Observability and detectability
.................................................313
8.3.1
MATLAB
commands
.......................................................316
8.3.2
Observability of systems in normal form
........................317
8.3.3
Detectability
...................................................................317
8.4
Poles and zeros of
multivariable
systems
.................................319
8.4.1
Poles and zeros from the transfer function matrix
..........320
8.4.2
Zeros from state—space models
....................................323
8.5
State—space realizations
...........................................................325
8.5.1
Controllable canonical realization
...................................326
8.5.2
Controllable form in
MATLAB
.....................................330
8.5.3
Parallel realization
.........................................................331
8.5.4
Observable form
...............................................................336
8.6
Duality
...........................................................................................338
8.7
Hankel realization
..................................................................339
Resources
...........................................................................................343
Problems
............................................................................................344
Computer exercises
...........................................................................349
Contents
vii
CHAPTER
9
State Feedback Control
.....................................................351
9.1
State and output feedback
.........................................................351
9.2
Pole placement
...........................................................................353
9.2.1
Pole placement by transformation to
controllable form
..............................................................356
9.2.2
Pole placement using a matrix polynomial
.....................357
9.2.3
Choice of the closed-loop eigenvalues
............................359
9.2.4
MATLAB
commands for pole placement
.......................364
9.2.5
Pole placement for multi-input systems
..........................364
9.2.6
Pole placement by output feedback
.................................367
9.3
Servo problem
............................................................................367
9.4
Invariance
of system zeros
........................................................372
9.5
State estimation
..........................................................................374
9.5.1
Full-order observer
...........................................................374
9.5.2
Reduced-order observer
...................................................377
9.6
Observer state feedback
.............................................................380
9.6.1
Choice of observer eigenvalues
.......................................383
9.7
Pole assignment using transfer functions
..................................389
Resources
...........................................................................................393
Problems
............................................................................................393
Computer exercises
...........................................................................397
CHAPTER
10
Optimal Control
.....................................................................399
10.1
Optimization
..............................................................................399
10.1.1
Unconstrained optimization
...........................................400
10.1.2
Constrained optimization
...............................................402
10.2
Optimal control
..........................................................................404
10.3
The linear quadratic regulator
...................................................409
10.3.1
Free final state
...............................................................410
10.4
Steady-state quadratic regulator
................................................419
10.4.1
Output quadratic regulator
.............................................420
10.4.2
MATLAB
solution of the steady-state
regulator problem
.........................................................421
10.4.3
Linear quadratic tracking controller
..............................423
10.5
Hamiltonian system
...................................................................426
10.5.1
Eigenstructure of the Hamiltonian matrix
.....................429
Resources
.............................................................................................433
Problems
..............................................................................................433
Computer exercises
..............................................................................436
viii Contents
CHAPTER
11
Elements of Nonlinear Digital Control Systems
........439
11.1
Discretization of nonlinear systems
..........................................439
11.1.1
Extended linearization by input redefinition
................440
11.1.2
Extended linearization by input and
state redefinition
............................................................442
11.1.3
Extended linearization by output differentiation
..........443
11.1.4
Extended linearization using matching conditions
.......445
11.2
Nonlinear difference equations
.................................................447
11.2.1
Logarithmic transformation
...........................................448
11.3
Equilibrium of nonlinear discrete-time systems
.......................448
11.4
Lyapunov stability theory
..........................................................450
11.4.1
Lyapunov functions
.......................................................450
11.4.2
Stability theorems
..........................................................452
11.4.3
Rate of convergence
......................................................454
11.4.4
Lyapunov stability of linear systems
............................454
11.4.5
MATLAB
.......................................................................457
11.4.6
Lyapunov s linearization method
..................................458
11.4.7
Instability theorems
.......................................................459
11.4.8
Estimation of the domain of attraction
.........................461
11.5
Stability of analog systems with digital control
.......................463
11.6
State plane analysis
...................................................................465
11.7
Discrete-time nonlinear controller design
.................................470
11.7.1
Controller design using extended linearization
.............470
11.7.2
Controller design based on Lyapunov
stability theory
...............................................................473
11.8
Input-output stability and the small gain theorem
....................474
11.8.1
Absolute stability
...........................................................481
Resources
.............................................................................................485
Problems
..............................................................................................485
Computer exercises
..............................................................................489
CHAPTER
12
Practical Issues
...................................................................491
12.1
Design of the hardware and software architecture
...................491
12.1.1
Software requirements
...................................................491
12.1.2
Selection of ADC and
DAC
..........................................494
12.2
Choice of the sampling period
..................................................495
12.2.1
Antialiasing filters
.........................................................495
12.2.2
Effects of quantization errors
........................................498
12.2.3
Phase delay introduced by the
ZOH
.............................503
Contents ix
12.3 Controller
structure
....................................................................504
12.4 PID
control
.................................................................................507
12.4.1
Filtering the derivative action
........................................507
12.4.2
Integrator windup
...........................................................509
12.4.3
Bumpless transfer between manual
and automatic mode
.......................................................512
12.4.4
Incremental form
............................................................515
12.5
Sampling period switching
........................................................516
12.5.1
MATLAB
commands
.....................................................519
12.5.2
Dual-rate control
............................................................526
Resources
.............................................................................................528
Problems
..............................................................................................529
Computer exercises
..............................................................................530
APPENDIX I Table of Laplace and ¿-transforms
...............................533
APPENDIX II Properties of the z-transform
..........................................535
APPENDIX III Review of Linear Algebra
.................................................537
Index
......................................................................................................................565
DIGITAI
CONTROL ENGINEERING
Analysis and Design
Second Edition
M.
SAMI FADALI
ANTONIO VISION
An engineering approach to the analysis and design of digital controls,
with extensive use of
MATLAB*
and Simulink® throughout.
This second edition text continues to cover the principles and applications of digital control engineering, with
an emphasis on engineering design. It covers sufficient background material to be suitable for upper-level
undergraduate or graduate level courses. Learning objectives, illustrative examples, and end-of-chapter
exercises help the reader understand and apply the concepts, while extensive use of
MATLAB
and Simulink1
provide opportunities to model, design, and analyze control systems with realistic parameters.
New to this edition:
-
A brief introduction to Simulink simulation of discrete-time systems has been added to Chapter
3
Closed-loop Ziegler-Nichols design added to Chapter
5
Pole-zero matching added to Chapter
6
-
Improved explanations of the direct control design (Section
6.6)
and the finite settling time design
(Section
6.7)
The Hankel realization has been added to Chapter
8
to provide a systematic method for
multi-input-multi-output system realization
A section on the eigenstructure of the Hamiltonian system has been added to Chapter
10
Input-output stability and the circle criterion added to Chapter
11
New problems, including several new computer exercises, have been included throughout the text
About the authors:
M.
Sami
Fadali
is currently a professor of electrical and
biomedical
engineering at the University of Nevada-
Reno. He has taught many courses in the control systems area including nonlinear control, linear control,
and robust control. His research interests are in fault detection, fuzzy logic, and the mathematical modeling
of cellular processes. He is a Senior Member of the IEEE.
Antonio Visioli is currently an associate professor of automatic control at the University of Brescia.
ACADEMIC PRESS
An imprint of
Elsevier
store.elsevier.com
MATLAB
зпа
Simulinky
í
Cover image
©
istockphoto
ISBN
470-0-15-314341-0
90000
9l780123ll943910
|
| any_adam_object | 1 |
| author | Fadali, M. Sami Visioli, Antonio |
| author_GND | (DE-588)171358449 (DE-588)1029565236 |
| author_facet | Fadali, M. Sami Visioli, Antonio |
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| dewey-sort | 3629.89 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 2. ed. |
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| id | DE-604.BV040587834 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T00:26:44Z |
| institution | BVB |
| isbn | 9780123943910 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-025415842 |
| oclc_num | 820421949 |
| open_access_boolean | |
| owner | DE-703 DE-573 DE-83 |
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| physical | XVIII, 582 S. Ill., graph. Darst. |
| publishDate | 2013 |
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| publishDateSort | 2013 |
| publisher | Elsevier, Academic Press |
| record_format | marc |
| spelling | Fadali, M. Sami Verfasser (DE-588)171358449 aut Digital control engineering analysis and design M. Sami Fadali ; Antonio Visioli 2. ed. Amsterdam [u.a.] Elsevier, Academic Press 2013 XVIII, 582 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Digitale Regelung (DE-588)4012293-1 gnd rswk-swf Digitale Regelung (DE-588)4012293-1 s DE-604 Visioli, Antonio Verfasser (DE-588)1029565236 aut Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025415842&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025415842&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA Klappentext |
| spellingShingle | Fadali, M. Sami Visioli, Antonio Digital control engineering analysis and design Digitale Regelung (DE-588)4012293-1 gnd |
| subject_GND | (DE-588)4012293-1 |
| title | Digital control engineering analysis and design |
| title_auth | Digital control engineering analysis and design |
| title_exact_search | Digital control engineering analysis and design |
| title_full | Digital control engineering analysis and design M. Sami Fadali ; Antonio Visioli |
| title_fullStr | Digital control engineering analysis and design M. Sami Fadali ; Antonio Visioli |
| title_full_unstemmed | Digital control engineering analysis and design M. Sami Fadali ; Antonio Visioli |
| title_short | Digital control engineering |
| title_sort | digital control engineering analysis and design |
| title_sub | analysis and design |
| topic | Digitale Regelung (DE-588)4012293-1 gnd |
| topic_facet | Digitale Regelung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025415842&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025415842&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT fadalimsami digitalcontrolengineeringanalysisanddesign AT visioliantonio digitalcontrolengineeringanalysisanddesign |