Preface 1. Computer Control 1.1 Introduction 1.2 Computer Technology 1.3 Computer-Control Theory 1.4 Inherently Sampled Systems 1.5 How Theory Developed 1.6 Notes and References 2. Discrete-Time Systems 2.1 Introduction 2.2 Sampling Continuous-Time Signals 2.3 Sampling a Continuous-Time State-Space System 2.4 Discrete-Time Systems 2.5 Changing Coordinates in State-Space Models 2.6 Input-Output Models 2.7 The z-Transform 2.8 Poles and Zeros 2.9 Selection of Sampling Rate 2.10 Problems 2.11 Notes and References 3. Analysis of Discrete-Time Systems 3.1 Introduction 3.2 Stability 3.3 Sensitivity and Robustness 3.4 Controllability, Reachability, Observability, and Detectability 3.5 Analysis of Simple Feedback Loops 3.6 Problems 3.7 Notes and References 4. Pole-Placement Design: A State-Space Approach 4.1 Introduction 4.2 Control-System Design 4.3 Regulation by State Feedback 4.4 Observers 4.5 Output Feedback 4.6 The Servo Problem 4.7 A Design Example 4.8 Conclusions 4.9 Problems 4.10 Notes and References 5. Pole-Placement Design: A Polynomial Approach 5.1 Introduction 5.2 A Simple Design Problem 5.3 The Diophantine Equation 5.4 More Realistic Assumptions 5.5 Sensitivity to Modeling Errors 5.6 A Design Procedure 5.7 Design of a Controller for the Double Integrator 5.8 Design of a Controller for the Harmonic Oscillator 5.9 Design of a Controller for a Flexible Robot Arm 5.10 Relations to Other Design Methods 5.11 Conclusions 5.12 Problems 5.13 Notes and References 6. Design: An Overview 6.1 Introduction 6.2 Operational Aspects 6.3 Principles of Structuring 6.4 A Top-Down Approach 6.5 A Bottom-Up Approach 6.6 Design of Simple Loops 6.7 Conclusions 6.8 Problems 6.9 Notes and References 7. Process-Oriented Models 7.1 Introduction 7.2 A Computer-Controlled System 7.3 Sampling and Reconstruction 7.4 Aliasing or Frequency Folding 7.5 Designing Controllers with Predictive First-Order Hold 7.6 The Modulation Model 7.7 Frequency Response 7.8 Pulse-Transfer-Function Formalism 7.9 Multirate Sampling 7.10 Problems 7.11 Notes and References 8. Approximating Continuous-Time Controllers 8.1 Introduction 8.2 Approximations Based on Transfer Functions 8.3 Approximations Based on State Models 8.4 Frequency-Response Design Methods 8.5 Digital PID-Controllers 8.6 Conclusions 8.7 Problems 8.8 Notes and References 9. Implementation of Digital Controllers 9.1 Introduction 9.2 An Overview 9.3 Prefiltering and Computational Delay 9.4 Nonlinear Actuators 9.5 Operational Aspects 9.6 Numerics 9.7 Realization of Digital Controllers 9.8 Programming 9.9 Conclusions 9.10 Problems 9.11 Notes and References 10. Disturbance Models 10.1 Introduction 10.2 Reduction of Effects of Disturbances 10.3 Piecewise Deterministic Disturbances 10.4 Stochastic Models of Disturbances 10.5 Continuous-Time Stochastic Processes 10.6 Sampling a Stochastic Differential Equation 10.7 Conclusions 10.8 Problems 10.9 Notes and References 11. Optimal Design Methods: A State-Space Approach 11.1 Introduction 11.2 Linear Quadratic Control 11.3 Prediction and Filtering Theory 11.4 Linear Quadratic Gaussian Control 11.5 Practical Aspects 11.6 Conclusions 11.7 Problems 11.8 Notes and References 12. Optimal Design Methods: A Polynomial Approach 12.1 Introduction 12.2 Problem Formulation 12.3 Optimal Prediction 12.4 Minimum-Variance Control 12.5 Linear Quadratic Gaussian (LQG) Control 12.6 Practical Aspects 12.7 Conclusions 12.8 Problems 12.9 Notes and References l3. Identification 13.1 Introduction 13.2 Mathematical Model Building 13.3 System Identification 13.4 The Principle of Least Squares 13.5 Recursive Computations 13.6 Examples 13.7 Summary 13.8 Problems 13.9 Notes and References A. Examples B. Matrices B.1 Matrix Functions B.2 Matrix-Inversion Lemma B.3 Notes and References Bibliography Index
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