Preface 1.Introduction to Digital Control Using Digital Signal Processing 1.1Background 1.2Digital Control versus Analog Control 1.3Classical Control versus Modern Control 1.4Design Process Overview 1.5Role of DSPs in Control System Designs 1.6CAE Tools 1.7Summary 2.Mathematical Methods of Discrete Systems 2.1Introcuction 2.2Difference Equations 2.3Unit Pulse Response and Discrete Convolution Kronecker Delta Sequence(Unit Pulse) Unit Step Sequence Unit Ramp Sequence 2.4The z-Transform Properties of the z-transform Inverse z-transform 2.5Discrete System Transfer Function 2.6Frequency Response 2.7Relationship Between the s and sz Domains 2.8Summary Problems 3.Analysis of Discrete Systems 3.1Introduction 3.2Sampled-Data Systems Open-Loop Sampled-Data Structure Digital-to-Analog COnverters Analog-to-Digital Converters Resolver/Synchro-to-Digital Converters Closed-Loop Sampled-Data Structure 3.3State-Variable Methods State-Variable Description of Continuous System State-Variable Description of Discrete System 3.4Nonlinear Discrete System 3.5Stability Analysis Routh-Hurwitz Stability Method Jury Test 3.6Sensitivity Analysis 3.7Summary Problems 4.Design of Digital Control Systems 4.1Introduction 4.2Control System Design Parameters Dynamic Response Parameters Steady-State Parameters 4.3Conventional Design Tools Root-Locus Method Bode Plots 4.4Compensation Phase-Lead and Phase-Lag Compensators PID Compensator Deadbeat Controllers 4.5Summary Problems 5.DSPs in Control Systems 5.1Introduction 5.2Fundamentals of Digital Signal Processing 5.3Single-Chip DSPs Development Tools 5.4Applications of DSPs in Control System PID Controllers Motor Control Motion Controllers Robotics Controller and CPU Interface Stabilizatin/Pointing Systems 5.5Summary Problem 6.Modern Design Techniques and Their Applications 6.1Introduction 6.2Controllability and Pole-Placement Pole-Placement Ackermann''s Formula 6.3Observability and State Estimation Observability Estimatiors Another Ackermann Formula 6.4Linear Quadratic Optimal Design 6.5Fuzzy Logic Control 6.6Summary Problems Appendix A The MATRIXx and MATLAB Design and Analysis Software A.1MATRIXx A.2MATLAB Appendix B dSPACE DSP-CITpro/eco Products from dSPACE Appendix C Tables of Transforms Table of z-Transforms Table of Laplace Transforms Appendix D Partial-Fraction Expansion Method Appendix E Matix Analysis Appendix F Motion Controller Boards F.1PMAC-STD F.2STD/DSP Series Appendix G Sample DSP Programs Assembly Code for the Torque Loop of Example 5.1 DSP16 Code for the Adaptive Servo Controller of Example5.3 Appendix H Computer Architecture Index
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