Digital Control of Dynamic SystemsTextbook about the use of digital computers in the real-time control of dynamic systems such as servomechanisms, chemical processes, and vehicles that move over water, land, air, or space. Requires some understanding of the Laplace transform and assumes a first course in linear feedback controls. An |
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A/D converter a₁ actuator algorithm amplitude analog analysis approximation assume bandwidth block diagram calculation canonical form Chapter characteristic equation closed-loop system coefficients command compensation compute consider constant control law control system corresponding damping define describing function design method difference equation digital control discrete equivalent discussed disturbance dynamic effect example feedback Figure filter finite frequency response given implementation k₁ least squares linear Lyapunov function magnitude matrix measurement microcode mode noise nonlinear obtain optimal output overshoot phase phase margin plot pole polynomial prefilter problem processor quantization rad/sec reference input result root locations root locus sample and hold sample period sample rate saturation second-order Section sensitivity sensor servo servomechanism shown in Fig signal signum function simulation solution stable state-space step response structure Table E.1 techniques torque transfer function transform Tu(k unit circle variable vector velocity z-plane z-transform zero zero-order hold