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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