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Tables of Contents for Digital Control Using Digital Signal Processing
Chapter/Section Title
Page #
Page Count
Preface
xi
1. Introduction to Digital Control Using Digital Signal Processing
1
24
1.1 Background
1
2
1.2 Digital Control versus Analog Control
3
6
1.3 Classical Control versus Modern Control
9
3
1.4 Design Process Overview
12
3
1.5 Role of DSPs in Control System Designs
15
8
1.6 CAE Tools
23
1
1.7 Summary
24
1
2. Mathematical Methods of Discrete Systems
25
70
2.1 Introduction
25
2
2.2 Difference Equations
27
8
2.3 Unit Pulse Response and Discrete Convolution
35
8
Kronecker Delta Sequence (Unit Pulse)
37
1
Unit Step Sequence
38
1
Unit Ramp Sequence
38
5
2.4 The z-Transform
43
19
Properties of the z-transform
48
10
Inverse z-transform
58
4
2.5 Discrete System Transfer Function
62
7
2.6 Frequency Response
69
8
2.7 Relationship Between the s and z Domains
77
10
2.8 Summary
87
1
Problems
87
8
3. Analysis of Discrete Systems
95
88
3.1 Introduction
95
1
3.2 Sampled-Data Systems
96
14
Open-Loop Sampled-Data Structure
99
3
Digital-to-Analog Converters
102
2
Analog-to-Digital Converters
104
4
Resolver/Synchro-to-Digital Converters
108
1
Closed-Loop Sampled-Data Structure
108
2
3.3 State-Variable Methods
110
33
State-Variable Description of Continuous Systems
113
23
State-Variable Description of Discrete Systems
136
7
3.4 Nonlinear Discrete Systems
143
11
3.5 Stability Analysis
154
15
Routh-Hurwitz Stability Method
156
6
Jury Test
162
3
Liapunov Stability Method
165
4
3.6 Sensitivity Analysis
169
4
3.7 Summary
173
1
Problems
173
10
4. Design of Digital Control Systems
183
80
4.1 Introduction
183
2
4.2 Control System Design Parameters
185
22
Dynamic Response Parameters
185
15
Steady-State Parameters
200
7
4.3 Conventional Design Tools
207
24
Root-Locus Method
207
12
Bode Plots
219
12
4.4 Compensation
231
24
Phase-Lead and Phase-Lag Compensators
234
10
PID Compensator
244
9
Deadbeat Controllers
253
2
4.5 Summary
255
1
Problems
256
7
5. DSPs in Control Systems
263
52
5.1 Introduction
263
1
5.2 Fundamentals of Digital Signal Processing
264
3
5.3 Single-Chip DSPs
267
13
Development Tools
276
4
5.4 Applications of DSPs in Control Systems
280
31
PID Controllers
280
1
Motor Control
281
9
Motion Controllers
290
1
Robotics
290
11
Controller and CPU Interface
301
2
Stabilization/Pointing Systems
303
8
5.5 Summary
311
1
Problem
312
3
6. Modern Design Techniques and Their Applications
315
58
6.1 Introduction
315
1
6.2 Controllability and Pole-Placement
316
13
Controllability
316
9
Pole-Placement
325
2
Ackermann's Formula
327
2
6.3 Observability and State Estimation
329
20
Observability
329
6
Estimators
335
3
Another Ackermann Formula
338
11
6.4 Linear Quadratic Optimal Design
349
5
6.5 Fuzzy Logic Control
354
14
6.6 Summary
368
1
Problems
369
4
Appendix A The MATRIX(x) and MATLAB Design and Analysis Software
373
14
A.1 MATRIX(x)
373
4
A.2 MATLAB
377
10
Appendix B dSPACE
387
4
DSP-CITpro/eco Products from dSPACE
387
4
Appendix C Tables of Transforms
391
4
Table of z-Transforms
391
2
Table of Laplace Transforms
393
2
Appendix D Partial-Fraction Expansion Method
395
4
Appendix E Matrix Analysis
399
4
Appendix F Motion Controller Boards
403
14
F.1 PMAC-STD 32
403
9
F.2 STD/DSP Series
412
5
Appendix G Sample DSP Programs
417
6
Assembly Code for the Torque Loop of Example 5.1
417
2
DSP16 Code for the Adaptive Servo Controller of Example 5.3
419
4
Appendix H Computer Architecture
423
5
Index
428