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