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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