Digital Control Systems [MEE 4003] - Kckong.info

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Preface For inspiration and motivation of my students. (Parts of this class note are copied and edited from articles available on the web.) 1
¨©¤§ £¤ ¨©¤§ ¦£¤ Chapter 1 Introduction 1.1 Problem Definition 1.1.1 <strong>Control</strong> systems <strong>Control</strong> theory is an interdisciplinary branch of engineering and mathematics that deals with the behavior of dynamic systems. The desired output of a system is called the reference. When one or more output variables of a system need to follow a certain reference over time, a controller manipulates the inputs to a system to obtain the desired effect on the output of the system. §§¥§£§ + − ¥¥¢¥ ¡¢£¤¥¢¦¦§¥ ©¦ ¢¤¤ §¥§§£¤ ¨§£¢¥ Figure 1.1: The concept of the feedback loop to control the dynamic behavior of the system: this is negative feedback, because the sensed value is subtracted from the desired value to create the error signal, which is amplified by the controller. 1.1.2 Regulation and tracking control When the reference is constant, the control process is called regulation. On the other hand, when the reference is a time-varying quantity, the control process is called tracking control. Note that the control process is identical for both regulation and tracking control. 2
Page 1: Digital Control Systems [MEE 4003]
Page 5 and 6: 1.1. PROBLEM DEFINITION 4 • Syste
Page 7 and 8: 1.1. PROBLEM DEFINITION 6 Figure 1.
Page 9 and 10: 1.2. EXAMPLES 8 1.2 Examples 1.2.1
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2.3. FREQUENCY RESPONSE ANALYSIS 52
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2.3. FREQUENCY RESPONSE ANALYSIS 54
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2.4. CONTROLLER DESIGN 56 2.4 Contr
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2.4. CONTROLLER DESIGN 60 [Example
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2.4. CONTROLLER DESIGN 78 1.4 1.2 S
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2.4. CONTROLLER DESIGN 80 G(s): Gm
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84 Figure 3.4: Functions palette Fi
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86 Figure 3.8: Creating a shift reg
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4.4. DISCRETIZATION 110 Bode Plots
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4.4. DISCRETIZATION 118 Sinceu(τ)
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Chapter 5 Controller Design in Disc
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5.2. SYSTEM IDENTIFICATION BY LEAST
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5.3. FEEDFORWARD CONTROLLER DESIGN
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5.5. DISTURBANCE OBSERVER 138 u C d
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