Discrete-time Control Systems"In-depth discussions of selected topics (such as Z transform, and pole placement when the control signal was a vector quantity) have been moved to optional Appendices. discusses in detail the theoretical background for designing control systems. offers a greatly expanded treatment of the pole placement design with minimum-order observer by means of state space approach (Ch. 6) and polynomial equations approach (Ch. 7). features a new chapter on the polynomial equations approach to the control systems design as an alternative to the design of control systems via pole placement with minimum-order observers. Includes the design of model matching control systems. emphasizes the usefulness of MATLAB for studying discrete-time control systems showing how to use MATLAB optimally to obtain numerical solutions that involve various types of vector-matrix operations, plotting response curves, and system design based on quadratic optimal control. presents many instructive examples and worked-out problems throughout the entire book."-- |
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a₁ a₂ analog assume asymptotically asymptotically stable b₁ b₂ block diagram Bode diagram canonical form characteristic equation closed-loop poles closed-loop pulse transfer completely state controllable Consider the system continuous-time signal determined difference equation digital control system digital filter discrete-time control system discrete-time system eigenvalues feedback gain matrix first-order hold GD(z given by Equation Gx(k Hence Hu(k integral inverse z transform K₁ K₂ Kronecker delta Laplace transform last equation lead compensator Liapunov Liapunov function MATLAB MATLAB Program Note open-loop optimal control performance index PID controller plane poles and zeros polynomial positive definite Problem pulse transfer function quantization Referring to Equation root loci root-locus sampled signal sampler sampling instants sampling period sequence shown in Figure Solution stability state-space representation steady-state error system defined theorem u(kT unit circle unit-ramp response unit-step response variables x(kT x₁(k y(kT zero-order hold