Implement proven design techniques for control systems without having to master any advanced mathematics. Using an effective step-by-step approach, this book presents a number of control system design techniques geared toward readers of all experience le Using the techniques and reusable code in Embedded Control Systems in C/C++ , embedded systems developers can design control systems without the advanced calculus skills that are typically required.
Author(s): Jim Ledin
Publisher: CMP
Year: 2003
Language: English
Pages: 214
1.1 Introduction......Page 6
1.3 Feedback Control Systems......Page 7
1.3.1 Comparison of Open-Loop Control and Feedback Control......Page 8
1.4.2 Definition of a Linear System......Page 9
1.4.4 Continuous-Time and Discrete-Time Systems......Page 10
1.4.5 Number of Inputs and Outputs......Page 11
1.5 Controller Structure and Design Parameters......Page 12
1.6.1 Linear System Block Diagram Algebra......Page 13
1.7 Performance Specifications......Page 15
1.8 System Stability......Page 17
1.9 Control System Testing......Page 18
1.10 Computer-Aided Control System Design......Page 19
1.11 Summary......Page 20
1.12 and 1.13: Questions and Answers to Self-Test......Page 21
1.14 References......Page 24
2.2 Chapter Objectives......Page 25
2.3 PID Control......Page 26
2.3.1 Proportional Control......Page 28
2.3.2 Proportional Plus Derivative (PD) Control......Page 29
2.3.3 Proportional Plus Integral (PI) Control......Page 31
2.3.4 Proportional Plus Integral Plus Derivative (PID) Control......Page 32
2.3.5 PID Control and Actuator Saturation......Page 33
2.4 PID Controller Implementation in C/C++......Page 34
2.5 Summary......Page 37
2.6 and 2.7: Questions and Answers to Self-Test......Page 38
2.8 References......Page 39
3.1 Introduction......Page 40
3.2 Chapter Objectives......Page 41
3.3.1 Transfer Function Representation......Page 42
3.3.2 Frequency Response Format......Page 43
3.3.3 State-Space Representation......Page 45
3.4 Time Delays......Page 47
3.5 Stability of Linear Models......Page 48
3.6 Model Development Methods......Page 50
3.7 System Identification Techniques......Page 53
3.9 and 3.10: Questions and Answers to Self-Test......Page 57
3.11 References......Page 58
4.2 Chapter Objectives......Page 60
4.3 Root Locus Design......Page 61
4.4 Bode Design......Page 72
4.5 Summary......Page 74
4.6 and 4.7: Questions and Answers to Self-Test......Page 75
4.8 References......Page 77
5.2 Chapter Objectives......Page 78
5.3 Concepts of Pole Placement......Page 79
5.4 Controllability......Page 80
5.5 Observability......Page 82
5.6 Pole Placement Control Design......Page 83
5.7 State Estimation......Page 85
5.9 Combined Observer-Controller......Page 86
5.10 Integral Control......Page 88
5.11 Summary......Page 90
5.12 and 5.13: Questions and Answers to Self-Test......Page 91
6.1 Introduction......Page 96
6.3 Concepts of Optimal Control......Page 97
6.4 Linear Quadratic Regulator Design......Page 99
6.5 Kalman State Estimation......Page 102
6.6 Combined Observer-Controller......Page 105
6.7 Summary......Page 106
6.8 and 6.9: Questions and Answers Self-Test......Page 107
6.10 References......Page 111
7.2 Chapter Objectives......Page 112
7.3 Difficulties of MIMO Control Design......Page 113
7.4 Summary......Page 114
7.5 and 7.6: Questions and Answers to Self-Test......Page 125
7.7 References......Page 128
8.1 Introduction......Page 129
8.2 Chapter Objectives......Page 130
8.3 Difference Equations......Page 131
8.4 Discretization Methods......Page 132
8.5 Choosing a Sampling Period......Page 136
8.6 Fixed-Point Mathematics......Page 137
8.7 C/C++ Control System Implementation......Page 141
8.8 Summary......Page 151
8.9 Questions and Answers to Self-Test......Page 152
8.11 References......Page 156
9.1 Introduction......Page 157
9.3 Nonlinear Controller Elements......Page 158
9.4 Gain Scheduling......Page 159
9.5 Controller Implementation in Embedded Systems......Page 161
9.6 Control System Test Techniques......Page 166
9.7 Summary......Page 168
9.8 and 9.9: Questions and Answers to Self-Test......Page 169
9.10 References......Page 173
10.1 Introduction......Page 174
10.3 Control System Design Approaches......Page 175
10.4 Helicopter System......Page 177
10.5 Helicopter Model......Page 178
10.6 Helicopter Controller Design......Page 181
10.7 Controller Implementation in C++......Page 188
10.8 System Testing......Page 189
10.10 and 10.11: Questions and Answers to Self-Test......Page 190
10.12 References......Page 192
Glossary......Page 193
