Solutions Manual for Digital Control of Dynamic Systems

1. Introduction. Problem Definition. Overview of Design Approach. Computer-Aided Design. Suggestions for Further Reading. Summary. Problems.2. Review of Continuous Control. Dynamic Response. Basic Properties of Feedback. Root Locus. Frequency Response Design. Compensation. State-Space Design. Summary. Problems.3. Introductory Digital Control. Digitization. Effect of Sampling. PID Control. Summary. Problems.4. Discrete Systems Analysis. Linear Difference Equations. The Discrete Transfer Function. Discrete Models of Sampled-Data Systems. Signal Analysis and Dynamic Response. Frequency Response. Properties of the z-Transform. Summary. Problems.5. Sampled-Data Systems. Analysis of the Sample and Hold. Spectrum of a Sampled Signal. Data Extrapolation. Block-Diagram Analysis of Sampled-Data Systems. Calculating the System Output Between Samples: The Ripple. Summary. Problems. Appendix.6. Discrete Equivalents. Design of Discrete Equivalents via Numerical Integration. Zero-Pole Matching Equivalents. Hold Equivalents. Summary. Problems.7. Design Using Transform Techniques. System Specifications. Design by Emulation. Direct Design by the Root Locus in the z-Plane. Frequency Response Methods. Direct Design Method of Ragazzini. .Summary. Problems.8. Design Using State-Space Methods. Control Law Design. Estimator Design. Regulator Design: Combined Control Law and Estimator. Introduction of the Reference Input. Integral Control and Disturbance Estimation. Effect of Delays. Controllability and Observability. Summary. Problems.9. Multivariable and Optimal Control. Decoupling. Time-Varying Optimal Control. LQR Steady-State Optimal Control. Optimal Estimation. Multivariable Control Design. Summary. Problems.10. Quantization Effects. Analysis of Round-Off Error. Effects of Parameter Round-Off. Limit Cycles and Dither Summary. Problems.11. Sample Rate Selection. The Sampling Theorem's Limit. Time Response and Smoothness. Errors Due to Random Plant Disturbances. Sensitivity to Parameter Variations. Measurement Noise and Antialiasing Filters. Multirate Sampling. Summary. Problems.12. System Identification. Defining the Model Set for Linear Systems. Identification of Nonparametric Models. Models and Criteria for Parametric Identification. Deterministic Estimation. Stochastic Least Squares. Maximum Likelihood. Numerical Search for the Maximum Likelihood Estimate. Subspace Identification Methods. Summary. Problems.13. Nonlinear Control. Analysis Techniques.14. Design of a Disk Drive Servo: A Case Study. Overview of Disk Files. Components and Models. Design Specifications. Disk Servo Design. Summary.