基本信息
- 原书名：Discrete-Time Control Systems,Second Edition
- 原出版社： Addison Wesley/Pearson
内容简介
本书全面地介绍了离散时间控制系统的分析与设计方法，重点介绍了控制系统的基础理论与基本概念，内容涉及极点配置、状态观测器设计和二次最优控制等。
本书适合作为高等院校相关专业的教材。阅读本书的读者需要有控制系统及常微分方程的基础知识，并且熟悉MATLAB计算。
●包括详细的控制系统设计理论的背景知识
●通过状态空间法和多项式方程法对带有最小阶观测器的极点配置设计进行深入分析
●结合MATLAB来研究离散时间控制系统
●包含大量实例和习题，方便教学
本书适合作为高等院校相关专业的教材。阅读本书的读者需要有控制系统及常微分方程的基础知识，并且熟悉MATLAB计算。
●包括详细的控制系统设计理论的背景知识
●通过状态空间法和多项式方程法对带有最小阶观测器的极点配置设计进行深入分析
●结合MATLAB来研究离散时间控制系统
●包含大量实例和习题，方便教学
作译者
Katsuhiko Ogata(尾形克彦，曾误译为绪方胜彦)明尼苏达大学教授。1947年毕业于东京大学机械工程系，1953年于伊利诺伊大学厄巴纳一尚佩恩分校获机械工程硕士学位，1956年于加州大学伯克利分校获工程科学博士学位。他的主要研究方向为离散时间控制系统领域，包括复杂设备的最优控制、数学建模以及离散时间的开发设计技术等。除本书外，他还著有《Modern Control Engineering》、《System Dynamics》(该书影印
版已由机械工业出版社引进出版)、《Solving Control Engineering Problems with MATLAB》、《Dynamic Programming》等书。
版已由机械工业出版社引进出版)、《Solving Control Engineering Problems with MATLAB》、《Dynamic Programming》等书。
目录
Preface iii
Chapter 1
Introduction to Discrete-Tim Control Systems
1-1 INTRODUCTION, 1
1-2 DIGITAL CONTROL SYSTEMS, 5
1-3 QUANTIZING AND QUANTIZATION ERROR, 8
1-4 DATA ACQUISITION, CONVERSION, AND DISTRIBUTION SYSTEMS, 11
1-5 CONCLUDING COMMENTS, 20
Chapter 2
The z Transform 23
2-1 INTRODUCTION, 23
2-2 THE z TRANSFORM, 24
2-3 z TRANSFORMS OF ELEMENTARY FUNCTIONS, 25
2-4 IMPORTANT PROPERTIES AND THEOREMS OF THE z TRANSFORM, 31
2-5 THE INVERSE z TRANSFORM, 37
2-6 z TRANSFORM METHOD FOR SOLVING DIFFERENCE EQUATIONS, 52
2-7 CONCLUDING COMMENTS, 54
EXAMPLE PROBLEMS AND SOLUTIONS, 55
PROBLEMS, 70
Chapter 3
Chapter 1
Introduction to Discrete-Tim Control Systems
1-1 INTRODUCTION, 1
1-2 DIGITAL CONTROL SYSTEMS, 5
1-3 QUANTIZING AND QUANTIZATION ERROR, 8
1-4 DATA ACQUISITION, CONVERSION, AND DISTRIBUTION SYSTEMS, 11
1-5 CONCLUDING COMMENTS, 20
Chapter 2
The z Transform 23
2-1 INTRODUCTION, 23
2-2 THE z TRANSFORM, 24
2-3 z TRANSFORMS OF ELEMENTARY FUNCTIONS, 25
2-4 IMPORTANT PROPERTIES AND THEOREMS OF THE z TRANSFORM, 31
2-5 THE INVERSE z TRANSFORM, 37
2-6 z TRANSFORM METHOD FOR SOLVING DIFFERENCE EQUATIONS, 52
2-7 CONCLUDING COMMENTS, 54
EXAMPLE PROBLEMS AND SOLUTIONS, 55
PROBLEMS, 70
Chapter 3
前言
This book presents a comprehensive treatment of the analysis and design of discrete-time control systems. It is written as a textbook for courses on discrete-time control systems or digital control systems for senior and first-year graduate level engineering students.
In this second edition, some of the older material has been deleted and new material has been added throughout thebook. The most significant feature of this edition is a greatly expanded treatment of the pole-placement design with minimum-order observer by means of the state-space approach (Chapter 6) and the polynomial-equations approach (Chapter 7).
In this book all materials are presented in such a way that the reader can follow the discussions easily. All materials necessary for understanding the subject matter presented (such as proofs of theorems and steps for deriving important equations for pole placement and observer design) are included to ease understanding of the subject matter presented.
The theoretical background materials for designing control systems are dis-cussed in detail. Once the theoretical aspects are understood, the reader can use MATLAB with advantage to obtain numerical solutions that involve various types of vector-matrix operations. It is assumed that the reader is familiar with the material presented in my book Solving Control Engineering Problems with MATLAB (Pren-tice Hall) or its equivalent.
The prerequisites for the reader are a course on introductory control systems,a course on ordinary differential equations, and familiarity with MATLAB compu-tations. (If the reader is not familiar with MATLAB, it may be studied concurrently.)
Since this book is written from the engineer's point of view, the basic concepts involved are emphasized and highly mathematical arguments are carefully avoided in the presentation. The entire text has been organized toward a gradual develop-ment of discrete-time control theory.
The text is organized into eight chapters and three appendixes. The outline of the book is as follows: Chapter 1 gives an introduction to discrete-time control systems. Chapter 2 presents the z transform theory necessary for the study of discrete-time control systems. Chapter 3 discusses the z plane analysis of discrete-time systems, including impulse sampling, data hold, sampling theorem, pulse transfer function, and digital filters. Chapter 4 treats the design of discrete- 'tune control systems by conventional methods. This chapter includes stability analysis of closed-loop systems in the z plane, transient and steady-state response analyses, and design
based on the root-locus method, frequency-response method, and analytical method.
Chapter 5 presents state-space analysis, including state-space representations of discrete-time systems, pulse transfer function matrix, discretization method, and Liapunov stability analysis. Chapter 6 discusses pole-placement and observer design.This chapter contains discussions on controllability, observability, pole placement,state observers, and servo systems. Chapter 7 treats the polynomial equations approach to control systems design. This chapter first discusses the Diophantine equation and then presents the polynomial equations approach to control systems design. Finally, model matching control systems are designed using the polynomial
equations approach. Chapter 8 presents quadratic optimal control. Both finite-stage and infinite-stage quadratic optimal control problems are discussed. This chapter concludes with a design problem based on quadratic optimal control solved with MATLAB.
Appendix A presents a summary of vector-matrix analysis. Appendix B gives useful theorems of the z transform theory that were not presented in Chapter 2, the inversion integral method, and the modified z transform method. Appendix C discusses the pole-placement design problem when the control signal is a vector quantity.
Examples are presented at strategic points throughout the book so that the reader will have a better understanding of the subject matter discussed. In addition,a number of solved problems (A problems) are provided at the end of each chapter,except Chapter 1. These problems represent an integral part of the text. It is suggested that the reader study all these problems carefully to obtain a deeper understanding of the topics discussed. In addition, many unsolved problems (B problems)are provided for use as homework or quiz problems.
Most of the materials presented in this book have been class-tested in senior and first-year graduate level courses on control systems at the University of Minnesota.
All the materials in this book may be covered in two quarters. In a semester course, the instructor will have some flexibility in choosing the subjects to be covered. In a quarter course, a good part of the first six chapters may be covered.An instructor using this text can obtain a complete solutions manual from the publisher. This book can also serve as a self-study book for practicing engineers who wish to study discrete-time control theory by themselves.
Appreciation is due to my former students who solved all the solved problems (A problems) and unsolved problems (B problems) and made numerous constructive comments about the material in this book.
Katsuhilco Ogata
In this second edition, some of the older material has been deleted and new material has been added throughout thebook. The most significant feature of this edition is a greatly expanded treatment of the pole-placement design with minimum-order observer by means of the state-space approach (Chapter 6) and the polynomial-equations approach (Chapter 7).
In this book all materials are presented in such a way that the reader can follow the discussions easily. All materials necessary for understanding the subject matter presented (such as proofs of theorems and steps for deriving important equations for pole placement and observer design) are included to ease understanding of the subject matter presented.
The theoretical background materials for designing control systems are dis-cussed in detail. Once the theoretical aspects are understood, the reader can use MATLAB with advantage to obtain numerical solutions that involve various types of vector-matrix operations. It is assumed that the reader is familiar with the material presented in my book Solving Control Engineering Problems with MATLAB (Pren-tice Hall) or its equivalent.
The prerequisites for the reader are a course on introductory control systems,a course on ordinary differential equations, and familiarity with MATLAB compu-tations. (If the reader is not familiar with MATLAB, it may be studied concurrently.)
Since this book is written from the engineer's point of view, the basic concepts involved are emphasized and highly mathematical arguments are carefully avoided in the presentation. The entire text has been organized toward a gradual develop-ment of discrete-time control theory.
The text is organized into eight chapters and three appendixes. The outline of the book is as follows: Chapter 1 gives an introduction to discrete-time control systems. Chapter 2 presents the z transform theory necessary for the study of discrete-time control systems. Chapter 3 discusses the z plane analysis of discrete-time systems, including impulse sampling, data hold, sampling theorem, pulse transfer function, and digital filters. Chapter 4 treats the design of discrete- 'tune control systems by conventional methods. This chapter includes stability analysis of closed-loop systems in the z plane, transient and steady-state response analyses, and design
based on the root-locus method, frequency-response method, and analytical method.
Chapter 5 presents state-space analysis, including state-space representations of discrete-time systems, pulse transfer function matrix, discretization method, and Liapunov stability analysis. Chapter 6 discusses pole-placement and observer design.This chapter contains discussions on controllability, observability, pole placement,state observers, and servo systems. Chapter 7 treats the polynomial equations approach to control systems design. This chapter first discusses the Diophantine equation and then presents the polynomial equations approach to control systems design. Finally, model matching control systems are designed using the polynomial
equations approach. Chapter 8 presents quadratic optimal control. Both finite-stage and infinite-stage quadratic optimal control problems are discussed. This chapter concludes with a design problem based on quadratic optimal control solved with MATLAB.
Appendix A presents a summary of vector-matrix analysis. Appendix B gives useful theorems of the z transform theory that were not presented in Chapter 2, the inversion integral method, and the modified z transform method. Appendix C discusses the pole-placement design problem when the control signal is a vector quantity.
Examples are presented at strategic points throughout the book so that the reader will have a better understanding of the subject matter discussed. In addition,a number of solved problems (A problems) are provided at the end of each chapter,except Chapter 1. These problems represent an integral part of the text. It is suggested that the reader study all these problems carefully to obtain a deeper understanding of the topics discussed. In addition, many unsolved problems (B problems)are provided for use as homework or quiz problems.
Most of the materials presented in this book have been class-tested in senior and first-year graduate level courses on control systems at the University of Minnesota.
All the materials in this book may be covered in two quarters. In a semester course, the instructor will have some flexibility in choosing the subjects to be covered. In a quarter course, a good part of the first six chapters may be covered.An instructor using this text can obtain a complete solutions manual from the publisher. This book can also serve as a self-study book for practicing engineers who wish to study discrete-time control theory by themselves.
Appreciation is due to my former students who solved all the solved problems (A problems) and unsolved problems (B problems) and made numerous constructive comments about the material in this book.
Katsuhilco Ogata
