动态系统的数字控制（第3版）（英文影印版）

. 2. 2. 2 steady-state errors
2. 2. 3 pid control
2. 3 root locus
2. 3. 1 problem definition
2. 3. 2 root locus drawing rules
2. 3. 3 computer-aided loci
2. 4 frequency response design
2. 4. 1 specifications
2. 4. 2 bode plot techniques
2. 4. 3 steady-state errors
2. 4. 4 stability margins
2. 4. 5 bode's gain-phase relationship
2. 4. 6 design
2. 5 compensation
2. 6 state-space design
2. 6. 1 control law
2. 6. 2 estimator design
2. 6. 3 compensation: combined control and estimation
2. 6. 4 reference input
2. 6. 5 integral control
2. 7 summary
2. 8 problems

3 introductory digital control
3. 1 digitization
3. 2 effect of sampling
3. 3 pid control
3. 4 summary
3. 5 problems

4 discrete systems analysis
4. 1 linear difference equations
4. 2 the discrete transfer function
4. 2. 1 the z-transform
4. 2. 2 the transfer function
4. 2. 3 block diagrams and state-variable descriptions
4. 2. 4 relation of transfer function to pulse response
4. 2. 5 external stability
4. 3 discrete models of sampled-data systems
4. 3. 1 using the z-transform
4. 3. 2 *continuous time delay
4. 3. 3 state-space form
4. 3. 4 *state-space models for systems with delay
4. 3. 5 *numerical considerations in computing ? and ?
4. 3. 6 *nonlinear models
4. 4 signal analysis and dynamic response
4. 4. 1 the unit pulse
4. 4. 2 the unit step
4. 4. 3 exponential
4. 4. 4 general sinusoid
4. 4. 5 correspondence with continuous signals
4. 4. 6 step response
4. 5 frequency response
4. 5. 1 *the discrete fourier transform (dft)
4. 6 properties of the z-transform
4. 6. 1 essential properties
4. 6. 2 *convergence of z-transform
4. 6. 3 *another derivation of the transfer function
4. 7 summary
4. 8 problems

5 sampled-data systems
5. 1 analysis of the sample and hold
5. 2 spectrum of a sampled signal
5. 3 data extrapolation
5. 4 block-diagram analysis of sampled-data systems
5. 5 calculating the system output between samples: the ripple
5. 6 summary
5. 7 problems
5. 8 appendix

6 discrete equivalents
6. l design of discrete equivalents via numerical integration
6. 2 zero-pole matching equivalents
6. 3 hold equivalents
6. 3. 1 zero-order hold equivalent
6. 3. 2 a non-causal first-order-hold equivalent the triangle-hold equivalent
6. 4 summary
6. 5 problems

7 design using transform techniques
7. 1 system specifications
7. 2 design by emulation
7. 2. 1 discrete equivalent controllers
7. 2. 2 evaluation of the design
7. 3 direct design by root locus in the z-plane
7. 3. 1 z-plane specifications
7. 3. 2 the discrete root locus
7. 4 frequency response methods
7. 4. 1 nyquist stability criterion
7. 4. 2 design specifications in the frequency domain
7. 4. 3 low frequency gains and error coefficents
7. 4. 4 compensator design
7. 5 direct design method of ragazzini
7. 6 summary
7. 7 problems

8 design using state-space methods
8. 1 control law design
8. 1. 1 pole placement
8. 1. 2 controllability
8. 1. 3 pole placement using cacsd
8. 2 estimator design
8. 2. 1 prediction estimators
8. 2. 2 observability
8. 2. 3 pole placement using cacsd
8. 2. 4 current estimators
8. 2. 5 reduced-order estimators
8. 3 regulator design: combined control law and estimator
8. 3. 1 the separation principle
8. 3. 2 guidelines for pole placement
8. 4 introduction of the reference input
8. 4. 1 reference inputs for full-state feedback
8. 4. 2 reference inputs with estimators: the state-command structure
8. 4. 3 output error command
8. 4. 4 a comparison of the estimator structure and classical methods
8. 5 integral control and disturbance estimation
8. 5. 1 integral control by state augmentation
8. 5. 2 disturbance estimation
8. 6 effect of delays
8. 6. l sensor delays
8. 6. 2 actuator delays
8. 7 *controllability and observability
8. 8 summary
8. 9 problems

9 multivariable and optimal control
9. 1 decoupling
9. 2 time-varying optimal control
9. 3 lqr steady-state optimal control
9. 3. 1 reciprocal root properties
9. 3. 2 symmetric root locus
9. 3. 3 eigenvector decomposition
9. 3. 4 cost equivalents
9. 3. 5 emulation by equivalent cost
9. 4 optimal estimation
9. 4. 1 least-5quares estimation
9. 4. 2 the kalman filter
9. 4. 3 steady-state optimal estimation
9. 4. 4 noise matrices and discrete equivalents
9. 5 multivariable control design
9. 5. 1 selection of weighting matrices q1 and q2
9. 5. 2 pincer procedure
9. 5. 3 paper-machine design example
9. 5. 4 magnetic-tape-drive design example
9. 6 summary
9. 7 problems

10 quantization effects
10. 1 analysis of round-off error
10. 2 effects of parameter round-off
10. 3 limit cycles and dither
10. 4 summary
10. 5 problems

11 sample rate selection
11. 1 the sampling theorem's limit
11. 2 time response and smoothness
11. 3 errors due to random plant disturbances
11. 4 sensitivity to parameter variations
11. 5 measurement noise and antialiasing filters
11. 6 multirate sampling
11. 7 summary
11. 8 problems