计算机控制系统理论与设计 英文版【2025|PDF|Epub|mobi|kindle电子书版本百度云盘下载】

计算机控制系统理论与设计 英文版PDF格式电子书版下载

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1．Computer Control1

1．1 Introduction1

1．2 Computer Technology2

1．3 Computer-Control Theory11

1．4 Inherently Sampled Systems22

1．5 How Theory Developed25

1．6 Notes and References28

2．Discrete-Time Systems30

2．1 Introduction30

2．2 Sampling Continuous-Time Signals31

2．3 Sampling a Continuous-Time State-Space System32

2．4 Discrete-Time Systems42

2．5 Changing Coordinates in State-Space Models44

2．6 Input-Output Models46

2．7 The z-Transform53

2．8 Poles and Zeros61

2．9 Selection of Sampling Rate66

2．10 Problems68

2．11 Notes and References75

3．Analysis of Discrete-Time Systems77

3．1 Introduction77

3．2 Stability77

3．3 Sensitivity and Robustness89

3．4 Controllability , Reachability , Observability ,and Detectability93

3．5 Analysis of Simple Feedback Loops103

3．6 Problems114

3．7 Notes and References118

4．Pole-Placement Design: A State-Space Approach120

4．1 Introduction120

4．2 Control-System Design121

4．3 Regulation by State Feedback124

4．4 Observers135

4．5 Output Feedback141

4．6 The Servo Problem147

4．7 A Design Example156

4．8 Conclusions160

4．9 Problems161

4．10 Notes and References164

5．Pole-Placement Design: A Polynomial Approach165

5．1 Introduction165

5．2 A Simple Design Problem166

5．3 The Diophantine Equation170

5．4 More Realistic Assumptions175

5．5 Sensitivity to Modeling Errors183

5．6 A Design Procedure186

5．7 Design of a Controller for the Double Integrator195

5．8 Design of a Controller for the Harmonic Oscillator203

5．9 Design of a Controller for a Flexible Robot Arm208

5．10 Relations to Other Design Methods213

5．11 Conclusions220

5．12 Problems220

5．13 Notes and References223

6．1 Introduction224

6．Design: An Overview224

6．2 Operational Aspects225

6．3 Principles of Structuring229

6．4 A Top-Down Approach230

6．5 A Bottom-Up Approach233

6．6 Design of Simple Loops237

6．7 Conclusions240

6．8 Problems241

6．9 Notes and References241

7．Process-Oriented Models242

7．1 Introduction242

7．2 A Computer-Controlled System243

7．3 Sampling and Reconstruction244

7．4 Aliasing or Frequency Folding249

7．5 Designing Controllers with Predictive First-Order Hold256

7．6 The Modulation Model262

7．7 Frequency Response268

7．8 Pulse-Transfer-Function Formalism278

7．9 Multirate Sampling286

7．10 Problems289

7．11 Notes and References291

8．Approximating Continuous-Time Controllers293

8．1 Introduction293

8．2 Approximations Based on Transfer Functions293

8．3 Approximations Based on State Models301

8．4 Frequency-Response Design Methods305

8．5 Digital PID-Controllers306

8．6 Conclusions320

8．7 Problems320

8．8 Notes and References323

9．Implementation of Digital Controllers324

9．1 Introduction324

9．2 An Overview325

9．3 Prefiltering and Computational Delay328

9．4 Nonlinear Actuators331

9．5 Operational Aspects336

9．6 Numerics340

9．7 Realization of Digital Controllers349

9．8 Programming360

9．9 Conclusions363

9．10 Problems364

9．11 Notes and References368

10．Disturbance Models370

10．1 Introduction370

10．2 Reduction of Effects of Disturbances371

10．3 Piecewise Deterministic Disturbances373

10．4 Stochastic Models of Disturbances376

10．5 Continuous-Time Stochastic Processes397

10．6 Sampling a Stochastic Differential Equation402

10．7 Conclusions403

10．8 Problems404

10．9 Notes and References407

11．1 Introduction408

11．Optimal Design Methods: A State-Space Approach408

11．2 Linear Quadratic Control413

11．3 Prediction and Filtering Theory429

11．4 Linear Quadratic Gaussian Control436

11．5 Practical Aspects440

11．6 Conclusions441

11．7 Problems441

11．8 Notes and References446

12．Optimal Design Methods: A Polynomial Approach447

12．1 Introduction447

12．2 Problem Formulation448

12．3 Optimal Prediction453

12．4 Minimum-Variance Control460

12．5 Linear Quadratic Gaussian（LQG）Control470

12．6 Practical Aspects487

12．7 Conclusions495

12．8 Problems496

12．9 Notes and References504

13．Identification505

13．1 Introduction505

13．2 Mathematical Model Building506

13．3 System Identification506

13．4 The Principle of Least Squares509

13．5 Recursive Computations514

13．6 Examples521

13．8 Problems526

13．7 Summary526

13．9 Notes and References527

A．Examples528

B．Matrices533

B．1 Matrix Functions533

B．2 Matrix-Inversion Lemma536

B．3 Notes and References536

Bibliography537

Index549