Aström, Wittenmark. 　著

内容

目次

(NOTE: Each chapter begins with an Introduction section and concludeswith a Notes and References section.) 1. Computer Control. ComputerTechnology. Computer-Control Theory. Inherently Sampled Systems. How TheoryDeveloped. 2. Discrete-Time Systems. Sampling Continuous-Time Signals.Sampling a Continuous-Time State-Space System. Discrete-Time Systems.Changing Coordinates in State-Space System. Input-Output Models. Thez-Transform. Poles and Zeros. Selection of Sampling Rate. Problems. 3.Analysis of Discrete-Time Systems. Stability. Sensitivity and Robustness.Controllability, Reachability, Observability, and Detectability. Analysis ofSimple Feedback Loops. Problems. 4. Pole-Placement Design: A State-SpaceApproach. Control-System Design. Regulation by State Feedback. Observers.Output Feedback. The Servo Problem. A Design Example. Conclusions. Problems.5. Pole-Placement Design: A Polynomial Approach. A Simple Design Problem.The Diophantine Equation. More Realistic Assumptions. Sensitivity to ModelingErrors. A Design Procedure. Design of a Controller for the Double Integrator.Design of a Controller for the Harmonic Oscillator. Design of a Controllerfor a Flexible Robot Arm. Relations to Other Design Methods. Conclusions.Problems. 6. Design: An Overview. Operational Aspects. Principles ofStructuring. A Top-Down Approach. A Bottum-Up Approach. Design of SimpleLoops. Conclusions. Problems. 7. Process-Oriented Models. AComputer-Controlled System. Sampling and Reconstruction. Aliasing orFrequency Folding. Designing Controllers with Predictive First-Order Hold.The Modulation Model. Frequency Response. Pulse-Transfer-Function Formalism.Multirate Sampling. Problems. 8. Approximating Continuous-Time Controllers.Approximations Based on Transfer Functions. Approximations Based on StateModels. Frequency-Response Design Methods. Digital PID-Controllers.Conclusions. Problems. 9. Implementation of Digital Controllers. AnOverview. Prefiltering and Computational Delay. Nonlinear Actuators.Operational Aspects. Numerics. Realization of Digital Controllers.Programming. Conclusions. Problems. 10. Disturbance Models. Reduction ofEffects of Disturbances. Piecewise Deterministic Disturbances. StochasticModels of Disturbances. Continuous-Time Stochastic Processes. Sampling aStochastic Differential Equation. Conclusions. Problems. 11. Optimal DesignMethods: A State-Space Approach. Linear Quadratic Control. Prediction andFiltering Theory. Linear Quadratic Gaussian Control. Practical Aspects.Conclustions. Problems. 12. Optimal Design Methods: A Polynomial Approach.Problem Formulation. Optimal Prediction. Minimum-Variance Control. LinearQuadratic Gaussian (LQG) Control. Practical Aspects. Conclusions. Problems.13. Identification. Mathematical Model Building. System Identification. ThePrinciple of Least Squares. Recursive Computations. Examples. Summary.Problems. A. Examples. B. Matrices. Matrix Functions. Matrix-InversionLemma. Notes and References. Bibliography. Index.