Digital Control Using Digital Signal Processing - Hardcover

Nekoogar, Farzad; Moriarty, Gene

Hardcover

ISBN 10: 0130891037 ISBN 13: 9780130891037

Publisher: Prentice Hall, 1998

Synopsis

Begins with a review of digital control systems and their design and basic mathematical concepts including difference equations, the z-transform, and state-variable methods. Then applies the fundamentals of digital signal processors to such control systems, describing such state-space techniques as pole placement, state estimation, and optimal linear quadratic regulation. Also considers advanced topics, among them chaos in nonlinear control systems and fuzzy logic control. For practicing engineers, graduates, and advanced undergraduates with some background in linear systems theory and linear algebra and a familiarity with the CAE, MATLAB, and MATRIX software packages. Has been used in courses. Annotation c. by Book News, Inc., Portland, Or.

About this title

About the Author

Farzad Nekoogar is Lecturer, The University of California at Berkeley-Extension, and Senior CAE Engineer at Diasonics Corporation, Milpitas, California. He has taught Digital Control Using Digital Signal Processing to practicing engineers and teaches courses throughout the electronics industry.

From the Back Cover

Use computer-aided engineering software to design DSPs for digital control systems.

DSPs can be used to implement controllers designed with classical frequency-domain techniques as well as more contemporary state-variable methods. Computer-aided analysis and design tools bring the whole process up to date. Digital Control Using Digital Signal Processing provides complete coverage of the field, including:

• Full, up-to-date coverage of digital controls analysis and design.
• The role of DSPs in implementing digital controllers.
• Integration of MATLAB® and MATRIX® and other CAE software packages in analysis and design.
• An extensive variety of examples and study problems.

Digital Control Using Digital Signal Processing begins with a review of digital control systems and their design. Basic mathematical concepts are presented early, including difference equations, the z-transform and state-variable methods, leading to a thorough treatment of classical compensator design.

The fundamentals of digital signal processors are then applied to digital control systems. The latest state-space techniques are covered, including pole placement, state estimation, and optimal linear quadratic regulation. Advanced topics include chaos in nonlinear control systems and fuzzy logic control.

Eight appendices provide practical information about useful formulas, software tools, and sample programs.

Practicing engineers will find Digital Control Using Digital Signal Processing an invaluable resource, as will upper-division and graduate students. Some background in linear systems theory and linear algebra is required. Familiarity with CAE, MATLAB, and MATRIXx software packages will aid in implementing the analysis and design discussed here.

From the Inside Flap

PREFACE

This book describes digital control using digital signal processors (DSPs). Most textbooks on digital control contain much control system theory but little information on using DSPs in control systems. Textbooks on DSP cover digital signal processing well but do not show how to use DSPs in control systems. This book covers fundamental digital control theory, as well as DSPs and how to use DSPs in control systems.

This book can be used as part of a first course in digital control systems. It is based on material taught to practicing engineers at the University of California at Berkeley Extension, and on material presented in several controls courses taught to graduate and undergraduate electrical engineering students at San Jose State University. Its level is appropriate for seniors or graduate students in engineering and practicing engineers for self-study. This book requires some background in linear systems theory and some understanding of linear algebra. The first courses in these areas would more than suffice.

The first half of the book (Chapters 1 through 4) covers the basic analysis and design of digital control systems. The second half (Chapters 5 and 6) covers the fundamentals of DSPs as well as modern techniques of digital control system design and compensation using DSPs as discrete controllers.

In Chapter 1 we introduce digital control and contrast it with analog control. There is a brief discussion of the difference between classical control theory and modern control theory. We also present an overview of the design process and the role of DSPs in the design of control systems. The capabilities of CAE packages and their role in the analysis and design of digital control systems are covered. The MATLAB and MATRIXx software packages, discussed in Appendix A, are tools found to be most useful in the analysis and design of the digital control systems that are at issue in the following chapters.

Chapter 2 covers the basic mathematics of discrete systems: difference equations, the unit pulse response, discrete convolution, z-transforms, the discrete system transfer function, frequency response, Fourier transforms, and mappings from s to z domains. Appendices C and D, on transform pairs and partial-fraction expansions, should be used in conjunction with this chapter.

In Chapter 3 we use discussions of sampled-data systems, state-variable methods, nonlinear systems issues, stability, and sensitivity analysis to give the reader the basic knowledge needed to analyze digital control systems. Appendix E, on matrix algebra, should be reviewed before reading this chapter.

In Chapter 4 we discuss methods used to design control systems and, specifically, controllers used in control systems. We review design parameters from classical control in its discussion of steady-state response and cover conventional classical design methods, such as Bode plots and root locus, and discuss compensation techniques.

Chapter 5 covers the fundamentals of DSPs and shows a general guideline for selecting DSP chips for specific control system applications. The basics of computer architecture as necessary DSP background are provided in Appendix H. We compare analog and digital signal-processing methods and discuss generic DSPs and their architectures. Software and hardware support tools for commercial DSPs are discussed. We include examples of the application of DSPs in control systems.

In Chapter 6 we present the fundamentals of modern control systems design, emphasizing techniques such as state controllability, observability, and pole placement. There is also a brief discussion of the linear quadratic optimal design methodology. The implementation of designs as DSPs is stressed. A detailed example from the area of motion control is included to illustrate these modern design techniques. In addition, the basic ideas of fuzzy logic control are discussed.

In Appendix A we describe the CAE design and analysis packages MATRIXx and MATLAB, and in Appendix B we describe tools from dSPACE which are used in the implementation of DSP technology in control systems. Appendices C, D, and E provide tables of z-transforms and Laplace transforms, a description of the partial-fraction expansion method, and a description of matrix analysis, respectively. Appendix F contains a functional description of some of the most popular motion controller boards. In Appendix G we give examples of some DSP programs written for control system applications. Appendix H covers the basics of computer architecture.

Undergraduate students should find that the first half of the book, together with selected topics from the final two chapters, provides an adequate introduction to the business of digital control systems, an increasingly important topic of concern in the unfolding of the Information Era. As the century comes to a close, the Age of Energy is shifting into the Age of Information. That disciplines, such as control systems, focused for so long in the analog world, are more and more favoring digital representations and implementations comes as no surprise to most people today. Students, in particular, seem to have no reluctance toward embracing the digitalness of contemporary reality. Graduate students should find sufficient material in the six chapters of the text for a first-year grad course in digital controls using DSPs. They might find that the first three chapters need only be reviewed because most of the material therein has probably been encountered in undergraduate courses.

Instructors might want to skip some material, such as the discussion of discrete equation solutions in the early part of Chapter 2, or they may want to supplement the material in various places, such as the classical frequency-domain topics in Chapter 3, which consider Bode and root-locus analysis but not Nyquist analysis. If students already have a good digital controls background, Chapter 5 on DSP material can be studied independently. Then if the instructor supplements the material with topics from the controls literature, Chapter 5 coupled with Chapter 6 on modern design techniques using DSPs should make a good graduate course at a more advanced level.

If the reader is already a practicing engineer, the book can serve as a reference for digital controls using DSPs, in particular, a theoretical framework for digital controls, the practical aspects with which the reader may be conversant. The use of computer-assisted engineering (CAE) tools should be of special interest to the practicing engineer, who generally needs to handle higher-order systems than most texts deal with.

Edition details

• Publisher: Prentice Hall
• Publication date: 1998
• ISBN 10: 0130891037
• ISBN 13: 9780130891037
• Binding: Hardcover
• Language: English
• Number of pages: 433