1．Computer Control

1．1 Introduction

1．2 Computer Technology

1．3 Computer-Control Theory

1．4 Inherently Sampled Systems

1．5 How Theory Developed

1．6 Notes and References

2．Discrete-Time Systems

2．1 Introduction

2．2 Sampling Continuous-Time Signals

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

2．4 Discrete-Time Systems

2．5 Changing Coordinates in State-Space Models

2．6 Input-Output Models

2．7 The z-Transform

2．8 Poles and Zeros

2．9 Selection of Sampling Rate

2．10 Problems

2．11 Notes and References

3．Analysis of Discrete-Time Systems

3．1 Introduction

3．2 Stability

3．3 Sensitivity and Robustness

3．4 Controllability , Reachability , Observability ,and Detectability

3．5 Analysis of Simple Feedback Loops

3．6 Problems

3．7 Notes and References

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

4．1 Introduction

4．2 Control-System Design

4．3 Regulation by State Feedback

4．4 Observers

4．5 Output Feedback

4．6 The Servo Problem

4．7 A Design Example

4．8 Conclusions

4．9 Problems

4．10 Notes and References

5．Pole-Placement Design: A Polynomial Approach

5．1 Introduction

5．2 A Simple Design Problem

5．3 The Diophantine Equation

5．4 More Realistic Assumptions

5．5 Sensitivity to Modeling Errors

5．6 A Design Procedure

5．7 Design of a Controller for the Double Integrator

5．8 Design of a Controller for the Harmonic Oscillator

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

5．10 Relations to Other Design Methods

5．11 Conclusions

5．12 Problems

5．13 Notes and References

6．1 Introduction

6．Design: An Overview

6．2 Operational Aspects

6．3 Principles of Structuring

6．4 A Top-Down Approach

6．5 A Bottom-Up Approach

6．6 Design of Simple Loops

6．7 Conclusions

6．8 Problems

6．9 Notes and References

7．Process-Oriented Models

7．1 Introduction

7．2 A Computer-Controlled System

7．3 Sampling and Reconstruction

7．4 Aliasing or Frequency Folding

7．5 Designing Controllers with Predictive First-Order Hold

7．6 The Modulation Model

7．7 Frequency Response

7．8 Pulse-Transfer-Function Formalism

7．9 Multirate Sampling

7．10 Problems

7．11 Notes and References

8．Approximating Continuous-Time Controllers

8．1 Introduction

8．2 Approximations Based on Transfer Functions

8．3 Approximations Based on State Models

8．4 Frequency-Response Design Methods

8．5 Digital PID-Controllers

8．6 Conclusions

8．7 Problems

8．8 Notes and References

9．Implementation of Digital Controllers

9．1 Introduction

9．2 An Overview

9．3 Prefiltering and Computational Delay

9．4 Nonlinear Actuators

9．5 Operational Aspects

9．6 Numerics

9．7 Realization of Digital Controllers

9．8 Programming

9．9 Conclusions

9．10 Problems

9．11 Notes and References

10．Disturbance Models

10．1 Introduction

10．2 Reduction of Effects of Disturbances

10．3 Piecewise Deterministic Disturbances

10．4 Stochastic Models of Disturbances

10．5 Continuous-Time Stochastic Processes

10．6 Sampling a Stochastic Differential Equation

10．7 Conclusions

10．8 Problems

10．9 Notes and References

11．1 Introduction

11．Optimal Design Methods: A State-Space Approach

11．2 Linear Quadratic Control

11．3 Prediction and Filtering Theory

11．4 Linear Quadratic Gaussian Control

11．5 Practical Aspects

11．6 Conclusions

11．7 Problems

11．8 Notes and References

12．Optimal Design Methods: A Polynomial Approach

12．1 Introduction

12．2 Problem Formulation

12．3 Optimal Prediction

12．4 Minimum-Variance Control

12．5 Linear Quadratic Gaussian（LQG）Control

12．6 Practical Aspects

12．7 Conclusions

12．8 Problems

12．9 Notes and References

13．Identification

13．1 Introduction

13．2 Mathematical Model Building

13．3 System Identification

13．4 The Principle of Least Squares

13．5 Recursive Computations

13．6 Examples

13．8 Problems

13．7 Summary

13．9 Notes and References

A．Examples

B．Matrices

B．1 Matrix Functions

B．2 Matrix-Inversion Lemma

B．3 Notes and References

Bibliography

Index