Discrete-Time Control System Design with Applications

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This book presents practical techniques of discrete-time control system design. In general, the design techniques lead to low-order dynamic compensators that ensure satisfactory closed-loop performance for a wide range of sampling rates. The theory is given in the form of theorems, lemmas, and propositions. The design of the control systems is presented as step-by-step procedures and algorithms. The proposed feedback control schemes are applied to well-known dynamic system models.This book also discusses:Closed-loop performance of generic models of mobile robot and airborne pursuer dynamic systems under discrete-time feedback control with limited computing capabilitiesConcepts of discrete-time models and sampled-data models of continuous-time systems, for both single- and dual-rate operationLocal versus global digital redesignOptimal, closed-loop digital redesign methodsPlant input mapping designGeneralized holds and samplers for use in feedback control loops, Numerical simulation of fixed-point arithmetic implementationFlatness-based discrete-time controlThe effect of the sampling or control update rate on closed-loop performanceDelta and shift operators