FUNDAMENTALS
edited by
William S. Levine
Library of Congress Cataloging-in-Publication Data
Levine, W. S.
Control system fundamentals / William S. Levine.
p. em.
Includes bibliographical references.
ISBN 0-8493-0053-3 (alk. paper)
I. Automatic control. 2. Control theory. I. Title.
TJ213.L419 1999
99-048036
629.8-{\c21
CIP
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The material in this book was taken from, The Control Handbook Edited by William S. Levine.
Control technology is remarkably varied; control system implementations range from float valves to microprocessors. Control
system fundamentals include regulating the amount of water in a toilet tank, controlling the flow and generation of electrical
power over huge geographic regions, regulating the behavior of gasoline engines, controlling the thickness of rolled products
as varied as paper and sheet steel, and hundreds of controllers hidden in consumer products of all kinds. The different
applications often require unique sensors and actuators, all of which call for an understanding of the fundamentals of control
systems. The fundamentals are just what the name implies: the basics of control engineering. Note that this book includes
major sections on digital control and modeling of dynamical systems. There are also chapters on specification of control system
nonlinearities, and digital implementation of control systems.
Contributors
SECTION III Analysis and Design Methods for Continous- Time Systems
11 Discrete-Time Systems Mohammed S. Santina, Allen R. StubbmuI and Gene H. Hostetter 241
11.1 Discrete-Time Systems ....................................... 241
14 Design Methods for Discrete-Time, Linear Time- Invariant Systems Mohammed S. Santina, Allen R. Stub-
berud and Gene H. Hostetter ........ 283
14.1 An Overview ............... 283
14.2 Classical Control System Design Methods 284
14.3 Eigenvalue Placement with State Feedback 289
14.4 Step-Invariant Discrete-Time Observer Design 292
14.5 Tracking System Design ....... 293
14.6 Designing Between-Sample Response ..... 296
15 Quantization Effects Mohammed S. Santina, Allen R. Stubberud and Gene H. Hostetter 303
15.1 Overview ......................... 303
15.2 Fixed-Point and Floating-Point Number Representations 303
15.3 Truncation and Roundoff ....... 305
15.4 Effects of Coefficient Quantization ............ 306
15.5 Quantization Effects in AID Conversion ......... 308
15.6 Stochastic Analysis of Quantization Errors in Digital Processing 309
15.7 Limit Cycle and Deadband Effects ............... 312
16 Sample-Rate Selection Mohammed S. Santina, Allen R. Stubberud and Gene H. Hostetter 315
16.1 Introduction .................... 315
16.2 The Sampling Theorem .............. 315
16.3 Control System Response and the Sampling Period 317
16.4 Control System Response to External Disturbances 319
16.5 Measurement Noise and Prefiltering ...... 321
16.6 Effect of Sampling Rate on Quantization Error ... 321
21 Numerical and Computational Issues in Linear Control and System Theory A.]. Laub,
R. V. Patel, and P.M. Van Dooren 403
21.1 Introduction ..................... 403
21.2 Numerical Background ............... 405
21.3 Fundamental Problems in Numerical Linear Algebra 407
21.4 Applications to Systems and Control 410
21.5 Mathematical Software ................ 416
21.6 Concluding Remarks .......................................... 417
22 Software for Modeling and Simulating Control Systems Martin Otter and Franfois E. Cellier 419
22.1 Introduction ........................ 419
22.2 Special Demands of Control Engineers for a Simulation Tool 420
22.3 Overview of Modeling and Simulation Software 422
22.4 Shortcomings of Current Simulation Software 431
22.5 Conclusions . . . . . . . . . . . . . . . .. 431
23 Computer-Aided Control Systems Design C. Magnus Rimvall and Christopher P.fabling 433
23.1 Introduction ......... 433
23.2 A Brief History of CACSD .. 433
23.3 The State of the Art in CACSD 435
23.4 CACSD Block Diagram Tools 440
23.5 Conclusions 445