Applied Control Theory for Embedded Systems

Applied Control Theory is, first and foremost, not a substitute for years of formal education about control systems. With that out of the way, it's a very solid primer/reference for those of us who aren't control engineers, but have occasional control problems that need analysis. It's pretty light oApplied Control Theoryfor Embedded Systemsby Tim WescottAMSTERDAM● BOSTON● HEIDELBERO· LONDONNEW YORK● OXFORD● PARIS· SAN DIEGOSAN FRANCISCO· SINGAPORE● SYDNEY·TKYOELSEVIERNewnes is an imprint of elsevierNewnesNewnes is an imprint of elsevier30 Corporate Drive, Suite 400, Burlington, MA01803, USALinacre House, Jordan Hill, Oxford OX2 8DP, UKCopyright o 2006, Elsevier Inc. All rights reservedNo part of this publication may be reproduced, stored in a retrieval system, or transmittedin any form or by any means, electronic, mechanical, photocopying, recording, or otherwise,without the prior written permission of the publisherPermissions may be sought directly from elseviers Science Technology rightDepartment in Oxford, UK: phone: (+44)1865 843830, fax: (+44)1865 853333e-mail:permissions@elsevier.com.uk.Youmayalsocompleteyourrequeston-lineviatheElsevierhomepage(http://elsevier.com),byselecting"support&ContactthenCopyright and Permission?and then"Obtaining PermissionsRecognizing the importance of preserving what has been writtenElsevier prints its books on acid-free paper whenever possibleLibrary of Congress Cataloging-in-Publication DataIiescott, l inApplied control theory for embedded systems /by Tim Wescottp. cm. --(Embedded technology seriesISBN-13:9780-7506-7839-1(pbk.:lk. paper)ISBN-10: 0-7506-7839-9(pbk: alk. paper) 1. Embedded computersystems-Design and construction. 2. Digital control systems--Design andconstruction I. Title. IL. SeriesTK7895E42W472006629.89-dc222006002692British Library Cataloguing-in-Publication DataA catalogue record for this book is available from the British LibraryISBN-13:978-0-7506-7839-1ISBN-10:0-7506-7839-9For information on all Newnes publicationsvisitourWebsiteatwww.bookselseviercom06070809101098765432Printed in the united States of americaorkintogether to growlibraries in developing countriesWWWELSEVIERBOOKAIDInternationalSabre foundationFor all my teachersContentsPrefaceXWhat's on the CD-RoM?XChapter 1: The Basics1.1 Control systems1. 2 Anatomy of a Control System1.3 Closed Loop control1. 4 Controllers1.5 About This bookChapter 2: Z Transforms112. 1 Signals and systems翻潘..,,,122.2 Difference Equations.152.3 The Z Transform春春..l82.4 The Inverse z transform192.5 Some Z Transform Properties潘潘252.6 Transfer Functions.302.7 Stability in the Z domain342.8 Frequency response......................372.9 Conclusion41Chapter 3: Performance433.1 Track433.2 Frequency response553. 3 DistRturbance rejection3.4 ConclusionChapter 4: Block Diagrams654. I The Language of blocks54.2 Analyzing systems with block diagrams...744.3 Conclusion,,,,,,,,,,,,,,,,,..93viii ContentsChapter5: Analysis...…….……..955.1 Root Locus番毒5.2 Bode Plots.1075.3 Nyquist Plots..I135.4 Conclusion.124Chapter 6: Design1256.1 Controllers, Filters and Compensators...........1256. 2 Compensation Topologies.1266.3 Types of Compensators1286.4 Design flou1476.5 Conclusion..,,,,,,,,,,,148hapter 7: Sampling Theory1497. I Samplin1497.2 Aliasing1517.3 Reconstruction1537.4 Orthogonal signals and power1567.5 Random noise1577.6 Nonideal samplin1597. 7 The laplace Transfo1707.8 z Domain Models1757.9 Conclusion翻潘.,Ⅰ82Chapter 8: Nonlinear Systemsn,,,1838.1 Characteristics of Nonlinear systems.848.2 Some nonlinearity1878.3 Linear Approximation1938.4 Nonlinear compensators998. 5 Conclusion...223Contents ixChapter 9: Measuring Frequency Response ....... 2259.1 Overview...........,.......2259.2 Measuring in isolation.2269.3 In-Loop measurement....2299.4 Real-World Is2342389.6 Other methods245Chapter 10: Software Implications24710. 1 Data lype24710.2 Quantization..25010.3 Overflow26210.4 Resource Issues春潘·.26410.5 Implementation examples26810.6C0 nclusion..,,,,,,,,,,,......,,,.292Chapter 11: Afterword,,,,,,,,,,,,,,29311.1700b春春春春..2932 Bibliograph295About the author297Index299