Applied Digital Control Theory, Design and Implementation. Second Edition

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ISBN: 9780486450513 | 0486450511
Cover: Paperback
Copyright: 6/23/2006

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An essential core text for advanced undergraduate and graduate courses in digital control, this volume develops theoretical foundations and explains how control systems work in real industrial situations. Several case histories assist students in visualizing the theory's applications. After a careful development of theoretical foundations, the text explains the practical role of control systems with detailed reviews of five commercially available distributed control systems. Numerous exercises supplement the overview of theoretical foundations, and the emphasis throughout the text is placed upon robustness and realistic adaptive control as well as the successful application of digital control theory to real problems. 1992 ed.

Preface to the second edition

xiii

Preface to the first edition

The structure of the book

xvii

Acknowledgements

xix

1 Introduction to the key features of digital control

(5)

1.1 Important generalities

(1)

1.2 A digital computer in the control loop

(3)

1.3 Control of multi-loop processes

(1)

1.4 Control of non-constant processes: Adaptive control

(1)

1.5 Commercially available computer control systems

(1)

2 Discrete-time signals; idealized approximation; frequency spectrum; reconstruction

(17)

2.1 Introduction

(1)

2.2 The nature of sampled signals

(1)

2.3 Loss of information in a sampled signal

(2)

2.4 Creation of spurious information in a sampled signal

(1)

2.5 The sampling process

(4)

2.6 Ideal sampling

(1)

2.7 Digital control of a single-input–single-output process

(3)

2.8 Reconstruction of the signal ƒ(t) from the discrete-time signal ƒ*(t)

(1)

2.9 Approximate reconstruction of ƒ(t) from ƒ*(t) using hold devices

(1)

2.10 An approach to the analysis of a control loop containing a digital controller

(2)

2.11 Other methods of sampling

(1)

Exercises

(3)

3 L transform techniques

(46)

3.1 Introduction

(1)

3.2 The l transform

(8)

3.3 The pulse transfer function

(3)

3.4 A brief description of three methods for obtaining information on system behavior between sampling instants

(4)

3.5 Inverse l transformation to yield time solutions

(3)

3.6 Difference equations

(4)

3.7 The z plane and its relation with the s plane

(10)

3.8 Correspondence between pole locations in the z plane and system time response

(1)

3.9 Analysis of a simple loop containing a discrete-time controller

(6)

Exercises

(8)

4 Methods of analysis and design

(42)

4.1 Introduction

(1)

4.2 Discretization

(16)

4.3 The root-locus diagram

(8)

4.4 Frequency-response methods

(6)

4.5 Stability tests

(4)

Exercises

103

(8)

5 Digital control algorithms

111

(87)

5.1 Introduction

111

(1)

5.2 Design methods

111

(32)

5.3 Design descriptions

143

(2)

5.4 Design realizations: realization of algorithms in terms of unit delays and constant multipliers

145

(3)

5.5 Design considerations

148

(39)

5.6 Oscillations in control loops

187

(1)

Exercises

187

(11)

6 Hardware Systems for Implementation

198

(31)

6.1 Introduction

198

(1)

6.2 Design of input circuits

198

(5)

6.3 Actuators

203

(2)

6.4 Analog interfacing

205

(16)

6.5 Digital interfacing

221

(3)

6.6 Microprocessors for control applications

224

(1)

Exercises

225

(4)

7 Tutorial case histories

229

(132)

7.1 Introduction

229

(1)

7.2 Outline of Problem A: Temperature control achieved by a low-cost personal computer configuration, programmed in RAPID BASIC language

229

(1)

7.3 Computation and interfacing

230

(1)

7.4 Control of data transfer

230

(1)

7.5 Identification of the oven

231

(2)

7.6 Control design

233

(2)

7.7 Choice of sampling interval

235

(2)

7.8 Input quantization

237

(1)

7.9 Alternative approach-Design of a temperature controller to achieve a particular closed-loop behavior

238

(1)

7.10 Comments on the temperature-control application

239

(1)

7.11 Outline of Problem B: Design of a thickness and flatness control system for metal rolling

240

(1)

7.12 Thickness measurement and control

240

(1)

7.13 Flatness measurement

241

(1)

7.14 Flatness control

242

(1)

7.15 Control-system specification

242

(1)

7.16 Choice of sampling interval T for the control loops

242

(1)

7.17 Choice of input-signal scanning arrangement

243

(1)

7.18 Choice of word lengths

244

(1)

7.19 Mathematical models of the process

244

(1)

7.20 Control-algorithm design

244

(1)

7.21 Fixing of the numerator N(z)

245

(1)

7.22 Calculation of the control algorithms

246

(2)

7.23 Realization of the control algorithms

248

(1)

7.24 Implementation

249

(1)

7.25 Program development

249

(1)

7.26 The complete scheme

250

(1)

Exercises

250

(7)

8 State-variable techniques

257

(79)

8.1 Introduction

257

(1)

8.2 The concept of state

257

(1)

8.3 Alternative system descriptions

258

(1)

8.4 The mapping representation of E

259

(2)

8.5 The modelling of continuous-time systems through state-space equations

261

(2)

8.6 Calculation of time solutions using the transition matrix

263

(8)

8.7 Properties of the transition matrix

271

(1)

8.8 Relation between the transfer-matrix description and the vector-matrix description

271

(1)

8.9 Equivalent systems

272

(1)

8.10 System realization

273

(1)

8.11 Stability

273

(1)

8.12 Reachability, controllability, observability and reconstructibility for continuous-time systems

274

(2)

8.13 The unforced state equation in discrete time

276

(1)

8.14 Solution of the discrete-time state equation with forcing

277

(1)

8.15 Obtaining the transform equivalent of the state equation

278

(1)

8.16 Stability tests

278

(1)

8.17 Reachability, controllability, observability and reconstructibility for discrete-time systems

279

(2)

8.18 Canonical state-space representations

281

(12)

8.19 The state-variable approach to control-system design

293

(1)

8.20 Design of non-interacting controllers

293

(5)

8.21 Design to achieve a specified closed-loop characteristic equation

298

(3)

8.22 A brief introduction to optimal control

301

(5)

8.23 State estimation

306

(8)

8.24 The separation theorem

314

(2)

Worked examples

316

(10)

Exercises

326

(10)

9 Control of large-scale systems

336

(25)

9.1 Introduction

336

(1)

9.2 Initial approaches to system decomposition

337

(2)

9.3 Hierarchical control

339

(1)

9.4 Multilayer control

339

(2)

9.5 Multilayer optimization

341

(4)

9.6 Digraphs as a tool in the modelling of complex systems

345

(7)

9.7 Multilevel control

352

(1)

9.8 The coordination problem in multilevel control

353

(1)

9.9 The steady-state coordination problem in multilevel control

354

(1)

9.10 The direct method of coordination

355

(1)

9.11 Implementation of the direct method using penalty functions

356

(1)

9.12 The interaction balance method

357

(1)

9.13 Coordination with feedback for on-line control

358

(1)

Exercises

359

(2)

10 Control system implementation and integration

361

(24)

10.1 Introduction

361

(1)

10.2 Implementation—some initial points

361

(1)

10.3 Computers for control design, for real-time software development and validation and for implementation

362

(1)

10.4 Computers for control applications

363

(2)

10.5 Distributed Control System (DCS) for control of interlinked processes

365

(14)

10.6 Integration of process control systems into overall systems of plant management

379

(1)

10.7 Safety-critical and high-integrity designs

380

(3)

10.8 The interaction of control with information technology (IT) and with software engineering

383

(1)

Exercises

384

(1)

11 Commercially available computer control systems and their industrial application

385

(67)

11.1 Introduction

385

(1)

11.2 Computer integrated manufacturing through the Fisher PROVOXplus System

386

(10)

11.3 The Bristol Babcock System

396

(2)

11.4 The TCS 6000 System

398

(3)

11.5 The Contronic P Systems of Hartmann and Braun

401

(3)

11.6 The Analog Devices System

404

(5)

11.7 The Siemens Teleperm M System

409

(5)

11.8 The Honeywell TDC System

414

(16)

11.9 The Foxboro System

430

(1)

11.10 Case history C: Control of a 1000 tonne press

430

(2)

11.11 Case history D: Control of a fully automatic woodworking machine

432

(1)

11.12 Case history E: Control of a paper-mill complex

433

(1)

11.13 Case history F: Computer integrated manufacture at a photographic film plant

434

(3)

11.14 Case history G: Computer integrated manufacture at a chemical manufacturing plant

437

(3)

11.15 Case history H: Control of a pumped storage scheme

440

(2)

11.16 Case history I: Control of a batch process

442

(4)

11.17 Case history J: Enhanced boiler drum level control

446

(5)

11.18 Concluding Remarks

451

(1)

11.19 Miniproject

451

(1)

12 Adaptive and robust control

452

(39)

12.1 Introduction

452

(2)

12.2 Some simple initial ideas on adaptive and self-tuning control

454

(3)

12.3 Approaches to adaptive control

457

(1)

12.4 Approaches to self-tuning control

458

(1)

12.5 Identification methods for adaptive and self-tuning control

458

(1)

12.6 Linear difference equation process models

459

(3)

12.7 Approaches to the control design phase

462

(1)

12.8 Model reference adaptive control (MRAC)

463

(3)

12.9 Trajectory following control

466

(2)

12.10 Controller scheduling

468

(3)

12.11 Batch-to-batch adaptation for batch processes

471

(1)

12.12 Predictive–iterative control using a fast process model

472

(1)

12.13 Commercially available adaptive controllers

473

(2)

12.14 Robustness

475

(8)

12.15 Some practical points on process identification and modelling

483

(4)

12.16 Some final realism

487

(1)

12.17 Conclusions

488

(1)

Miniprojects

489

(2)

Appendix A The structure and operation of a peripheral interface adaptor (PIA chip)

491

(7)

A1 Addressing the PIA chip

492

(2)

A2 PIA control lines

494

(4)

Appendix B Examples of VME bus and Personal Computer Systems for control implementation

498

(2)

Appendix C Tables of transform pairs

500

(3)

Bibliography—general

503

(5)

References—adaptive, self-tuning and robust control

508

(12)

Glossary of symbols

520

(2)

Index

522

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Applied Digital Control Theory, Design and Implementation. Second Edition

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Applied Digital Control Theory, Design and Implementation. Second Edition

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