Digital Control Systems -Design, Identification and Implementation

Contents 2.3.2Frequency Domain 38 2.3.3General Forms of Linear Discrete-time Models 42 2.3.4Stability of Discrete-time Systems 44 2.3.5 Steady-state Gain 46 2.3.6 Models for Sampled-data Systems with Hold 47 2.3.7 Analysis ofFirst-order Systems with Time Delay 49 2.3.8Analysis of Second-order Systems 52 2.4 Closed Loop Discrete-time Systems 55 2.4.1 Closed Loop System Transfer Function 55 2.4.2Steady-state Error 56 2.4.3Rejection of Disturbances 57 2.5 Basic Principles of Modern Methods for Design of Digital Controllers 58 2.5.1 Structureof Digital Controllers 58 2.5.2Digital Controller Canonical Structure 61 2.5.3Control System with PI Digital Controller 64 2.6 Analysis of the Closed Loop Sampled-Data Systems in the Frequency Domain 66 2.6.1 Closed Loop Systems Stability 66 2.6.2Closed Loop System Robustness 69 2.7 Concluding Remarks 81 2.8 Notes and References 84