Two particularly well-known black-box state space representations of this minimal type are considered: namely the controllable canonical form and the observable canonical form.
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Such a minimal dimension SVF always involves n states, where n is the order of the denominator polynomial of the discrete-time TF model. In particular, a pole assignment SVF control law is developed for the general linear nth order system. This chapter considers minimal state space representations of the Transfer Function (TF) model and shows how these may be employed in the design of State Variable Feedback (SVF) control systems. The limitations of these simple control structures are discussed, thereby providing motivation for subsequent chapters.Ĭhapter 3 Minimal State Variable Feedback We subsequently review several rules of block diagram analysis and use these to introduce three basic, discrete-time control algorithms: namely, proportional, integral and proportional-integral control. Hence, in this tutorial chapter, we introduce the general discrete-time TF model represented in terms of the backward shift operator, define the poles and zeros of the system, and consider its stability properties. This is followed by an outline of the book structure.Ĭhapter 2 Discrete-Time Transfer FunctionsĬontrol systems in this book are typically represented in block diagram form, with Transfer Function (TF) models representing both the mathematical model and control algorithm in various feedback arrangements. One of the key methodological tools for TDC system design, namely the idea of a non-minimal state space form, is briefly introduced. This introductory chapter reviews some of the standard terminology and concepts in automatic control, as well as the historical context in which the TDC methodology was developed. In this book, we promote a True Digital Control (TDC) philosophy that encompasses the entire control system design process, from data collection, data–based model identification and parameter estimation, through to control system design, robustness evaluation and implementation. True Digital Control offers a comprehensive and practical guide for students and professionals who wish to further their knowledge in the areas of modern control and stochastic system identification.
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Starting from the ubiquitous proportional-integral controller, and with essential concepts such as pole assignment introduced using straightforward algebra and block diagrams, this book addresses the needs of those students, researchers and engineers, who would like to advance their knowledge of control theory and practice into the state-space domain and academics who are interested to learn more about non-minimal state variable feedback control systems. Treatment of both statistical modelling and control design under one cover is unusual and highlights the important connections between these disciplines.
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With a heritage from both classical and modern control system synthesis, this book is supported by detailed practical examples based on the authors’ research into environmental, mechatronic and robotic systems. This book develops a true digital control design philosophy that encompasses data-based model identification, through to control algorithm design, robustness evaluation and implementation. “Practical modern control and stochastic system identification for students and professionals.”Īlmost all the examples and associated figures from this book are reproduced using the TDCONT and RIVSID demonstration scripts (demos) included in the CAPTAIN Toolbox for Matlab.
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Published by John Wiley & Sons Ltd., 2013. True Digital Control: Statistical Modelling and Non-Minimal State Space Design by C.