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Chapter 13

Digital Control Systems. Chapter 13. Figure 13.1 Conversion of antenna azimuth position control system from: a. analog control to b. digital control. Figure 13.2 a. Placement of the digital computer within the loop; b. detailed block diagram showing placement of A/D and D/A converters.

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Chapter 13

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  1. Digital Control Systems Chapter 13 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  2. Figure 13.1Conversion of antennaazimuth positioncontrol system from:a. analog control tob. digital control ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  3. Figure 13.2a.Placement of the digital computer within the loop;b.detailed blockdiagram showingplacement of A/D and D/A converters ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  4. Figure 13.3Digital-to-analogconverter ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  5. Figure 13.4Steps in analog-to-digital conversion:a. analog signal;b. analog signal after sample-and-hold;c. conversion ofsamples to digitalnumbers ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  6. Figure 13.5Two views of uniform-ratesampling:a. switch opening and closing;b. product of timewaveform andsampling waveform ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  7. Figure 13.6Model of sampling with a uniform rectangularpulse train ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  8. Figure 13.7Ideal sampling and thezero-order hold ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  9. Table 13.1Partial table of z- and s-transforms ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  10. Table 13.2z-transform theorems ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  11. Figure 13.8Sampled-datasystems:a. continuous;b. sampled input;c. sampled inputand output ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  12. Figure 13.9Sampled-data systems and their z-transforms ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  13. Figure 13.10Steps in blockdiagram reductionof a sampled-data system ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  14. Figure 13.11Digital system forSkill-AssessmentExercise 13.4 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  15. Figure 13.12Computer-controlledtorches cut thicksheets of metal usedin construction © BlairSteitz/Photo Researchers. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  16. Figure 13.13Mapping regions of the s-plane onto the z-plane ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  17. Figure 13.14Finding stability ofa missile controlsystem:a. missile;b. conceptual blockdiagram;c. block diagram;d. block diagramwith equivalent singlesampler ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  18. Figure 13.15Digital system forExample 13.7 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  19. Table 13.3Routh table for Example 13.8 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  20. Figure 13.16Digital system forSkill-AssessmentExercise 13.5 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  21. Figure 13.17a. Digital feedbackcontrol system forevaluation ofsteady-state errors;b. phantom samplersadded;c. pushing G(s) and its samplers to the right past the pickoff point;d. z-transformequivalent system ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  22. Figure 13.18Constant dampingratio, normalizedsettling time, andnormalized peak time plots on the z-plane ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  23. Figure 13.19The s-plane sketch of constant percentovershoot line ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  24. Figure 13.20Generic digitalfeedback controlsystem ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  25. Figure 13.21Digital feedbackcontrol forExample 13.10 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  26. Figure 13.22Root locusfor the systemof Figure 13.21 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  27. Figure 13.23Root locus for the system of Figure 13.21 with constant0.7 damping ratiocurve ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  28. Figure 13.24Sampled stepresponse of thesystem ofFigure 13.21 withK = 0.0627 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  29. Figure 13.25a. Digital controlsystem showingthe digital computerperformingcompensation;b. continuous systemused for design;c. transformed digitalsystem ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  30. Figure 13.26Closed-loop responsefor the compensatedsystem of Example13.12 showing effectof three differentsampling frequencies ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  31. Figure 13.27Block diagramshowing computeremulation of a digitalcompensator ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  32. Figure 13.28Flowchart for a second-orderdigital compensator ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  33. Figure 13.29Flowchart toimplement ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  34. Figure 13.30Antenna controlsystem:a. analogimplementation;b. digitalimplementation ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  35. Figure 13.31Analog antenna azimuth positioncontrol system converted to a digital system ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  36. Figure 13.32Root locussuperimposed over constant damping ratio curve ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  37. Figure 13.33Sampled stepresponse of theantenna azimuthposition controlsystem ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  38. Figure 13.34Simplified blockdiagram of antennaazimuth controlsystem ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  39. Figure 13.35Closed-loop digitalstep response forantenna controlsystem with a leadcompensator. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  40. Figure 13.36Flowchart for digital lead compensator ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  41. Figure P13.1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  42. Figure P13.2 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  43. Figure P13.3 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  44. Figure P13.4 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  45. Figure P13.5 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  46. Figure P13.6 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  47. Figure P13.7 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  48. Figure P13.8 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  49. Figure P13.9Simplified blockdiagram for robotswing motion ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  50. Figure P13.10Simplified blockdiagram of a floppydisk drive ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

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