| Contents |
Basic structure of the system with digital control. Discretisation in time and its effects. Discrete-time models. Discrete transfer functions. Zero and poles and their relationship to responses. Systems with diferet sample time at elements for discretisation. Time-discrete models and discrete transfer functions of systems with transport delay. Frequency characteristics of digital control systems. Synthesis of digital regulators using approximation methods for continuous ones. Selecting the sampling period. Synthesis of discret systems using the rooth loocus method. Implementation of digital controlers. The poles placement method by means of state feedback.. Fundamental constraints on the performance of the closed-loop system. State estimators of digital system. Digital PID controllers implementation with reduced effect of integral winding. |