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Preface v

chapter is to introduce the tools and terms commonly used when designing and
evaluating a controllers performance.
Chapter 5 examines the common methods used to design analog control sys-
tems. In each section, root locus and frequency domain techniques are used to design
the controllers being studied. Basic controller typessuch as proportional-integral-
derivative (PID), phase-lag, and phase-leadare described in terms of characteris-
tics, guidelines, and applications. Included is a description of on-site tuning methods
for PID controllers. Pole placement techniques (including gain matrices) are then
introduced as an approach to designing state-space controllers.
Chapter 6 completes the development of the analog control section by describ-
ing common components and how they are used in constructing real control systems.
Basic op-amp circuits, transducers, actuators, and ampliers are described, with
examples (including linear and rotary types) for each category. The focus here is
not only on solving text problems but also on ensuring that the controller in
question can be successfully implemented.
Chapter 7 brings the reader into the domain of digital control systems. A
cataloging of the various examples of digital controllers serves to demonstrate
their prevalence and the growing importance of digital control theory. Common
congurations and components of the controllers noted in these examples are then
summarized. Next, the common design methods for analog and digital controllers
are compared. If a student with a background in analog controls begins the text here,
it should help to bridge the gap between the two types of controllers. The chapter
concludes by examining the effects of sampling and introducing the z-transform as a
tool for designing digital control systems.
Chapter 8 is similar to Chapter 4, but it applies performance characteristics to
digital control systems. Open- and closed-loop characteristics, disturbance effects,
steady-state errors, and stability are again examined, but this time taking into
account sample time and discrete signal effects.
Chapter 9, like Chapter 5, focuses on PID, phase-lag, and phase-lead control-
lers; in addition, it presents direct design methods applicable to digital controllers.
Controller design methods include developing the appropriate difference equations
needed to enter into the implementation stage. Also included is a discussion of the
effects of sample time on system stability.
Chapter 10 concludes the digital section by presenting the common compo-
nents used in implementing digital controllers. Computers, microcontrollers, and
programmable logic controllers (PLCs) are presented as alternatives. Methods for
programming each type are also discussed, and a connection is drawn between the
algorithms developed in the previous chapter and various hardware and software
packages. Digital transducers, actuators, and ampliers are examined relative to
their role in implementing the controllers designed in the previous chapter. The
chapter concludes with a discussion of pulse-width modulation, its advantages and
disadvantages, and its common applications.
Chapter 11 is an introduction to advanced control strategies. It includes a short
section illustrating the main characteristics and uses of various controllers, including
feedforward, multivariable, adaptive, and nonlinear types. For each controller, suf-
cient description is provided to convey the basic concepts and motivate further
study; some are described in greater detail, enabling the reader to implement them
as advanced controllers.

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