文件名称：Observers in Control Systems
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Control Observers Systems
Observers in Control Systems - A Practical Guide
Observers in Control Systems ?..........................................
Acknowledgments xi..............................................................
Safety xiii..................................................................................
1 Control Systems and the Role of Observers 1................
1.1 Overview 1...................................................................................
1.2 Preview of Observers 2...............................................................
1.3 Summary of the Book 4...............................................................
2 Control-System Background 5..........................................
2.1 Control-System Structures 5.......................................................
2.2 Goals of Control Systems 13.........................................................
2.3 Visual ModelQ Simulation Environment 17...................................
2.4 Software Experiments: Introduction to Visual ModelQ 18.............
2.5 Exercises 39..................................................................................
3 Review of the Frequency Domain 41..................................
3.1 Overview of the s-Domain 41........................................................
3.2 Overview of the z-Domain 54........................................................
3.3 The Open-Loop Method 59...........................................................
3.4 A Zone-Based Tuning Procedure 62.............................................
3.5 Exercises 66..................................................................................
4 The Luenberger Observer: Correcting Sensor
Problems 67.............................................................................
4.1 What Is a Luenberger Observer? 67.............................................
4.2 Experiments 4A-4C: Enhancing Stability with an Observer 72......
4.3 Predictor-Corrector Form of the Luenberger Observer............
4.4 Filter Form of the Luenberger Observer 78...................................
4.5 Designing a Luenberger Observer 82...........................................
4.6 Introduction to Tuning an Observer Compensator 90...................
4.7 Exercises 95..................................................................................
5 The Luenberger Observer and Model Inaccuracy 97........
5.1 Model Inaccuracy 97.....................................................................
5.2 Effects of Model Inaccuracy 100.....................................................
5.3 Experimental Evaluation 102...........................................................
5.4 Exercises 114..................................................................................
6 The Luenberger Observer and Disturbances 115...............
6.1 Disturbances 115.............................................................................
6.2 Disturbance Response 123.............................................................
6.3 Disturbance Decoupling 129...........................................................
6.4 Exercises 138..................................................................................
7 Noise in the Luenberger Observer 141................................
7.1 Noise in Control Systems 141.........................................................
7.2 Sensor Noise and the Luenberger Observer 145............................
7.3 Noise Sensitivity when Using Disturbance Decoupling 156............
7.4 Reducing Noise Susceptibility in Observer-Based Systems 161....
7.5 Exercises 170..................................................................................
8 Using the Luenberger Observer in Motion Control 173......
8.1 The Luenberger Observers in Motion Systems 173........................
8.2 Observing Velocity to Reduce Phase Lag 185................................
8.3 Using Observers to Improve Disturbance Response...............
8.4 Exercises 212..................................................................................
References 213..........................................................................
A Observer-Based Resolver Conversion in Industrial
Servo Systems1 217.................................................................
B Cures for Mechanical Resonance in Industrial
Servo Systems1 227.................................................................
Introduction 227.....................................................................................
Two-Part Transfer Function 228............................................................
Low-Frequency Resonance 229............................................................
Velocity Control Law 230.......................................................................
Methods of Correction Applied to Low-Frequency Resonance 231......
Conclusion 235......................................................................................
Acknowledgments 235..........................................................................
References 235.....................................................................................
C European Symbols for Block Diagrams 237.......................
Part I: Linear Functions 237..................................................................
Part II: Nonlinear Functions 238............................................................
D Development of the Bilinear Transformation 241...............
Bilinear Transformation 241..................................................................
Prewarping 242.....................................................................................
Factoring Polynomials 243....................................................................
Phase Advancing 243............................................................................
Solutions to Exercises 245.......................................................
Chapter 2........................................................................................
Chapter 3 245........................................................................................
Chapter 4 246........................................................................................
Chapter 5 246........................................................................................
Chapter 6 247........................................................................................
Chapter 7 248........................................................................................
Chapter 8 249........................................................................................
Index 251....................................................................................