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| Franklin G.F., Workman M.L., Powell J.D. — Digital Control of Dynamic Systems |
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| Предметный указатель |
Ackermann's formula, control 286
Ackermann's formula, estimator 294 296 300
Actuator delay 341
Adaptive control 615
Adaptive control, gain scheduling 617
Adaptive control, model reference 619
Adaptive control, self-tuning regulator 619
Adjoint equations 365
Aizermann's conjecture 577
Aliasing 5 162
Amit, N. 470
Analog Kalman filter 399
Analog prefilter 465
Analog-to-Digital Converter 2
Antenna control 691
antialiasing filters 163 465
ARMA model 497
Astroem and Wittenmark 466
Autocorrelation 492
Backward rectangular rule 59 69 78 190
Bandwidth 32 255 264
Bending modes 463
Berg, M. 470
Berman and Gran 454
Bertram bound 428
Bias estimation 329
Bias in identification 514 520
BIBO stable 94
Bilinear transform 191
Bit density 650
Block Diagrams 15
blue 514
bode 34 234
Bode plots 34 234
Bode plots, gain margin 37 243
Bode plots, phase margin 37 243
Bode, gain-phase relationship 37 254
Break point 34
Bryson's rules 400
Bryson, A. and Ho, Y-C. 366 394
Butterworth filter 195
CACSD 1 7 13 635
Canonical forms, cascade 89
Canonical forms, control 84
Canonical forms, direct 89
Canonical forms, observer 87
Cascade canonical form 89
Cayley — Hamilton theorem 711
Characteristic equation 22 76 227
Chirp 488
Circle criterion 577
Clary's method 489
clock 2
Colocated 357 697
Colored noise 393
Command input 310
Compensation 39
Compensation, emulation 214
Compensation, frequency response 234
Compensation, root locus 222
Compensation, state-space 48 303
Compensator 213 303
Complementary sensitivity 22 252
Conditional probability 718
Consistent estimate 512
Constant-coefficient difference eq. 74
Control canonical form 84 284
Control law 42 280
Controllability 43 285 345
Controllability matrix 286
Controller 213
Convolution 92
Correlated noise 393
Cost equivalents 379
Cost function 44 364
Cost function, discrete equivalent 379
Covariance 384 718
Cross over frequency 37 254
Cross-correlation 492
Cross-power spectrum 492
Cruise-control 274
Current estimator 289 295
Cycle delay 82 220
Damping ratio 17 128
Deadbeat 357 364
Decoupling 360 417
Delay 99 337
Delay of T/2 63 166 220
Derivative Control 24
Describing functions 559
Describing functions, hysteresis 564
Describing functions, limit cycle analysis 566
Describing functions, quantizer 568
Describing functions, saturation 562
Describing functions, stability analysis 564
Determinants 705
DFT 134 484
Difference equations 59
Digital Control Toolbox 7
Digital filters 6 187
Digital signal 4
Digital-to-Analog Converter 2
Direct canonical form 89
Direct design 264
Discrete design 211
Discrete equivalent noise 396
Discrete equivalents 78 187
Discrete equivalents, backward rule 78 191
Discrete equivalents, design by 215
Discrete equivalents, forward rule 78 191
Discrete equivalents, trapezoid rule 191
Discrete signals 3 59
Discrete transfer function 78 170
disk drive 320 336 355 422
Distribution functions 714
Disturbance estimation 322 328
Disturbance modeling 328
Disturbance rejection 2 328 454
Dither 443
Divergent filter 393
Double mass-spring 287 357 377 459 697
Duality 394
Dynamic range 9
Eigenvalues 707
Eigenvector 707
Eigenvector, decomposition 374
Emami-Naeini and Franklin 317
Embedded servo 663
Emulation 4 57 169
Emulation by equivalent cost 380
Emulation, design 214
Engine control 341
Engine speed governor 342
Equation error 499
Equivalent gains 442
Equivalents-plane 128
Ergodic 493
Error 498
error constants 213 255 259
Error constants, Truxal's formula 227
Error, equation 499
Error, output 500
Error, prediction 501
Estimation of biases 329
Estimators 41 281
Estimators, compared with classical 319
Estimators, current 289 295
Estimators, design 289
Estimators, error equation 291
Estimators, prediction 289 290
| Estimators, reduced order 299
Euler integration 59 78 189
Euler — Lagrange equations 371
Event-based 3
Excavator control 275
Expectation 384 715
Exponential response 121
Fast Fourier Transfrom 134
Feedforward 311 330 412
Fekete 341
FFT 134
Fibonacci numbers 75
Filtered least squares 490
Filters 187
Final-value theorem 15 139
Final-Value Theorem, discrete 225
First-order hold 167 203
Fixed point 426
Flexible structure 697
Forward rectangular rule 59 78 189
Four disk system 530
Fourier transform 134
Free running 3
Frequency response 31 131
Frequency response, design 234
Frequency response, specifications 249 252
Frequency response, z-transform 236
Gain margin 37 243
Gain scheduling 617
Gaussian distribution 714
Gopinath, B 299
Gradient 118
Hamiltonian control 372
Hamiltonian estimation 395
Hamming window 494
Hidden oscillations 163 231
Hirata 460
Ideal low-pass filter 164
Identification 6 479
Identification, biases 514 520
Identification, Clary's method 490
Identification, equation error 499
Identification, filtering 490
Identification, known factors 490
Identification, one-frequency-at-a-time 485
Identification, output error 500
Identification, prediction error 501
Impulse modulation 160
Impulse response 16
Independence 718
Integral control 49 322 412
Intersample ripple 163 231
Inverse nonlinearity 582
Inverse z-transform 143
Jacobean 118
Jury stability 96
Kalman and Bertram 470
Kalman filter 379
Kalman filter, constant gain 394
Katz 460 462
Kautusky 286
Kranc 470
Kwakernaak and Sivan 400 455
Lag compensation 39
Lagrange multipliers 365
Laplace transform 12
latency 231
Lead compensation 39
Least squares estimation 503
Least squares, biased 520
Likelihood function 522
Limit cycle 440
Linear Quadratic Gaussian 395
Linear Quadratic Regulator 371
Linearity 93
Linearization 117 482 550
Log-likelihood function 522
LQG 395
LQR 44 371
Luenberger observer 299
Lyapunov equation 435 455 723
Lyapunov's second method 579
Magnetic levitator 273
Magnetic tape drive 407
Magnitude 32
Mason's rule 83
MATLAB 7 725 727
Matrix 7
Matrix inverse 705
Matrix inverse, lemma 706
Maximum likelihood 522
Mayr 7
Mean 521
Measurement Noise 389 465
MIMO 41 279 359 400
Mode switching 670
Modern control theory 6
Modified z-transform 110 180
Moler 107 115
Multirate sampling 469
Multivariate design 400
NASTRAN 556
Noise 396
Noise, discrete equivalent 396
Non-parametric model 484
Noncausal 92
Noncolocated 357 697
Nonlinearities 117
Normal distribution 521 714
Normal equations 504
Notch filter 357
Numerical integration 57 189 548
Numerical integration, rectangular rules 189
Numerical integration, trapezoid rule 191
Numerical integration, Tustin's rule 191
Nyquist frequency 163
Nyquist stability 238
Observability 47 293 345
Observability matrix 294
Observer 41 281
Observer canonical form 87
Oil-mass resonance 276
One-frequency-at-a-time 485
Optimal control 6 44
Optimal control, time-varying 364
Optimal estimation 47 382
Optimal estimation, steady-state 394
Output Error 317 480
Overshoot 20
Paper machine 403
Parameter errors 249 461
Parametric identification 480 495
Parsons 380
Partial fraction expansion 31
Peled 467
Persistently exciting 624
Phase 32
Phase margin 37 64 221 243
PID control, continuous 24
PID control, discrete 66
Pincer procedure 401
Pole placement 6 42 282 308
Pole placement, control law 282 287
Pole placement, estimator 294 304
Poles 16 81
Polynomial design 264
Power spectral density 397 722
Power spectrum 492
Prediction error 480
Prediction estimator 289
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