Chapter 3. Robust Digital Controller Design Methods

3.1 Introduction

3.2 Digital PID Controller

3.2.1 Structure dof the Digital PID 1 Controller

3.2.2 Design of the Digital PID 1 Controller

3.2.3 Digital PID 1 Controller: Examples

3.2.4 Digital PID 2 Controller

3.2.5 Effect of Auxiliary Poles

3.2.6 Digital PID Controller: Conclusions

3.3 Pole Placement

3.3.1 Structure

3.3.2 Choice of the Closed Loop Poles(P(q-1)

3.3.3 Regulation (Computation of R(q-1) et S(q-1))

3.3.4 Tracking (Computation of T(q-1))

3.3.5 Pole Placement: Examples

3.4 Tracking and Regulation with Independent Objectives

3.4.1 Structure

3.4.2 Regulation (Computation of R(q-1) et S(q-1))

3.4.3 Tracking (Computation of T(q-1))

3.4.4 Tracking and Regulation with Independent Objectives: Examples

3.5 Internal Model Control (Tracking and Regulation)

3.5.1 Regulation

3.5.2 Trtacking

3.5.3 An Interpretation of the Internal Model Control

3.5.4 The Sensitivity Functions

3.5.5 Partial Internal Model Control ( Tracking and Regulation)

3.5.6 Internal Model Control for Plant Models with Stable Zeros

3.5.7 Example: Control of Systems with Time Delay

3.6 Pole Placement with Senstivity Function Shaping

3.6.1 Properties of the Output Sensitivity Function

3.6.2 Properties of the Input Sensitivity Function

3.6.3 Definition of "Templates " for the Sensitivity Functions

3.6.4 Shaping of the Sensitivity Functions

3.6.5Shaping of the Sensitivity Functions: Example 1

3.6.6Shaping of the Sensitivity Functions: Example 2

3.7 Concluding Remarks

3.8 Notes and References