Text for a first undergraduate course in digital control, requiring an elementary background in linear algebra, differential equations, calculus and complex numbers. Presents continuous and discrete control and estimation theory in a unified fashion, highlighting the interrelationships between the two cases.
One problem with the existing literature is that it emphasizes the differences
between discrete and continuous theory. This dichotomy is largely historical in
nature and may not be the best approach from a pedagogical viewpoint. For
example, shift operators and 2-transforms, which form the basis of most discrete
time analyses. are inappropriate when used with fast sampling and have no
continuous time counterpart. Our philosophy, as presented in this book, is that the
continuous and discrete cases can, and should, be understood under a common
framework. We show that ths is facilitated if the shift operator is augmented with
alternative forms including one whch we call the delta operator. Using the latter
operator, it becomes evident that all discrete time theory converges smoothly to the
appropriate continuous results as the sampling rate increases. An additional, and
somewhat unexpected, bonus arising from the use of the alternative operators is that
numerical properties can be substantially improved relative to the more traditional
shift operator.
Digital Control and Estimation: A Unified Approach
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