Page 889 - Mechanical Engineers' Handbook (Volume 2)

Index 881

Continuous system simulation languages hard-wired digital, 672–674
(CSSLs), 499, 500 Controllers:
Continuous-time compensators, 540 observer-based, 783–788
Continuous-time dynamic simulation, 276 robot, 711–713
Continuous-time systems: Control processors, 681
canonical forms for, 720–731 Control program, robot, 712–715
LQR problem, 763–764 Control system design, 383–442
observer-based controller for LTI, 784 actuator, 392–399
observer for LTV, 777 block diagrams in, 384–386
state-space equations for, 718–720 compensation/alternative control
system equations solutions for, 732, structures, 414–419
740–741 and control laws, 399–405
transformation matrices for canonical digital, 424–438
forms of, 728–731 gain selection criteria, 409–414
Contouring controllers, 701 graphical methods of, 418–424
Control: hardware, 405–409
illusion of, 280 software support for, 438–440
objectives of, 399 state-space methods of, see State-space
Control action, 399 control system design
Control algorithm, 399 structure of control system, 386–389
Controllability, 746–748, 750–752 transducer/error-detector, 389–392
Controllable canonical form, 723, 728, in the z-plane, 428–432
733, 737 Control system performance modification,
Control law(s), 399–405 503–540
derivative, 404–405 controller design, 538–540
integral, 401, 402 gain/phase margin, 504–509
PID, 405 Hall chart, 509–514
proportional, 399–401 Nichols chart, 513–517
proportional-plus-integral, 403 pole locations in z-domain, 532, 535–
Controlled-variable derivatives, 646–649 539
Controller design, 538–540, 620–677 root locus, see Root locus
accuracy/loop gain, 621–625 Control systems:
dynamic response/stability, 625–635 analysis of closed-loop, see Closed-loop
effects of nonlinearities, 660, 661, 663– control system analysis
665, 667–669 classifications of, 388
frequency compensation, 632–645 elements of, 387–388
and implementation, 669–677 functions of, 386
inner feedback loops, 645–651 future trends in, 439–442
PID, 656, 658–666 purpose of, 384
prefilters/feedforward, 651–657 system-type number/error coefficients
Controller hardware, 405–409 of, 388–389
digital, 434–437 transfer functions of, 388
electronic, 406–409 Control systems simulation software, 438–
feedback compensation and design of, 440
405–406 Coordinate systems, NC, 699–701
hydraulic, 407 Correlation, illusion of, 280
pneumatic, 407 Correlation coefficient, 362
Controller implementation, 669–677 Corrosion, spurious emf due to, 148, 149
analog, 669–672 Corrosion-/strain-induced spurious, 148,
computer-based digital, 673–677 149