Control of Mechatronic Systems. Patrick O. J. Kaltjob

step response.Figure 3.6 Continuous-time and discrete-time equivalent step response for va...Figure 3.7 (a) System with two samplers. (b) System with a cascaded continuo...Figure 3.8 Process control with sampler and hold circuits.Figure 3.9 Time delay effect on signal processing by zero-order hold element...Figure 3.10 Step signal conversion of sampling of manipulation input.Figure 3.11 Generic block diagram of process with sampler and hold equivalen...Figure 3.12 (a) and (b) Decomposition of the discrete third-order process mo...Figure 3.13 Time-delay effect of triangle (first-order) hold element.Figure 3.14 Time-delay of effect on continuous signal discrete approximation...Figure 3.15 Typical generated curves using linear and cubic interpolations....Figure 3.16 Signal reconstruction using three-spline functions for synchroni...Figure 3.17 Linear interpolation of DC motor-driven elevator position profil...Figure 3.18 Equivalent angular parabolic position motion profile.Figure 3.19 Generic motion profile.Figure 3.20 Command input trajectories (position, velocity and acceleration)...Figure 3.21 Equivalent harmonic command trajectory.Figure 3.22 Example of an 8-bit resistive ladder DAC.Figure 3.23 Resistive-based ladder of a DAC.Figure 3.24 Analog-to-digital conversion technique.Figure 3.25 Successive approximate A/D conversion circuitry.Figure 3.26 Dual-slope A/D conversion circuitry.Figure 3.27 Flash A/D conversion circuitry.Figure 3.28 Delta-encoded ADC block diagram.Figure 3.29 Computer data and instruction addressing structure.Figure 3.30 Input/output field devices interfacing with computing unit.Figure 3.31 Computing unit interface for the LED activation.Figure 3.32 Pneumatically-driven process with limit switche I/O interface ci...Figure 3.33 Double switch position interface with debouncing.Figure 3.34 Generic digital data acquisition and control processing system....Figure 3.35 Timing structure for the execution of computer control algorithm...Figure 3.36 Latch-based analog-to-digital signal encoding technique.Figure 3.37 Pulse counting principle of thermocouple generated signals.Figure 3.38 Typical signal-based delay effect with D-latch.Figure 3.39 Typical input impulse signal holding.Figure 3.40 Time delay in discrete response of first-order process.Figure 3.41 DC motor block diagram with current and position cascade feedbac...Figure 3.42 Typical DC motor current, position, and torque responses to unit...Figure 3.43 Typical response of the current loop for a slower sampling perio...Figure 3.44 Sampling period effect on sinusoid signal.Figure 3.45 Motor voltage output signal.Figure 3.46 Magnetically suspended ball.Figure 3.47 Water tank with inlet valve computer controlled.Figure 3.48 Step input to tank filling system.Figure 3.49 Spacecraft motion with an angle α. Figure 3.50 Command input sequence with intersampling.Figure 3.51 Command input sequence.Figure 3.52 Periodic command inputs.Figure 3.53 Circle curve point-to-point motion.Figure 3.54 Two-vessel system with pump.

      4 Chapter 4Figure 4.1 Root locus sketch for desired pole phase and magnitude estimation...Figure 4.2 Root locus sketch for double poles.Figure 4.3 Root locations and associated impulse response in the z-plane for...Figure 4.4 Impulse responses for various values of various ξ and ωn...Figure 4.5 Magnitude and phase frequency responses using MATLAB.Figure 4.6 Magnitude and phase frequency responses with PM and GM values.Figure 4.7 Typical percentage second-order oscillatory response.Figure 4.8 Complex roots locus phase and magnitude value definition.Figure 4.9 Block diagram of a DC motor with a lead screw system.Figure 4.10 Chordal approximation for hole cutting with a different radius....Figure 4.11 Process block diagram.Figure 4.12 Process block diagram.

      5 Chapter 5Figure 5.1 Impulse response for different process model types and with a dea...Figure 5.2 Frequency response of uncompensated G(ω) and compensated clo...Figure 5.3 System unit step response.Figure 5.4 Uncompensated step response.Figure 5.5 (a) Uncompensated step response with K _p =0.8689 and Kd=0.0303...Figure 5.6 (a) Uncompensated system response. (b) Compensated system respons...Figure 5.7 (a) Frequency responses for uncompensated PID with a pole-zero co...Figure 5.8 An s-plane showing root structure.Figure 5.9 (a) A z-plane plot showing the root location for an uncompensated...Figure 5.10 Step response of a compensated system.Figure 5.11 Generic command input feedforward block diagram.Figure 5.12 Modified command input feedforward block diagram.Figure 5.13 Block diagram of a DC motor with feedforward control.Figure 5.14 (a) Desired ramp command. (b) Required manipulated input. (c) Ve...Figure 5.15 (a) Desired ramp command input and position achieved. (b) Requir...Figure 5.16 Control feedforward of a robot arm.Figure 5.17 Feedforward control of disturbances.Figure 5.18 Typical PID-based acceleration, velocity, and position state fee...Figure 5.19 Classical (industrial) PID motion controller with velocity and p...Figure 5.20 PID-based state-position cascade control topology for a DC motor...Figure 5.21 Zero-error tracking state-variable motion controller and command...Figure 5.22 Block diagram for generic cascade control topology.Figure 5.23 DC motor model block diagram.Figure 5.24 (a) Velocity control loop. (b) Current loop.Figure 5.25 (a) Equivalent input voltage to current, velocity, and position ...Figure 5.26 Cascade-based control block diagram of a DC motor.Figure 5.27 Active PID-based state feedback control block diagram of a DC mo...Figure 5.28 Modified position loop of cascaded control of a DC motor.Figure 5.29 Average velocity and position-based state feedback control of a ...Figure 5.30 Modified average velocity and position-based state feedback cont...Figure 5.31 Position-based PID state feedback control of a DC motor.Figure 5.32 Modified block diagram of position-based PID state feedback cont...Figure 5.33 Generic MPC control topology.Figure 5.34 Generic structure of a stepping motor structure.Figure 5.35 Initial P and V register values.Figure 5.36 P and V register values after four additions.Figure 5.37 Generic open-loop scalar control of an induction motor.Figure 5.38 Generic closed-loop scalar control of an induction motor.Figure 5.39 Basic structure of indirect oriented vector direct control witho...Figure 5.40 Gamma model of an induction motor.Figure 5.41 Torque-speed curves for varying R _a (t), φ, V _a (t).Figure 5.42 Typical thyristor-controlled DC drive.Figure 5.43 Variation of speed with an external armature resistance.Figure 5.44 Robot for labeling a box in a supply-chain system.Figure 5.45 Elevator motion block diagram.Figure 5.46 (a) Process block diagram. (b) Command input.Figure 5.47 Automatic vehicle speed control system.Figure 5.48 Flood tide control gate for (a) a barrier-open position and (b) ...Figure 5.49 Position system block diagram.Figure 5.50 (a) Robot arm. (b) Robot arm joint trajectory. (c) Combined robo...Figure 5.51 Discrete DC motor block diagram.Figure 5.52 Temperature-based blood treatment system.Figure 5.53 (a) System block diagram with disturbance. (b) System block diag...Figure 5.54 Block diagram for control of motor current.Figure 5.55 Satellite with spin control thrusters.Figure 5.56 (a) Velocity/position profile of a robot arm. (b) Block for cont...Figure 5.57 Block diagram of a DC motor first-order model.Figure 5.58 Lathe machine and laser-based measuring system.Figure 5.59 Schematic block diagram of a laser-based tool offset controller....Figure 5.60 Wind turbine control motion.Figure 5.61 DC motor-amplifier position control.Figure 5.62 Block diagram of a motor-control system.Figure 5.63 DC motor state feedback control topology.Figure 5.64 Oil distillation column and reboiler.Figure 5.65 Block diagram of control system with a PI controller.Figure 5.66 Vehicle speed control.

      6 Chapter 6Figure 6.1 Dependency charts showing a sequence of process events.Figure 6.2 Logic circuit of motor starter with a D-flip-flop.Figure 6.3 (a) Mealy state diagram. (b) Mealy state diagram with binary codi...Figure 6.4 Generic state diagram sketching.Figure 6.5 A two-state motor starter state diagram.Figure 6.6 Schematic of the cement pozzolana scratching process.Figure 6.7 (a) State diagram of the cement pozzolana scratching process. (b)...Figure 6.8 (a) Robot-assisted biopsy surgery. (b) State diagram of the robo...Figure 6.9 Laser surgery operating schematic.Figure 6.10 Mealy state diagram of the laser surgery process.Figure 6.11 Moore state diagram of the laser surgery process.Figure 6.12 (a) Three-floor elevator system. (b) State diagram of a two-floo...Figure 6.13 (a) Robot-assisted fruit picker. (b) Moore state diagram. (c) Eq...Figure 6.14 Equivalent Mealy state diagram with binary coding.Figure 6.15 Unmanned vehicle with embedded navigation free collision system....Figure 6.16 Vehicle anti-braking system.Figure 6.17 Logic controller circuit for a delayed pump activation of an ant...Figure 6.18 Battery charging process.Figure 6.19 Automatic vehicle adaptive front lighting system.Figure 6.20 Equivalent state diagram for automatic lightning system.Figure 6.21 (a) Anti-braking system state diagram. (b) Four-state vending ma...Figure 6.22 Motor-driven pump control circuit.Figure 6.23 Driverless car system.Figure 6.24 State diagram for an anti-collision system in a driverless car....Figure 6.25 Laser-based cutting system.Figure 6.26 Logic control of system for screw table motion system.Figure 6.27 Automatic garage gate.Figure 6.28 Snake robot.Figure 6.29 State diagram for snake robot motion.Figure 6.30 Satellite with spin-control