| Introduction / 1： |
| Problem Definition |
| Overview of Design Approach |
| Computer-Aided Design |
| Suggestions for Further Reading |
| Summary |
| Problems |
| Review of Continuous Control / 2： |
| Dynamic Response |
| Basic Properties of Feedback |
| Root Locus |
| Frequency Response Design |
| Compensation |
| State-Space Design |
| Introductory Digital Control / 3： |
| Digitization |
| Effect of Sampling |
| PID Control |
| Discrete Systems Analysis / 4： |
| Linear Difference Equations |
| The Discrete Transfer Function |
| Discrete Models of Sampled-Data Systems |
| Signal Analysis and Dynamic Response |
| Frequency Response |
| Properties of the z-Transform |
| Sampled-Data Systems / 5： |
| Analysis of the Sample and Hold |
| Spectrum of a Sampled Signal |
| Data Extrapolation |
| Block-Diagram Analysis of Sampled-Data Systems |
| Calculating the System Output Between Samples: The Ripple |
| Appendix |
| Discrete Equivalents / 6： |
| Design of Discrete Equivalents via Numerical Integration |
| Zero-Pole Matching Equivalents |
| Hold Equivalents |
| Design Using Transform Techniques / 7： |
| System Specifications |
| Design by Emulation |
| Direct Design by the Root Locus in the z-Plane |
| Frequency Response Methods |
| Direct Design Method of Ragazzini |
| Design Using State-Space Methods / 8： |
| Control Law Design |
| Estimator Design |
| Regulator Design: Combined Control Law and Estimator |
| Introduction of the Reference Input |
| Integral Control and Disturbance Estimation |
| Effect of Delays |
| Controllability and Observability |
| Multivariable and Optimal Control / 9： |
| Decoupling |
| Time-Varying Optimal Control |
| LQR Steady-State Optimal Control |
| Optimal Estimation |
| Multivariable Control Design |
| Quantization Effects / 10： |
| Analysis of Round-Off Error |
| Effects of Parameter Round-Off |
| Limit Cycles and Dither Summary |
| Sample Rate Selection / 11： |
| The Sampling Theorem's Limit |
| Time Response and Smoothness |
| Errors Due to Random Plant Disturbances |
| Sensitivity to Parameter Variations |
| Measurement Noise and Antialiasing Filters |
| Multirate Sampling |
| System Identification / 12： |
| Defining the Model Set for Linear Systems |
| Identification of Nonparametric Models |
| Models and Criteria for Parametric Identification |
| Deterministic Estimation |
| Stochastic Least Squares |
| Maximum Likelihood |
| Numerical Search for the Maximum Likelihood Estimate |
| Subspace Identification Methods |
| Nonlinear Control / 13： |
| Analysis Techniques |
| Design of a Disk Drive Servo: A Case Study / 14： |
| Overview of Disk Files |
| Components and Models |
| Design Specifications |
| Disk Servo Design |
| Introduction / 1： |
| Problem Definition |
| Overview of Design Approach |
| Computer-Aided Design |
| Suggestions for Further Reading |
| Summary |
