Index Continuous system simulation languages (CSSLs), 499, 500 Continuous-time compensators, 540 Continuous-time dynamic simulation, 276

Continuous-time systems: canonical forms for, 720731 LQR problem, 763764 observer-based controller for LTI, 784 observer for LTV, 777 state-space equations for, 718720 system equations solutions for, 732, 740741 transformation matrices for canonical forms of, 728731 Contouring controllers, 701 Control: illusion of, 280 objectives of, 399 Control action, 399 Control algorithm, 399 Controllability, 746748, 750752 Controllable canonical form, 723, 728, 733, 737 Control law(s), 399405 derivative, 404405 integral, 401, 402 PID, 405 proportional, 399401 proportional-plus-integral, 403 Controlled-variable derivatives, 646649 Controller design, 538540, 620677 accuracy / loop gain, 621625 dynamic response / stability, 625635 effects of nonlinearities, 660, 661, 663 665, 667669 frequency compensation, 632645 and implementation, 669677 inner feedback loops, 645651 PID, 656, 658666 prelters / feedforward, 651657 Controller hardware, 405409 digital, 434437 electronic, 406409 feedback compensation and design of, 405406 hydraulic, 407 pneumatic, 407 Controller implementation, 669677 analog, 669672 computer-based digital, 673677

881

hard-wired digital, 672674 Controllers: observer-based, 783788 robot, 711713 Control processors, 681 Control program, robot, 712715 Control system design, 383442 actuator, 392399 block diagrams in, 384386 compensation / alternative control structures, 414419 and control laws, 399405 digital, 424438 gain selection criteria, 409414 graphical methods of, 418424 hardware, 405409 software support for, 438440 state-space methods of, see State-space control system design structure of control system, 386389 transducer / error-detector, 389392 in the z-plane, 428432 Control system performance modication, 503540 controller design, 538540 gain / phase margin, 504509 Hall chart, 509514 Nichols chart, 513517 pole locations in z-domain, 532, 535 539 root locus, see Root locus Control systems: analysis of closed-loop, see Closed-loop control system analysis classications of, 388 elements of, 387388 functions of, 386 future trends in, 439442 purpose of, 384 system-type number / error coefcients of, 388389 transfer functions of, 388 Control systems simulation software, 438 440 Coordinate systems, NC, 699701 Correlation, illusion of, 280 Correlation coefcient, 362 Corrosion, spurious emf due to, 148, 149 Corrosion- / strain-induced spurious, 148, 149