This book is intended for engineering students in the final years of undergraduate
studies. It is also recommended for graduate students and engineers
aspiring to work in intelligent motion control and digital control of
electrical drives. By providing a bridge between control theory and practical
hardware aspects, programming issues, and application-specific prob-
Basic engineering principles are used to derive the controller structure in
an intuitive manner, so designs are easy to recall, repeat and extend. The
book prepares the reader to understand the key elements of motion control
systems; to analyze and design the structure of discrete-time speed and position
controllers; to set adjustable feedback parameters according to design
criteria; to identify, evaluate, and compare closed-loop performances; to
tiresonant compensators; and to generate speed reference profiles and position
trajectories for use within motion-control systems. The Matlab tools
are used extensively through various chapters to help the reader master the
phases of design, tuning, simulation, and evaluation of speed and position
controllers.
Key motion-control topics, such as nonlinear position control, control of
mechanical structures with flexible couplings, compliance and mechanical
resonance problems, and antiresonant solutions, are introduced in a systematic
manner. A set of exercises, problems, design tasks, and computer simulations
follows each chapter, enabling the reader to foresee the effects of
various control solutions and actions on the overall behavior of motioncontrolled
systems. In addition to control issues, the book contains an exthe
closing chapters, the reader is given an overview of coding the control
algorithms on a DSP platform. The algorithm coding examples are included,
given in both assembly language and C, designed for fixed point
DSP platforms. They offer a closer look into the characteristics and peformance
of contemporary DSP cores and give the reader an overview of the
present performance limits of digital motion controllers. Most of the control
solutions presented in the book are supported by experimental evidence
obtained on test rigs equipped with typical brushless DC and AC servo motors,
contemporary servoamplifiers, and suitable mechanical subsystems.