Handbook of Networked and Embedded Control Systems
The vast majority of control systems built today are embedded; that is, they rely on built-in, special-purpose digital computers to close their feedback loops. Embedded systems are common in aircraft, factories, chemical processing plants, and even in car
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Control Engineering Series Editor William S. Levine Department of Electrical and Computer Engineering University of Maryland College Park, MD 20742-3285 USA
Editorial Advisory Board Okko Bosgra Delft University The Netherlands
William Powers Ford Motor Company (retired) USA
Graham Goodwin University of Newcastle Australia
Mark Spong University of Illinois Urbana-Champaign USA
Petar Kokotovic´ University of California Santa Barbara USA
Iori Hashimoto Kyoto University Kyoto Japan
Manfred Morari ETH Zürich Switzerland
Handbook of Networked and Embedded Control Systems
Dimitrios Hristu-Varsakelis William S. Levine Editors Editorial Board Rajeev Alur Karl-Erik Årzén John Baillieul Tom Henzinger
Birkhäuser Boston • Basel • Berlin
Dimitrios Hristu-Varsakelis Department of Applied Informatics University of Macedonia Thessaloniki, 54006 Greece
William S. Levine Department of Electrical and Computer Engineering University of Maryland College Park, MD 20742 USA
Library of Congress Cataloging-in-Publication Data Handbook of networked and embedded control systems/Dimitrios Hristu-Varsakelis, William S. Levine, editors. p. cm.–(Control engineering) Includes bibliographical references and index. ISBN 0-8176-3239-5 (alk. paper) 1. Embedded computer systems. I. Hristu-Varsakelis, Dimitrios. II. Levine, W. S. III. Control engineering (Birkhäuser) TK7895.E42H29 2005 629.8’9–dc22
2005041046
ISBN-10 0-8176-3239-5 ISBN-13 978-0-8176-3239-7
e-BSN 0-8176-4404-0
Printed on acid-free paper.
©2005 Birkhäuser Boston All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Birkhäuser Boston, c/o Springer Science+Business Media Inc., 233 Spring Street, New York, NY, 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed in the United States of America. 9 8 7 6 5 4 3 2 www.birkhauser.com
(corrected 2nd Printing, 2008)
Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix Part I Fundamentals Fundamentals of Dynamical Systems William S. Levine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
Control of Single-Input Single-Output Systems Dimitrios Hristu-Varsakelis, William S. Levine . . . . . . . . . . . . . . . . . . . . . . 21 Basics of Sampling and Quantization Mohammed S. Santina, Allen R. Stubberud . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Discrete-Event Systems Christos G. Cassandras . . . . . . . . . . . . . . . . . . . . . . . . . .
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