Contents

6-2

Single-Loop Digital Control

6 2 . 1 Digital Control Schemes
6-2.2 Initial Housekeeping
6-2.3 Data Input
6-2.4 Control Algorithms
6-2.5 Command Output
6-2.6 Modes of Operation
6-3 Programmable Controllers
6 3 . 1 Hardware Overview
6-3.2 Ladder Diagram Programming
Summary
Problems

POWER INTERFACES
7-1

7-2

7-3

Objectives
Power Operational Amplifier
Switch-Mode Servo Amplifiers
7-2.1 Principles of Pulse-Width Modulation
7-2.2 Switch-Mode Filter
7-2.3 Switching Diodes
7-2.4 Pulse-Width-Modulation IC
7-2.5 The Transistor Switch
Thyristor-Based Power Interfaces
7-3.1 Thyristor Devices
7-3.2 Thyristor Triggers
7-3.3 Proportional Power Circuits
Summary
Problems

SYSTEM RESPONSE
Objectives

8-1 System Transfer Functions

8-1.1 Process Control
8-1.2 Servo Control
8-2 Final Value Theorem
8-3 Stability: The Bod6 Plot
8-3.1 An Overview
8-3.2 Gain
8-3.3 Derivative
8-3.4 Integral
8-3.5 Lead
8-3.6 Lag
8-3.7 Second-Order Lag, Underdamped
8-3.8 Gain and Phase Margins