| Preface | p. ix |
| Speed Control | p. 1 |
| Basic structure of the speed-controlled system | p. 1 |
| Problems | p. 5 |
| Basic Structure of the Speed Controller | p. 7 |
| Proportional control action | p. 7 |
| Open-loop and closed-loop transfer functions | p. 8 |
| Load rejection of the proportional speed controller | p. 12 |
| Proportional speed controller with variable reference | p. 13 |
| Proportional speed controller with frictional load | p. 15 |
| The speed controller with proportional and integral action | p. 16 |
| Transfer functions of the system with a PI controller | p. 17 |
| Load rejection with the PI speed controller | p. 18 |
| Step response with the PI speed controller | p. 19 |
| The PI speed controller with relocated proportional action | p. 26 |
| Parameter setting and the closed-loop bandwidth | p. 28 |
| Variable reference tracking | p. 30 |
| Suppression of load disturbances and tracking errors | p. 31 |
| The proper controller structure for the given reference profile | p. 32 |
| Internal Model Principle (IMP) | p. 37 |
| Feedforward compensation | p. 40 |
| Problems | p. 47 |
| Parameter Setting of Analog Speed Controllers | p. 51 |
| Delays in torque actuation | p. 51 |
| The DC drive power amplifiers | p. 52 |
| Current controllers | p. 56 |
| Torque actuation in voltage-controlled DC drives | p. 58 |
| The impact of secondary dynamics on speed-controlled DC drives | p. 59 |
| Double ratios and the absolute value optimum | p. 61 |
| Double ratios with proportional speed controllers | p. 66 |
| Tuning of the PI controller according to double ratios | p. 69 |
| Symmetrical optimum | p. 72 |
| Problems | p. 77 |
| Digital Speed Control | p. 79 |
| Discrete-time implementation of speed controllers | p. 80 |
| Analysis of the system with a PI discrete-time speed controller | p. 86 |
| The system with an idealized torque actuator and inertial load | p. 87 |
| The z-transform and the pulse transfer function | p. 91 |
| The transfer function of the mechanical subsystem | p. 96 |
| The transfer function of the speed-measuring subsystem | p. 98 |
| High-frequency disturbances and the sampling process | p. 100 |
| The closed-loop system pulse transfer function | p. 103 |
| Closed-loop poles and the effects of closed-loop zeros | p. 108 |
| Relocation of proportional gain | p. 112 |
| Parameter setting of discrete-time speed controllers | p. 113 |
| Strictly aperiodic response | p. 113 |
| Formulation of criterion function | p. 117 |
| Calculation of the optimized values for normalized gains | p. 119 |
| Performance evaluation by means of computer simulation | p. 124 |
| Response to large disturbances and the wind-up phenomenon | p. 129 |
| Ant-Wind-Up mechanism | p. 135 |
| Experimental verification of the discrete-time speed controller | p. 140 |
| Problems | p. 143 |
| Digital Position Control | p. 147 |
| The role and desired performance of single-axis positioners | p. 148 |
| The pulse transfer function of the control object | p. 151 |
| The structure of position controllers | p. 157 |
| Derivative action in position controllers | p. 157 |
| Relocation of derivative action into the feedback path | p. 160 |
| The position controller with a minor speed loop | p. 161 |
| Stiffness of the position-controlled system | p. 163 |
| The discrete-time PD position controller | p. 165 |
| Optimized parameter setting | p. 174 |
| Computer simulation of the system with a PD controller | p. 178 |
| Operation of the PD position controller with large disturbances | p. 181 |
| The nonlinear position controller | p. 184 |
| The speed-limit dependence on the remaining path | p. 184 |
| Enhancing the PD controller | p. 185 |
| The error of the minor-loop speed controller | p. 190 |
| Computer simulation of the system with a nonlinear PD controller | p. 191 |
| Experimental evaluation of performances | p. 195 |
| Problems | p. 203 |
| The Position Controller with Integral Action | p. 205 |
| The operation in linear mode and the pulse transfer functions | p. 208 |
| Parameter setting of PID position controllers | p. 214 |
| The step response and bandwidth of the PD and PID controller | p. 218 |
| Computer simulation of the input step and load step response | p. 220 |
| Large step response with a linear PID position controller | p. 225 |
| The nonlinear PID position controller | p. 230 |
| The maximum speed in linear operating mode | p. 232 |
| Enhancing the PID controller with nonlinear action | p. 235 |
| Evaluation of the nonlinear PID controller | p. 240 |
| Experimental verification of the nonlinear PID controller | p. 246 |
| Problems | p. 250 |
| Trajectory Generation and Tracking | p. 253 |
| Tracking of ramp profiles with the PID position controller | p. 253 |
| The steady-state error in tracking the ramp profile | p. 254 |
| Computer simulation of the ramp-tracking PID controller | p. 257 |
| Generation of reference profiles | p. 264 |
| Coordinated motion in multiaxis systems | p. 265 |
| Trajectories with trapezoidal speed change | p. 268 |
| Abrupt torque changes and mechanical resonance problems | p. 269 |
| 'S'curves | p. 270 |
| Spline interpolation of coarse reference profiles | p. 273 |
| Problems | p. 279 |
| Torsional Oscillations and the Antiresonant Controller | p. 281 |
| Control object with mechanical resonance | p. 282 |
| Closed-loop response of the system with torsional resonance | p. 286 |
| The ratio between the motor and load inertia | p. 291 |
| Active resonance compensation methods | p. 294 |
| Passive resonance compensation methods | p. 295 |
| Series antiresonant compensator with a notch filter | p. 296 |
| The notch filter attenuation and width | p. 297 |
| Effects of the notch filter on the closed-loop poles and zeros | p. 300 |
| Implementation aspects of the notch antiresonant filters | p. 305 |
| Series antiresonant compensator with the FIR filter | p. 308 |
| IIR and FIR filters | p. 309 |
| FIR antiresonant compensator | p. 310 |
| Implementation aspects of FIR antiresonant compensators | p. 313 |
| Computer simulation of antiresonant compensators | p. 314 |
| Experimental evaluation | p. 319 |
| Sustained torsional oscillations | p. 325 |
| Problems | p. 325 |
| Appendices | p. 329 |
| C-code for the PD position controller | p. 329 |
| ASM-code for the PID position controller | p. 333 |
| Time functions and their Laplace and z-transforms | p. 337 |
| Properties of the Laplace transform | p. 339 |
| Properties of the z-transform | p. 341 |
| Relevant variables and their units | p. 343 |
| References | p. 345 |
| Index | p. 347 |
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