1Table of Symbols
2Basic Premises
3ZOH and FOH Definitions
3.1Zero Order Hold
3.2First Order Hold
4Closed Loop Structure and Controller Synthesis
4.1Discrete-time transfer function and controller synthesis
5Algorithm
6First order non-integrating system
6.1Differential equation
6.2Continuous-time transfer function
6.3Unit Step response
6.4Continuous-time state-space representation
6.5Discrete-time state-space representation
6.5.1Zero Order Hold
6.5.2First Order Hold
7Second order non-integrating system
7.1Differential equation
7.2Continuous-time transfer function
7.3Unit Step response
7.3.1ξ=0
7.3.20<ξ<1
7.3.3ξ=1
7.3.4ξ>1
7.4Continuous-time state-space representation
7.5Discrete-time state-space representation
7.5.1Zero Order Hold
7.5.2First Order Hold
8Two first-order systems in series
8.1Differential equation
8.2Continuous-time transfer function
8.3Unit Step response
8.4Continuous-time state-space representation
8.5Discrete-time state-space representation
8.5.1Zero Order Hold
8.5.2First Order Hold
9First-order integrating system
9.1Differential equation
9.2Continuous-time transfer function
9.3Unit Step response
9.4Continuous-time state-space representation
9.5Discrete-time state-space representation
9.5.1Zero Order Hold
9.5.2First Order Hold
10Second-order integrating system (servomechanism)
10.1Differential equation
10.2Continuous-time transfer function
10.3Unit Step response
10.4Continuous-time state-space representation
10.5Discrete-time state-space representation
10.5.1Zero Order Hold
10.5.2First Order Hold
11On the Nature of the Model Equations
12Important Notices
12.1Constraints
12.2Reference input
13Tuning
14Tips
15References