Table of contents for Microcontroller based applied digital control / Dogan Ibrahim.

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CONTENTS
PREFACE
1.	INTRODUCTION
	1.1	The Idea Of System Control
	1.2	Computer In The Loop
	1.3	Centralized And Distributed Control Systems
	1.4 	SCADA Systems
	1.5	Hardware Requirements For Computer Control
		1.5.1	General Purpose Computers
		1.5.2	Microcontrollers
	1.6	Software Requirements For Computer Control
		1.6.1	Polling
		1.6.2	Using External Interrupts For Timing
		1.6.3	Using Timer Interrupts
		1.6.4	Ballast Coding
		1.6.5	Using External Real-time Clock
	1.7	Sensors Used In Computer Control
		1.7.1	Temperature Sensors
		1.7.2	Position Sensors
		1.7.3	Velocity And Acceleration Sensors
		1.7.4	Force Sensors
		1.7.5	Pressure Sensors
		1.7.6	Liquid Sensors
		1.7.7	Air Flow Sensors
	1.8	Exercises
2.	SYSTEM MODELLING
	2.1	Mechanical Systems
		2.1.1	Translational Mechanical Systems
		2.1.2	Rotational Mechanical Systems
			2.1.2.1	Rotational Mechanical Systems With Gear-train
	2.2	Electrical Systems
	2.3	Electromechanical Systems
	2.4	Fluid Systems
		2.4.1	Hydraulic Systems
	2.5	Thermal Systems
	2.6	Exercises
3.	THE PIC MICROCONTROLLER
	3.1	The PIC Family
		3.1.1	Family 10FXXX
		3.1.2	Family 12CXXX/PIC12FXXX
		3.1.3	Family 16C5X
		3.1.4	Family 16CXXX
		3.1.5	Family 17CXXX
		3.1.6	PIC18CXXX
	3.2	Minimum PIC Configuration
		3.2.1	External Oscillator
		3.2.2	Crystal Operation
		3.2.3	Resonator Operation
		3.2.4	RC Operation
		3.2.5	Internal Clock
	3.3	Some Popular PIC Microcontrollers
		3.3.1	PIC16F84 Microcontroller
			3.3.1.1	OPTION_REG Register
			3.3.1.2	INTCON Register
			3.3.1.3	TRISA And PORTA Registers
			3.3.1.4	TRISB And PORTB Registers
			3.3.1.5	TMR0 Register
		3.3.2	PIC16F877 Microcontroller
			3.3.2.1	A/D Converter
	3.4	Exercises
4.	PROGRAMMING PIC MICROCONTROLLERS
	4.1	PICC Lite Variable Types
		4.1.1	bit
		4.1.2	unsigned char
		4.1.3	signed char
		4.1.4	unsigned int
		4.1.5	signed int
		4.1.6	long
		4.1.7	unsigned long
		4.1.8	float
		4.1.9	double
	4.2	Variables
	4.3	Comments In Programs
	4.4	Storing Variables In The Program Memory
	4.5	Static Variables
	4.6	Volatile Variables
	4.7	Persistent Variables
	4.8	Absolute Address Variables
	4.9	Bank1 Qualifier
	4.10	Arrays
	4.11	ASCII Constants
	4.12	Arithmetic And Logic Operations
	4.13	Number Bases
	4.14	Structures
	4.15	Program Flow Control
		4.15.1	if-else Statement
		4.15.2	switch-case Statement
		4.15.3	while statement
		4.15.4	do Statement
	4.16	Functions In C
		4.16.1	User Functions
		4.16.2	Built-in Functions
			4.16.2.1	abs
			4.16.2.2	cos
			4.16.2.3	sqrt
			4.16.2.4	isupper
			4.16.2.5	isalnum
			4.16.2.6	strlen
			4.16.2.7	strcpy
	4.17	Pointers In C
	4.18	Preprocessor Commands
		4.18.1	#define
		4.18.2	#include
		4.18.3	#asm and #endasm
	4.19	Accessing The EEPROM Memory
	4.20	Interrupts In C
	4.21	Delays In C Programs
	4.22	Structure Of A C Program
	4.23	PIC Microcontroller Input-Output Interface
		4.23.1	Connecting an LED
		4.23.2	Connecting a Push-button Switch
		4.23.3	Connecting an LCD
	4.24	Exercises
5.	MICROCONTROLLER PROJECT DEVELOPMENT
	5.1	Hardware And Software Requirements
	5.2	Program Development Tools
		5.2.1	Flow Charts
		5.2.2	Structure Charts
			5.2.2.1	Sequence
			5.2.2.2	Selection
			5.2.2.3	Iteration
			5.2.2.4	Invoking Modules
		5.2.3	Pseudocode
			5.2.3.1	Begin-End
			5.2.3.2	Sequencing
			5.2.3.3	If-Then-Else-Endif
			5.2.3.4	Repeat-Until
			5.2.3.5	Do-While
			5.2.3.6	While-Wend
			5.2.3.7	Case-Case Else-Endcase
			5.2.3.8	Invoking Modules
	5.3	Exercises
6.	SAMPLED DATA SYSTEMS AND THE Z-TRANSFORM
	6.1	The Sampling Process
		6.1.1	Unit Step Function
		6.1.2	Unit Ramp Function
		6.1.3	Exponential Function
		6.1.4	General Exponential Function
		6.1.5	Sine Function
		6.1.6	Cosine Function
		6.1.7	Discrete Impulse Function
		6.1.8	Delayed Discrete Impulse Function
		6.1.9	Z-transform Tables
		6.1.10	Z-transform Of A Function Expressed As A Laplace Transform
		6.1.11	Properties Of Z-transforms
		6.1.12	Inverse Z-transforms
	6.2	Pulse Transfer Function And Manipulation Of Block Diagrams
		6.2.1	Open-loop Systems
		6.2.2	Open-loop Time Response
		6.2.3	Closed-loop Systems
		6.2.4	Closed-loop Time response
	6.3	Exercises
7.	SYSTEM TIME RESPONSE CHARACTERISTICS
	7.1	Time Response Comparison
	7.2	Time Domain Specifications
	7.3	Mapping The s-plane Into Z-plane
	7.4	Damping Ration And Undamped Natural Frequency In The Z-plane
	7.5	Damping Ratio And Undamped Natural Frequency Using Formulae
	7.6	Exercises
8.	SYSTEM STABILITY
	8.1	Factorizing The Characteristic Equation
	8.2	Jury's Stability Test
	8.3	Routh-Hurwitz Criterion
	8.4	Root Locus
	8.5	Nyquist Criterion
	8.6	Bode Diagrams
	8.7	Exercises
9.	DISCRETE CONTROLLER DESIGN
	9.1	Digital Controllers
		9.1.1	Dead-beat Controller
		9.1.2	Dahlin Controller
		9.1.3	Pole-placement Control - Analytical
		9.1.4	Pole-placement Control - Graphical
	9.2	PIC Control
		9.2.1	Saturation And Integral Wind-up
		9.2.2	Derivative Kick
		9.2.3	PID Tuning
	9.3	Exercises
10.	CONTROLLER REALIZATIONS
	10.1	Direct Structure
		10.1.1	Direct Canonical Structure
		10.1.2	Direct Non-canonical Structure
	10.2	Cascade Realization
	10.3	Parallel Realization
	10.4	PID Controller Realizations
	10.5	Microcontroller Implementations
		10.5.1	Implementing Second Order Modules
		10.5.2	Implementing First Order Modules
		10.5.3	Implementing Higher Order Modules
	10.6	Choice Of Sampling Interval
	10.7	Exercises
11.	A CASE STUDY - LIQUID LEVEL DIGITAL CONTROL SYSTEM
	11.1	The System Schematic
	11.2	System Model
	11.3	Identification Of The System
	11.4	Designing A Controller
		11.4.1	Ziegler Nichols Tuning
	11.5	Conclusions
APPENDIX A - TABLE OF Z-TRANSFORMS
APPENDIX B - MATLAB TUTORIAL
	B.1	MATLAB Operations
	B.2	Control Systems Toolbox
		B.2.1	Continuous Time Systems
		B.2.2	Discrete Time Systems
	

Library of Congress Subject Headings for this publication:

Process control -- Data processing.
Digital control systems -- Design and construction.
Microprocessors.