Design of a microcomputer based servomechanism controller (Q1088629)

A systematic procedure for the design of a robust digital control system using a microcomputer based controller, is described such that the process output asymptotically tracks a reference signal in the presence of disturbances. The procedure incorporates analog to digital conversion (ADC) and digital to analog conversion (DAC), times and microcomputer computation delay into the design. Guidelines for the choice of the sample period, computation delay, and quantization due to the ADC's and DAC's are developed with reference to a specific example.