ABSTRACT
This chapter deals with the analog and digital implementation of controllers. It studies the analog implementation with active resistor-capacitor electrical circuits. The chapter presents a variety of practical issues concerning the digital implementation with microcontrollers. It also presents the resiliency of the implemented controllers with a fragility analysis method based on QFT. The chapter introduces a practical method based on QFT to analyze the controller fragility/resilience to changes in its coefficients. The method simultaneously takes into account the plant model with parametric and nonparametric uncertainty, the robust stability and performance specifications, and the uncertainty in the controller coefficients. It studies the controller fragility at every frequency and for both stability and performance specifications. The method starts with the plant model with uncertainty, the stability and performance specifications, and the designed controller, which we call the nominal controller.
