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Feedback Control Systems

ISBN: 9780133716917 | 0133716910
Edition: 4th
Format: Paperback
Publisher: Prentice Hall
Pub. Date: 1/1/2000

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SummaryTable of Contents
Organized into three principal areas (analog control systems, digital control systems, and nonlinear analog control systems), Feedback Control Systems has been significantly revised to provide more practical examples, more thorough design coverage, and increased emphasis on computer-aided analysis and design using MATLAB. Specifically, the Third Edition features: clearer, more detailed explanations of basic material; a new section (4.5) dealing with time-scaling differential equations designed to help readers better relate the transfer functions of the systems of the examples to those of practical systems; additional practical applications in the form of examples and end-of-chapter problems that better relate mathematical developments to physical systems; and completely new end-of-chapter problems, many using MATLAB programming for solution verification. In addition, this edition retains the emphasis on practical systems, develops transfer-function and state-variable analog models, reviews matrices, develops an analytical design procedure that applies both root-locus design and Bode design, and presents a table of Laplace transforms and z-transforms in the appendices.
PREFACE
1 INTRODUCTION
1(11)
1.1 The Control Problem
3(2)
1.2 Examples of Contr... MORE
5(4)
1.3 Short History of Control
9(2)
References
11(1)
2 MODELS OF PHYSICAL SYSTEMS
12(57)
2.1 System Modeling
12(2)
2.2 Electrical Circuits
14(7)
2.3 Block Diagrams and Signal Flow Graphs
21(3)
2.4 Mason's Gain formula
24(5)
2.5 Mechanical Translational Systems
29(5)
2.6 Mechanical Rotational Systems
34(2)
2.7 Electromechanical Systems
36(5)
2.8 Sensors
41(5)
2.9 Temperature-Control System
46(2)
2.10 Analogous Systems
48(2)
2.11 Transformers and Gears
50(2)
2.12 Robotic Control System
52(3)
2.13 System Identification
55(1)
2.14 Linearization
55(1)
2.15 Summary
55(2)
References
57(1)
Problems
58(11)
3 STATE-VARIABLE MODELS
69(52)
3.1 State-Variable Modeling
70(3)
3.2 Simulation Diagrams
73(7)
3.3 Solution of State Equations
80(7)
3.4 Transfer Functions
87(2)
3.5 Similarity Transformations
89(7)
3.6 Digital Simulation
96(5)
3.7 Controls Software
101(3)
3.8 Analog Simulation
104(2)
3.9 Summary
106(1)
References
107(1)
Problems
107(14)
4 SYSTEM RESPONSES
121(36)
4.1 Time Response of First-Order Systems
122(5)
4.2 Time Response of Second-Order Systems
127(3)
4.3 Time Response Specifications in Design
130(4)
4.4 Frequency Response of Systems
134(7)
4.5 Time and Frequency Scaling
141(2)
4.6 Response of Higher-Order Systems
143(4)
4.7 Reduced-Order Models
147(1)
4.8 Summary
148(1)
References
148(1)
Problems
148(9)
5 CONTROL SYSTEM CHARACTERISTICS
157(40)
5.1 Closed-Loop Control System
158(4)
5.2 Stability
162(4)
5.3 Sensitivity
166(4)
5.4 Disturbance Rejection
170(5)
5.5 Steady-State Accuracy
175(8)
5.6 Transient Response
183(2)
5.7 Closed-Loop Frequency Response
185(1)
5.8 Summary
186(1)
References
186(1)
Problems
186(11)
6 STABILITY ANALYSIS
197(23)
6.1 Routh-Hurwitz Stability Criterion
199(9)
6.2 Roots of the Characteristic Equation
208(1)
6.3 Stability by Simulation
209(1)
6.4 Summary
210(1)
Problems
211(9)
7 ROOT-LOCUS ANALYSIS AND DESIGN
220(65)
7.1 Root-Locus Principles
220(5)
7.2 Some Root-Locus Techniques
229(14)
7.3 Additional Root-Locus Techniques
229(14)
7.4 Additional Properties of the Root Locus
243(3)
7.5 Other Configurations
246(3)
7.6 Root-Locus Design
249(3)
7.7 Phase-Lead Design
252(1)
7.8 Analytical Phase-Lead Design
253(4)
7.9 Phase-Lag Design
257(5)
7.10 PID Design
262(4)
7.11 Analytical PID Design
266(3)
7.12 Complementary Root Locus
269(3)
7.13 Compensator Realization
272(3)
7.14 Summary
275(1)
References
276(1)
Problems
276(9)
8 FREQUENCY-RESPONSE ANALYSIS
285(76)
8.1 Frequency Responses
285(6)
8.2 Bode Diagrams
291(12)
8.3 Additional Terms
303(6)
8.4 Nyquist Criterion
309(8)
8.5 Application of the Nyquist Criterion
317(11)
8.6 Relative Stability and the Bode Diagram
328(14)
8.7 Closed-Loop Frequency Response
342(7)
8.8 Frequency-Response Software
349(1)
8.9 Summary
349(1)
References
350(1)
Problems
350(11)
9 FREQUENCY-RESPONSE DESIGN
361(57)
9.1 Control System Specifications
361(5)
9.2 Compensation
366(2)
9.3 Gain Compensation
368(5)
9.4 Phase-Lag Compensation
373(4)
9.5 Phase-Lead Compensation
377(4)
9.6 Analytical Design
381(9)
9.7 Lag-Lead Compensation
390(2)
9.8 PID Controller Design
392(6)
9.9 Analytical PID Controller Design
398(4)
9.10 PID Controller Implementation
402(2)
9.11 Frequency-Response Design Software
404(2)
9.12 Summary
406(1)
References
407(1)
Problems
407(11)
10 MODERN CONTROL DESIGN
418(50)
10.1 Pole-Placement Design
419(3)
10.2 Ackermann's Formula
422(5)
10.3 State Estimation
427(9)
10.4 Closed-Loop System Characteristics
436(2)
10.5 Reduced-Order Estimators
438(6)
10.6 Controllability and Observability
444(6)
10.7 Systems with Inputs
450(8)
10.8 Modern Control Software
458(1)
10.9 Summary
459(1)
References
459(1)
Problems
460(8)
11 DISCRETE-TIME SYSTEMS
468(30)
11.1 Discrete-Time System
468(3)
11.2 Transform Methods
471(2)
11.3 Theorems of the z-transform
473(3)
11.4 Solution of Difference Equations
476(3)
11.5 Inverse z-Transform
479(2)
11.6 Simulation Diagrams and Flow Graphs
481(3)
11.7 State Variables
484(2)
11.8 Solution of State Equations
486(4)
11.9 Summary
490(1)
References
490(1)
Problems
491(7)
12 SAMPLED-DATA SYSTEMS
498(39)
12.1 Sampled Data
498(2)
12.2 Ideal Sampler
500(3)
12.3 Properties of the Starred Transform
503(4)
12.4 Data Reconstruction
507(2)
12.5 Pulse Transfer Function
509(6)
12.6 Open-Loop Systems Containing Digital Filters
515(2)
12.7 Closed-Loop Discrete-Time Systems
517(1)
12.8 Transfer Functions for Closed-Loop Systems
518(5)
12.9 State Variables for Sampled-Data Systems
523(5)
12.10 Controls Software
528(1)
12.11 Summary
529(1)
References
530(1)
Problems
530(7)
13 ANALYSIS AND DESIGN OF DIGITAL CONTROL SYSTEMS
537(56)
13.1 Two Examples
537(5)
13.2 Discrete System Stability
542(1)
13.3 Jury's Test
543(2)
13.4 Mapping the s-Plane into the z-Plane
545(4)
13.5 Root Locus
549(2)
13.6 Nyquist Criterion
551(6)
13.7 Bilinear Transformation
557(3)
13.8 Routh-Hurwitz Criterion
560(1)
13.9 Bode Diagram
561(3)
13.10 Steady-State Accuracy
564(2)
13.11 Design of Digital Control Systems
566(4)
13.12 Phase-Lag Design
570(5)
13.13 Phase-Lead Design
575(3)
13.14 Digital PID Controllers
578(4)
13.15 Root-Locus Design
582(3)
13.16 Control Software
585(1)
13.17 Summary
586(1)
References
587(1)
Problems
587(6)
14 NONLINEAR SYSTEM ANALYSIS
593(54)
14.1 Nonlinear System Definitions and Properties
594(2)
14.2 Review of the Nyquist Criterion
596(2)
14.3 Describing Function
598(1)
14.4 Derivations of Describing Functions
599(8)
14.5 Use of the Describing Function
607(5)
14.6 Stability of Limit Cycles
612(4)
14.7 Design
616(2)
14.8 Application to Other Systems
618(1)
14.9 Linearization
618(5)
14.10 Equilibrium States and Lyapunov Stability
623(4)
14.11 State Plane Analysis
627(4)
14.12 Linear-System Response
631(3)
14.13 Method of Isoclines
634(6)
14.14 Summary
640(1)
References
640(1)
Problems
641(6)
APPENDICES647(30)
A Matrices647(7)
B Design Equations654(6)
C Laplace Transform660(15)
D Laplace Transform and z-Transform Tables675(2)
INDEX677

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