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Feedback Control Systems

ISBN: 9780139490903 | 0139490906
Format: Paperback
Publisher: Prentice Hall
Pub. Date: 1/1/2000

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SummaryTable of Contents
For junior/senior-level Control Theory courses in Electrical, Mechanical, and Aerospace Engineering. This text offers a thorough analysis of the principles of classical and modern feedback control. Organizing topic coverage into three sectionslinear analog control systems, linear digital control systems, and nonlinear analog control systemshelps students understand the difference between mathematical models and the physical systems that the models represent.
This self-study book offers optimum clarity and a thoroug... MORE
PREFACExi
1 INTRODUCTION
1(12)
1.1 The Control Problem
3(2)
... MORE1.2 Examples of Control Systems
5(4)
1.3 Short History of Control
9(2)
References
11(2)
2 MODELS OF PHYSICAL SYSTEMS
13(56)
2.1 System Modeling
13(2)
2.2 Electrical Circuits
15(7)
2.3 Block Diagrams and Signal Flow Graphs
22(4)
2.4 Mason's Gain Formula
26(6)
2.5 Mechanical Translational Systems
32(4)
2.6 Mechanical Rotational Systems
36(2)
2.7 Electromechanical Systems
38(5)
2.8 Sensors
43(6)
2.9 Temperature-control System
49(2)
2.10 Analogous Systems
51(2)
2.11 Transformers and Gears
53(2)
2.12 Robotic Control System
55(3)
2.13 System Identification
58(1)
2.14 Linearization
58(2)
2.15 Summary
60(1)
References
61(1)
Problems
62(7)
3 STATE-VARIABLE MODELS
69(46)
3.1 State-Variable Modeling
70(3)
3.2 Simulation Diagrams
73(7)
3.3 Solution of State Equations
80(8)
3.4 Transfer Functions
88(2)
3.5 Similarity Transformations
90(7)
3.6 Digital Simulation
97(5)
3.7 Controls Software
102(1)
3.8 Analog Simulation
103(2)
3.9 Summary
105(1)
References
106(1)
Problems
106(9)
4 SYSTEM RESPONSES
115(36)
4.1 Time Response of First-Order Systems
116(5)
4.2 Time Response of Second-order Systems
121(3)
4.3 Time Response Specifications in Design
124(5)
4.4 Frequency Response of Systems
129(6)
4.5 Time and Frequency Scaling
135(4)
4.6 Response of Higher-order Systems
139(3)
4.7 Reduced-order Models
142(1)
4.8 Summary
143(1)
References
144(1)
Problems
144(7)
5 CONTROL SYSTEM CHARACTERISTICS
151(40)
5.1 Closed-loop Control System
152(3)
5.2 Stability
155(5)
5.3 Sensitivity
160(4)
5.4 Disturbance Rejection
164(5)
5.5 Steady-state Accuracy
169(9)
5.6 Transient Response
178(1)
5.7 Closed-loop Frequency Response
179(1)
5.8 Summary
180(1)
References
181(1)
Problems
181(10)
6 STABILITY ANALYSIS
191(20)
6.1 Routh-Hurwitz Stability Criterion
193(10)
6.2 Roots of the Characteristic Equation
203(1)
6.3 Stability by Simulation
204(1)
6.4 Summary
205(1)
Problems
205(6)
7 ROOT-LOCUS ANALYSIS AND DESIGN
211(64)
7.1 Root-Locus Principles
211(5)
7.2 Some Root-Locus Techniques
216(4)
7.3 Additional Root-Locus Techniques
220(14)
7.4 Additional Properties of the Root Locus
234(3)
7.5 Other Configurations
237(3)
7.6 Root-Locus Design
240(3)
7.7 Phase-lead Design
243(1)
7.8 Analytical Phase-Lead Design
244(5)
7.9 Phase-Lag Design
249(4)
7.10 PID Design
253(3)
7.11 Analytical PID Design
256(5)
7.12 Complementary Root Locus
261(2)
7.13 Compensator Realization
263(3)
7.14 Summary
266(1)
References
267(1)
Problems
267(8)
8 FREQUENCY-RESPONSE ANALYSIS
275(76)
8.1 Frequency Responses
275(6)
8.2 Bode Diagrams
281(12)
8.3 Additional Terms
293(7)
8.4 Nyquist Criterion
300(8)
8.5 Application of the Nyquist Criterion
308(12)
8.6 Relative Stability and the Bode Diagram
320(14)
8.7 Closed-Loop Frequency Response
334(7)
8.8 Summary
341(1)
References
342(1)
Problems
342(9)
9 FREQUENCY-RESPONSE DESIGN
351(56)
9.1 Control System Specifications
351(5)
9.2 Compensation
356(2)
9.3 Gain Compensation
358(5)
9.4 Phase-Lag Compensation
363(5)
9.5 Phase-Lead Compensation
368(4)
9.6 Analytical Design
372(9)
9.7 Lag-Lead Compensation
381(2)
9.8 PID Controller Design
383(6)
9.9 Analytical PID Controller Design
389(4)
9.10 PID Controller Implementation
393(3)
9.11 Frequency-Response Software
396(1)
9.12 Summary
397(1)
References
398(1)
Problems
398(9)
10 MODERN CONTROL DESIGN
407(48)
10.1 Pole-Placement Design
408(3)
10.2 Ackermann's Formula
411(5)
10.3 State Estimation
416(7)
10.4 Closed-Loop System Characteristics
423(5)
10.5 Reduced-Order Estimators
428(6)
10.6 Controllability and Observability
434(5)
10.7 Systems with Inputs
439(9)
10.8 Summary
448(1)
References
449(1)
Problems
449(6)
11 DISCRETE-TIME SYSTEMS
455(30)
11.1 Discrete-Time System
455(2)
11.2 Transform Methods
457(3)
11.3 Theorems of the z-Transform
460(3)
11.4 Solution of Difference Equations
463(3)
11.5 Inverse z-Transform
466(2)
11.6 Simulation Diagrams and Flow Graphs
468(3)
11.7 State Variables
471(2)
11.8 Solution of State Equations
473(5)
11.9 Summary
478(1)
References
478(1)
Problems
478(7)
12 SAMPLED-DATA SYSTEMS
485(38)
12.1 Sampled Data
485(2)
12.2 Ideal Sampler
487(3)
12.3 Properties of the Starred Transform
490(4)
12.4 Data Reconstruction
494(2)
12.5 Pulse Transfer Function
496(6)
12.6 Open-Loop Systems Containing Digital Filters
502(2)
12.7 Closed-Loop Discrete-Time Systems
504(1)
12.8 Transfer Functions for Closed-Loop Systems
505(5)
12.9 State Variables for Sampled-Data Systems
510(5)
12.10 Summary
515(1)
References
516(1)
Problems
516(7)
13 ANALYSIS AND DESIGN OF DIGITAL CONTROL SYSTEMS
523(56)
13.1 Two Examples
523(5)
13.2 Discrete System Stability
528(1)
13.3 Jury's Test
529(2)
13.4 Mapping the s-Plane into the z-Plane
531(4)
13.5 Root Locus
535(2)
13.6 Nyquist Criterion
537(6)
13.7 Bilinear Transformation
543(3)
13.8 Routh-Hurwitz Criterion
546(1)
13.9 Bode Diagram
547(3)
13.10 Steady-State Accuracy
550(2)
13.11 Design of Digital Control Systems
552(4)
13.12 Phase-Lag Design
556(5)
13.13 Phase-Lead Design
561(3)
13.14 Digital PID Controllers
564(5)
13.15 Root-Locus Design
569(2)
13.16 Summary
571(1)
References
572(1)
Problems
572(7)
14 NONLINEAR SYSTEM ANALYSIS
579(48)
14.1 Nonlinear System Definitions and Properties
580(3)
14.2 Review of the Nyquist Criterion
583(1)
14.3 Describing Function
584(1)
14.4 Derivations of Describing Functions
585(7)
14.5 Use of the Describing Function
592(7)
14.6 Stability of Limit Cycles
599(3)
14.7 Design
602(3)
14.8 Application to Other Systems
605(1)
14.9 Linearization
605(5)
14.10 Equilibrium States and Lyapunov Stability
610(4)
14.11 State Plane Analysis
614(5)
14.12 Linear-System Response
619(2)
14.13 Summary
621(1)
References
622(1)
Problems
623(4)
APPENDICES627(26)
A Matrices627(8)
B Laplace Transform635(16)
C Laplace Transform and z-Transform Tables651(2)
INDEX653

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