9780130609076

This comprehensive treatment of the analysis and design of continuous-time control systems provides agradualdevelopment of control theoryand shows how to solveallcomputational problems with MATLAB. It avoids highly mathematical arguments, and features an abundance of examples and worked problems throughout the book.Chapter topics include the Laplace transform; mathematical modeling of mechanical systems, electrical systems, fluid systems, and thermal systems; transient and steady-state-response analyses, root-locus analysis and control systems design by the root-locus method; frequency-response analysis and control systems design by the frequency-response; two-degrees-of-freedom control; state space analysis of control systems and design of control systems in state space.For control systems engineers.

Preface

ix

Introduction to Control Systems

1

(8)

Introduction

1

(2)

Examples of Control Systems

3

(3)

Closed-Loop Control versus Open-Loop Control

6

(2)

Outline of the Book

8

(1)

The Laplace Transform

9

(44)

Introduction

9

(1)

Review of Complex Variables and Complex Functions

10

(3)

Laplace Transformation

13

(10)

Laplace Transform Theorems

23

(9)

Inverse Laplace Transformation

32

(4)

Partial-Fraction Expansion with MATLAB

36

(4)

Solving Linear, Time-Invariant, Differential Equations

40

(13)

Example Problems and Solutions

42

(9)

Problems

51

(2)

Mathematical Modeling of Dynamic Systems

53

(99)

Introduction

53

(2)

Transfer Function and Impulse-Response Function

55

(3)

Automatic Control Systems

58

(12)

Modeling in State Space

70

(6)

State-Space Representation of Dynamic Systems

76

(7)

Transformation of Mathematical Models with MATLAB

83

(2)

Mechanical Systems

85

(5)

Electrical and Electronic Systems

90

(14)

Signal Flow Graphs

104

(8)

Linearization of Nonlinear Mathematical Models

112

(40)

Example Problems and Solutions

115

(31)

Problems

146

(6)

Mathematical Modeling of Fluid Systems and Thermal Systems

152

(67)

Introduction

152

(1)

Liquid-Level Systems

153

(5)

Pneumatic Systems

158

(17)

Hydraulic Systems

175

(13)

Thermal Systems

188

(31)

Example Problems and Solutions

192

(19)

Problems

211

(8)

Transient and Steady-State Response Analyses

219

(118)

Introduction

219

(2)

First-Order Systems

221

(3)

Second-Order Systems

224

(15)

Higher Order Systems

239

(4)

Transient-Response Analysis with MATLAB

243

(28)

An Example Problem Solved with MATLAB

271

(4)

Routh's Stability Criterion

275

(6)

Effects of Integral and Derivative Control Actions on System Performance

281

(7)

Steady-State Errors in Unity-Feedback Control Systems

288

(49)

Example Problems and Solutions

294

(36)

Problems

330

(7)

Root-Locus Analysis

337

(79)

Introduction

337

(2)

Root-Locus Plots

339

(12)

Summary of General Rules for Constructing Root Loci

351

(7)

Root-Locus Plots with MATLAB

358

(15)

Positive-Feedback Systems

373

(5)

Conditionally Stable Systems

378

(1)

Root Loci for Systems with Transport Lag

379

(37)

Example Problems and Solutions

384

(29)

Problems

413

(3)

Control Systems Design by the Root-Locus Method

416

(76)

Introduction

416

(3)

Preliminary Design Considerations

419

(2)

Lead Compensation

421

(8)

Lag Compensation

429

(10)

Lag-Lead Compensation

439

(12)

Parallel Compensation

451

(41)

Example Problems and Solutions

456

(32)

Problems

488

(4)

Frequency-Response Analysis

492

(126)

Introduction

492

(5)

Bode Diagrams

497

(19)

Plotting Bode Diagrams with MATLAB

516

(7)

Polar Plots

523

(8)

Drawing Nyquist Plots with MATLAB

531

(8)

Log-Magnitude-versus-Phase Plots

539

(1)

Nyquist Stability Criterion

540

(10)

Stability Analysis

550

(10)

Relative Stability

560

(15)

Closed-Loop Frequency Response of Unity-Feedback Systems

575

(9)

Experimental Determination of Transfer Functions

584

(34)

Example Problems and Solutions

589

(23)

Problems

612

(6)

Control Systems Design by Frequency Response

618

(134)

Introduction

618

(3)

Lead Compensation

621

(9)

Lag Compensation

630

(9)

Lag-Lead Compensation

639

(6)

Concluding Comments

645

(36)

Example Problems and Solutions

648

(31)

Problems

679

(2)

PID Controls and Two-Degrees-of-Freedom

Control Systems

681

(1)

Introduction

681

(1)

Tuning Rules for PID Controllers

682

(10)

Computational Approach to Obtain Optimal Sets of Parameter Values

692

(8)

Modifications of PID Control Schemes

700

(3)

Two-Degrees-of-Freedom Control

703

(2)

Zero-Placement Approach to Improve Response Characteristics

705

(47)

Example Problems and Solutions

724

(21)

Problems

745

(7)

Analysis of Control Systems in State Space

752

(74)

Introduction

752

(1)

State-Space Representations of Transfer-Function Systems

753

(7)

Transformation of System Models with MATLAB

760

(4)

Solving the Time-Invariant State Equation

764

(8)

Some Useful Results in Vector-Matrix Analysis

772

(7)

Controllability

779

(7)

Observability

786

(40)

Example Problems and Solutions

792

(32)

Problems

824

(2)

Design of Control Systems in State Space

826

(126)

Introduction

826

(1)

Pole Placement

827

(12)

Solving Pole-Placement Problems with MATLAB

839

(4)

Design of Servo Systems

843

(12)

State Observers

855

(27)

Design of Regulator Systems with Observers

882

(8)

Design of Control Systems with Observers

890

(7)

Quadratic Optimal Regulator Systems

897

(55)

Example Problems and Solutions

910

(38)

Problems

948

(4)

References

952

(4)

Index

956

What is included with this book?

The New copy of this book will include any supplemental materials advertised. Please check the title of the book to determine if it should include any access cards, study guides, lab manuals, CDs, etc.

The Used, Rental and eBook copies of this book are not guaranteed to include any supplemental materials. Typically, only the book itself is included. This is true even if the title states it includes any access cards, study guides, lab manuals, CDs, etc.

This book presents a comprehensive treatment of the analysis and design of control systems. It is written at the level of the senior engineering (mechanical, electrical, aerospace, and chemical) student and is intended to be used as a text for the first course in control systems. The prerequisite on the part of the reader is that he or she has had introductory courses on differential equations, vector-matrix analysis, circuit analysis, and mechanics. The main revision made in the fourth edition of the text is to present two-degrees-of-freedom control systems to design high performance control systems such that steady-state errors in following step, ramp, and acceleration inputs become zero. Also, newly presented is the computational (MATLAB) approach to determine the pole-zero locations of the controller to obtain the desired transient response characteristics such that the maximum overshoot and settling time in the step response be within the specified values. These subjects are discussed in Chapter 10. Also, Chapter 5 (primarily transient response analysis) and Chapter 12 (primarily pole placement and observer design) are expanded using MATLAB. Many new solved problems are added to these chapters so that the reader will have a good understanding of the MATLAB approach to the analysis and design of control systems. Throughout the book computational problems are solved with MATLAB. This text is organized into 12 chapters. The outline of the book is as follows. Chapter 1 presents an introduction to control systems. Chapter 2 deals with Laplace transforms of commonly encountered time functions and some of the useful theorems on Laplace transforms. (If the students have an adequate background on Laplace transforms, this chapter may be skipped.) Chapter 3 treats mathematical modeling of dynamic systems (mostly mechanical, electrical, and electronic systems) and develops transfer function models and state-space models. This chapter also introduces signal flow graphs. Discussions of a linearization technique for nonlinear mathematical models are included in this chapter. Chapter 4 presents mathematical modeling of fluid systems (such as liquid-level systems, pneumatic systems, and hydraulic systems) and thermal systems. Chapter 5 treats transient response analyses of dynamic systems to step, ramp, and impulse inputs. MATLAB is extensively used for transient response analysis. Routh's stability criterion is presented in this chapter for the stability analysis of higher order systems. Steady-state error analysis of unity-feedback control systems is also presented in this chapter. Chapter 6 treats the root-locus analysis of control systems. Plotting root loci with MATLAB is discussed in detail. In this chapter root-locus analyses of positive-feedback systems, conditionally stable systems, and systems with transport lag are included. Chapter 7 presents the design of lead, lag, and lag-lead compensators with the root-locus method. Both series and parallel compensation techniques are discussed. Chapter 8 presents basic materials on frequency-response analysis. Bode diagrams, polar plots, the Nyquist stability criterion, and closed-loop frequency response are discussed including the MATLAB approach to obtain frequency response plots. Chapter 9 treats the design and compensation techniques using frequency-response methods. Specifically, the Bode diagram approach to the design of lead, lag, and lag-lead compensators is discussed in detail. Chapter 10 first deals with the basic and modified PID controls and then presents computational (MATLAB) approach to obtain optimal choices of parameter values of controllers to satisfy requirements on step response characteristics. Next, it presents two-degrees-of-freedom control systems. The chapter concludes with the design of high performance control systems that will follow a step, ramp, or acceleration input without steady-state error. The zero-placement method

Amazon no longer offers textbook rentals. We do!

Modern Control Engineering

Modern Control Engineering

0130609072

Summary

Table of Contents

Supplemental Materials

Excerpts