Design of Feedback Control Systems,9780195142495

Design of Feedback Control Systems

by ; ; ;
Edition: 4th
ISBN13: 9780195142495
ISBN10: 0195142497
Format: Hardcover
Pub. Date: 2001-08-30
Publisher(s): Oxford University Press
List Price: $223.93

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Summary

Design of Feedback Control Systems is designed for electrical and mechanical engineering students in advanced undergraduate control systems courses. Now in its fourth edition, this tutorial-style textbook has been completely updated to include the use of modern analytical software, especiallyMATLABRG. It thoroughly discusses classical control theory and state variable control theory, as well as advanced and digital control topics. Each topic is preceded by analytical considerations that provide a well-organized parallel treatment of analysis and design. Design is presented in separatechapters devoted to root locus, frequency domain, and state space viewpoints. Treating the use of computers as a means rather than as an end, this student-friendly book contains new "Computer-Aided Learning" sections that demonstrate how MATLABRG can be used to verify all figures and tables in thetext. Clear and accessible, Design of Feedback Control Systems, Fourth Edition, makes complicated methodology comprehensible to a wide spectrum of students. Features BL Keyed to today's dominant design tool, MATLABRG BL Includes drill problems for gauging knowledge and skills after each topic BL Provides state-of-the-art design examples BL Uses marginal summaries to guide the reader BL Introduces new ideas in the context of previous material, with a guide to the information that follows BL Presents practical examples of the latest advances in control sciences

Table of Contents

Preface xv
Continous-Time System Description
1(118)
Preview
1(1)
Basic Concepts
2(5)
Control System Terminology
2(2)
The Feedback Concept
4(3)
Modeling
7(2)
System Dynamics
9(1)
Electrical Components
10(15)
Mesh Analysis
11(2)
State Variables
13(2)
Node Analysis
15(3)
Analyzing Operational Amplifier Circuits
18(3)
Operational Amplifier Applications
21(4)
Translational Mechanical Components
25(7)
Free-Body Diagrams
25(4)
State Variables
29(3)
Rotational Mechanical Components
32(8)
Free-Body Diagrams
32(3)
Analogies
35(2)
Gear Trains and Transformers
37(3)
Electromechanical Components
40(5)
Aerodynamics
45(7)
Nomenclature
46(1)
Dynamics
46(4)
Lateral and Longitudinal Motion
50(2)
Thermal Systems
52(2)
Hydraulics
54(1)
Transfer Function and Stability
55(18)
Transfer Functions
55(2)
Response Terms
57(10)
Multiple Inputs and Outputs
67(2)
Stability
69(4)
Block Diagrams
73(6)
Block Diagram Elements
73(2)
Block Diagram Reduction
75(3)
Multiple Inputs and Outputs
78(1)
Signal Flow Graphs
79(12)
Comparison with Block Diagrams
79(4)
Mason's Rule
83(8)
A Positioning Servo
91(3)
Controller Model of the Thyroid Gland
94(2)
Stick-Slip Response of an Oil Well Drill
96(5)
Summary
101(18)
References
103(2)
Problems
105(14)
Continuous-Time System Response
119(64)
Preview
119(1)
Response of First-Order Systems
120(6)
Response of Second-Order Systems
126(15)
Time Response
126(1)
Overdamped Response
127(1)
Critically Damped Response
128(1)
Underdamped Response
128(1)
Undamped Natural Frequency and Damping Ratio
129(7)
Rise Time, Overshoot, and Settling Time
136(5)
Higher-Order System Response
141(2)
Stability Testing
143(16)
Coefficient Tests
143(2)
Routh-Hurwitz Testing
145(2)
Significance of the Array Coefficients
147(1)
Left-Column Zeros
148(2)
Row of Zeros
150(4)
Eliminating a Possible Odd Divisor
154(1)
Multiple Roots
155(4)
Parameter Shifting
159(6)
Adjustable Systems
159(4)
Kharitonov's Theorem
163(2)
An Insulin Delivery System
165(3)
Analysis of an Aircraft Wing
168(3)
Summary
171(12)
References
173(1)
Problems
174(9)
Performance Specifications
183(71)
Preview
183(1)
Analyzing Tracking Systems
184(5)
Importance of Tracking Systems
184(3)
Natural Response, Relative Stability, and Damping
187(2)
Forced Response
189(9)
Steady State Error
189(1)
Initial and Final Values
190(2)
Steady State Errors to Power-of-Time Inputs
192(6)
Power-of-Time Error Performance
198(10)
System Type Number
198(2)
Achieving a Given Type Number
200(1)
Unity Feedback Systems
201(3)
Unity Feedback Error Coefficients
204(4)
Performance Indices and Optimal Systems
208(7)
System Sensitivity
215(8)
Calculating the Effects of Changes in Parameters
215(1)
Sensitivity Functions
216(4)
Sensitivity to Disturbance Signals
220(3)
Time Domain Design
223(8)
Process Control
224(1)
Ziegler-Nichols Compensation
224(1)
Chien-Hrones-Reswick Compensation
225(6)
An Electric Rail Transportation System
231(3)
Phase-Locked Loop for a CB Receiver
234(3)
Bionic Eye
237(3)
Summary
240(14)
References
242(2)
Problems
244(10)
Root Locus Analysis
254(73)
Preview
254(1)
Pole-Zero Plots
255(5)
Poles and Zeros
255(1)
Graphical Evaluation
256(4)
Root Locus for Feedback Systems
260(3)
Angle Criterion
260(1)
High and Low Gains
261(1)
Root Locus Properties
262(1)
Root Locus Construction
263(9)
More About Root Locus
272(14)
Root Locus Calibration
272(12)
Computer-Aided Root Locus
284(2)
Root Locus for Other Systems
286(9)
Systems with Other Forms
286(2)
Negative Parameter Ranges
288(5)
Delay Effects
293(2)
Design concepts (Adding Poles and Zeros)
295(5)
A Light-Source Tracking System
300(2)
An Artificial Limb
302(6)
Control of a Flexible Spacecraft
308(2)
Bionic Eye
310(3)
Summary
313(14)
References
314(1)
Problems
314(13)
Root Locus Design
327(78)
Preview
327(1)
Shaping a Root Locus
328(1)
Adding and Canceling Poles and Zeros
329(5)
Adding a Pole or Zero
329(1)
Canceling a Pole or Zero
330(4)
Second-Order Plant Models
334(4)
An Uncompensated Example System
338(3)
Cascade Proportional Plus Integral (PI)
341(6)
General Approach to Compensator Design
341(2)
Cascade PI Compensation
343(4)
Cascade Lag Compensation
347(4)
Cascade Lead Compensation
351(4)
Cascade Lag-Lead Compensation
355(2)
Rate Feedback Compenstation (PD)
357(4)
Proportional-Integral-Derivative Compensation
361(4)
Pole Placement
365(16)
Algebraic Compensation
366(1)
Selecting the Transfer Function
367(3)
Incorrect Plant Transmittance
370(3)
Robust Algebraic Compensation
373(5)
Fixed-Structure Compensation
378(3)
An Unstable High-Performance Aircraft
381(4)
Control of a Flexible Space Station
385(3)
Control of a Solar Furnace
388(5)
Summary
393(12)
References
394(1)
Problems
395(10)
Frequency Response Analysis
405(96)
Preview
405(1)
Frequency Response
406(14)
Forced Sinusoidal Response
406(1)
Frequency Response Measurement
407(3)
Response at Low and High Frequencies
410(2)
Graphical Frequency Response Methods
412(8)
Bode Plots
420(26)
Amplitude Plots in Decibels
420(4)
Real Axis Roots
424(4)
Products of Transmittance Terms
428(5)
Complex Roots
433(13)
Using Experimental Data
446(3)
Finding Models
446(1)
Irrational Transmittances
447(2)
Nyquist Methods
449(15)
Generating the Nyquist (polar) Plot
450(6)
Interpreting the Nyquist Plot
456(8)
Gain Margin
464(5)
Phase Margin
469(6)
Relations Between Closed-Loop and Open-Loop Frequency Response
475(5)
Frequency Response of a Flexible Spacecraft
480(5)
Summary
485(16)
References
488(1)
Problems
488(13)
Frequency Response Design
501(34)
Preview
501(1)
Relation Between Root Locus, Time Domain, and Frequency Domain
501(4)
Compensation Using Bode Plots
505(2)
Uncompensated System
507(2)
Cascade Proportional Plus Integral (PI) and Cascade Lag Compensations
509(5)
Cascade Lead Compensation
514(3)
Cascade Lag-Lead Compensation
517(3)
Rate Feedback Compensation
520(3)
Proportional-Integral-Derivative Compensation
523(2)
An Automobile Driver as a Compensator
525(4)
Summary
529(6)
References
530(1)
Problems
530(5)
State Space Analysis
535(91)
Preview
535(1)
State Space Representation
536(18)
Phase-Variable Form
537(3)
Dual Phase-Variable Form
540(2)
Multiple Inputs and Outputs
542(5)
Physical State Variables
547(4)
Transfer Functions
551(3)
State Transformations and Diagonalization
554(21)
Diagonal Forms
558(4)
Diagonalization Using Partial Fraction Expansion
562(2)
Complex Conjugate Characteristic Roots
564(3)
Repeated Characteristic Roots
567(8)
Time Response from State Equations
575(9)
Laplace Transform Solution
575(1)
Time Domain Response of First-Order Systems
576(1)
Time Domain Response of Higher-Order Systems
577(2)
System Response Computation
579(5)
Stability
584(5)
Asymptotic Stability
584(1)
BIBO Stability
585(2)
Internal Stability
587(2)
Controllability and Observability
589(14)
The Controllability Matrix
592(2)
The Observability Matrix
594(1)
Controllability, Observability, and Pole-Zero Cancellation
595(1)
Causes of Uncontrollability
596(7)
Inverted Pendulum Problems
603(7)
Summary
610(16)
References
612(2)
Problems
614(12)
State Space Design
626(49)
Preview
626(1)
State Feedback and Pole Placement
626(11)
Stabilizability
630(2)
Choosing Pole Locations
632(3)
Limitations of State Feedback
635(2)
Tracking Problems
637(3)
Integral Control
638(2)
Observer Design
640(10)
Control Using Observers
644(2)
Separation Property
646(1)
Observer Transfer Function
647(3)
Reduced-Order Observer Design
650(7)
Separation Property
653(1)
Reduced-Order Observer Transfer Function
654(3)
A Magnetic Levitation System
657(10)
Summary
667(8)
References
668(1)
Problems
669(6)
Advanced State Space Methods
675(58)
Preview
675(1)
The Linear Quadratic Regulator Problem
676(9)
Properties of the LQR Design
680(1)
Return Difference Inequality
680(2)
Optimal Root Locus
682(3)
Optimal Observers-the Kalman Filter
685(2)
The Linear Quadratic Gaussian (LQG) Problem
687(5)
Critique of LQG
690(2)
Robustness
692(13)
Feedback Properties
693(2)
Uncertainty Modeling
695(3)
Robust Stability
698(7)
Loop Transfer Recovery (LTR)
705(4)
H∞ Control
709(13)
A Brief History
709(1)
Some Preliminaries
710(3)
H∞ Control: Solution
713(2)
Weights in H∞ Control Problems
715(7)
Summary
722(11)
References
723(1)
Problems
724(9)
Digital Control
733(79)
Preview
733(1)
Computer Processing
734(3)
Computer History and Trends
734(3)
A/D and D/A Conversion
737(4)
Analog-to-Digital Conversion
737(2)
Sample and Hold
739(2)
Digital-to-Analog Conversion
741(1)
Discrete-Time Signals
741(10)
Representing Sequences
741(3)
z-Transformation and Properties
744(5)
Inverse z Transform
749(2)
Sampling
751(2)
Reconstruction of Signals from Samples
753(7)
Representing Sampled Signals with Impulses
753(3)
Relation Between the z Transform and the Laplace Transform
756(1)
The Sampling Theorem
757(3)
Discrete-Time Systems
760(11)
Difference Equations and Response
760(2)
z-Transfer Functions
762(1)
Block Diagrams and Signal Flow Graphs
763(1)
Stability and the Bilinear Transformation
764(4)
Computer Software
768(3)
State-Variable Descriptions of Discrete-Time Systems
771(8)
Simulation Diagrams and Equations
771(3)
Response and Stability
774(3)
Controllability and Observability
777(2)
Digitizing Control Systems
779(9)
Step-Invariant Approximation
779(3)
z-Transfer Functions of Systems with Analog Measurements
782(3)
A Design Example
785(3)
Direct Digital Design
788(10)
Steady State Response
788(1)
Deadbeat Systems
789(1)
A Design Example
790(8)
Summary
798(14)
References
800(2)
Problems
802(10)
APPENDIX A Matrix Algebra 812(22)
A.1 Preview
812(1)
A.2 Nomenclature
812(1)
A.3 Addition and Subtraction
812(1)
A.4 Transposition
813(1)
A.5 Multiplication
813(1)
A.6 Determinants and Cofactors
814(2)
A.7 Inverse
816(1)
A.8 Simultaneous Equations
817(2)
A.9 Eigenvalues and Eigenvectors
819(2)
A.10 Derivative of a Scalar with Respect to a Vector
821(2)
A.11 Quadratic Forms and Symmetry
823(1)
A.12 Definiteness
824(2)
A.13 Rank
826(1)
A.14 Partitioned Matrices
827(7)
Problems
830(4)
APPENDIX B Laplace Transform 834(11)
B. 1 Preview
834(1)
B. 2 Definition and Properties
834(1)
B. 3 Solving Differential Equations
835(2)
B. 4 Partial Fraction Expansion
837(4)
B. 5 Additional Properties of the Laplace Transform
841(4)
B. 5.1 Real Translation
842(1)
B. 5.2 Second Independent Variable
842(1)
B. 5.3 Final-Value and Initial-Value Theorems
843(1)
B. 5.4 Convolution Integral
844(1)
Index 845

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