This text has been revised to make more use of MATLAB integration, and features a new chapter on digital controls. Whilst maintaining its real-world perspectives and practical applications, this edition also features: expanded and updated coverage of state space topics; tutorial instruction on using MATLAB in controls and designated MATLAB problems; and a wider variety of applications in examples and problems. This text is intended for students taking courses in electrical and mechanical engineering.
Engineering | Mechanical Engineering
CHAPTER 1 INTRODUCTION TO CONTROL SYSTEMS, 1.
1.1 Introduction, 1.
1.2 History of Automatic Control, 4.
1.3 Two Examples of Engineering Creativity, 7.
1.4 Control Engineering Practice, 8.
1.5 Examples of Modern Control Systems, 9.
1.6 Automatic Assembly and Robots, 16.
1.7 The Future Evolution of Control Systems, 16.
1.8 Engineering Design, 17.
1.9 Control System Design, 19.
1.10 Design Example: Turntable Speed Control, 19.
1.11 Design Example: Insulin Delivery Control System, 21.
Design Problems, 28.
Terms and Concepts, 29.
CHAPTER 2 MATHEMATICAL MODELS OF SYSTEMS, 30.
2.1 Introduction, 30.
2.2 Differential Equations of Physical Systems, 31.
2.3 Linear Approximations of Physical Systems, 36.
2.4 The Laplace Transform, 39.
2.5 The Transfer Function of Linear Systems, 45.
2.6 Block Diagram Models, 58.
2.7 Signal-Flow Graph Models, 63.
2.8 Computer Analysis of Control Systems, 69.
2.9 Design Examples, 71.
2.10 The Simulation of Systems Using Matlab, 78.
2.11 Summary, 91.
Advanced Problems, 110.
Design Problems, 111.
Matlab Problems, 111.
Terms and Concepts, 113.
CHAPTER 3 STATE VARIABLE MODELS, 114.
3.1 Introduction, 114.
3.2 The State Variables of a Dynamic System, 115.
3.3 The State Differential Equation, 118.
3.4 Signal-Flow Graph State Models, 121.
3.5 Alternative Signal-Flow Graph State Models, 127.
3.6 The Transfer Function from the State Equation, 131.
3.7 The Time Response and the State Transition Matrix, 133.
3.8 A Discrete-Time Evaluation of the Time Response, 137.
3.9 State Variable Equations for a Spacecraft, 142.
3.10 Design Example: Printer Belt Drive, 145.
3.11 Analysis of State Variable Models Using Matlab, 150.
3.12 Summary, 154.
Advanced Problems, 165.
Design Problems, 166.
Matlab Problems, 167.
Terms and Concepts, 168.
CHAPTER 4 FEEDBACK CONTROL SYSTEM CHARACTERISTICS, 169.
4.1 Open- and Closed-Loop Control Systems, 170.
4.2 Sensitivity of Control Systems to Parameter Variations, 172.
4.3 Control of the Transient Response of Control Systems, 175.
4.4 Disturbance Signals in a Feedback Control System, 178.
4.5 Steady-State Error, 183.
4.6 The Cost of Feedback, 186.
4.7 Design Example: English Channel Boring Machines, 187.
4.8 Design Example: Mars Rover Vehicle, 189.
4.9 Control System Characteristics Using Matlab, 191.
4.10 Summary, 198.
Advanced Problems, 208.
Design Problems, 211.
Matlab Problems, 214.
Terms and Concepts, 215.
CHAPTER 5 THE PERFORMANCE OF FEEDBACK CONTROL SYSTEMS, 216.
5.1 Introduction, 217.
5.2 Test Input Signals, 218.
5.3 Performance of a Second-Order System, 220.
5.4 Effects of a Third Pole and a Zero on the Second-Order System Response, 226.
5.5 Estimation of the Damping Ratio, 231.
5.6 The s-Plane Root Location and the Transient Response, 232.
5.7 The Steady-State Error of Feedback Control Systems, 233.
5.8 Steady-State Error of Nonunity Feedback Systems, 237.
5.9 Performance Indices, 240.
5.10 The Simplification of Linear Systems, 248.
5.11 Design Example: Hubble Telescope Pointing Control, 251.
5.12 System Performance Using Matlab, 254.
5.13 Summary, 258.
Advanced Problems, 268.
Design Problems, 270.
Matlab Problems, 272.
Terms and Concepts, 273.
CHAPTER 6 THE STABILITY OF LINEAR FEEDBACK SYSTEMS, 274.
6.1 The Concept of Stability, 274.
6.2 The Routh-Hurwitz Stability Criterion, 278.
6.3 The Relative Stability of Feedback Control Systems, 286.
6.4 The Stability of State Variable Systems, 287.
6.5 The Determination of Root Locations in the s-Plane, 290.
6.6 Design Example: Tracked Vehicle Turning Control, 293.
6.7 System Stability Using Matlab, 295.
6.8 Summary, 304.
Advanced Problems, 310.
Design Problems, 311.
Matlab Problems, 313.
Terms and Concepts, 314.
CHAPTER7 THE ROOT LOCUS METHOD, 315.
7.1 Introduction, 316.
7.2 The Root Locus Concept, 316.
7.3 The Root Locus Procedure, 320.
7.4 An Example of a Control System Analysis and Design Utilizing the Root Locus Method, 335.
7.5 Parameter Design by the Root Locus Method, 338.
7.6 Sensitivity and the Root Locus, 343.
7.7 Gain Plots, 350.
7.8 Design Example: Laser Manipulator Control System, 353.
7.9 The Design of a Robot Control System, 356.
7.10 The Root Locus Using Matlab, 358.
7.11 Summary, 363.
Advanced Problems, 377.
Design Problems, 379.
Matlab Problems, 385.
Terms and Concepts, 386.
CHAPTER 8 FREQUENCY RESPONSE METHODS, 387.
8.1 Introduction, 387.
8.2 Frequency Response Plots, 390.
8.3 An Example of Drawing the Bode Diagram, 407.
8.4 Frequency Response Measurements, 410.
8.5 Performance Specifications in the Frequency Domain, 412.
8.6 Log Magnitude and Phase Diagrams, 415.
8.7 Design Example: Engraving Machine Control System, 416.
8.8 Frequency Response Methods Using Matlab, 419.
8.9 Summary, 425.
Advanced Problems, 437.
Design Problems, 439.
Matlab Problems, 442.
Terms and Concepts, 443.
CHAPTER 9 STABILITY IN THE FREQUENCY DOMAIN, 444.
9.1 Introduction, 445.
9.2 Mapping Contours in the s-Plane, 446.
9.3 The Nyquist Criterion, 451.
9.4 Relative Stability and the Nyquist Criterion, 462.
9.5 Time-Domain Performance Criteria Specified in the Frequency Domain, 469.
9.6 System Bandwidth, 475.
9.7 The Stability of Control Systems with Time Delays, 477.
9.8 Design Example: Remotely Controlled Reconnaissance Vehicle, 480.
9.9 Stability in the Frequency Domain Using Matlab, 483.
9.10 Summary, 492.
Advanced Problems, 516.
Design Problems, 518.
Matlab Problems, 523.
Terms and Concepts, 524.
CHAPTER 10 THE DESIGN OF FEEDBACK CONTROL SYSTEMS, 526.
10.1 Introduction, 527.
10.2 Approaches to System Design, 528.
10.3 Cascade Compensation Networks, 530.
10.4 Phase-Lead Design Using the Bode Diagram, 534.
10.5 Phase-Lead Design Using the Root Locus, 540.
10.6 System Design Using Integration Networks, 546.
10.7 Phase-Lag Design Using the Root Locus, 549.
10.8 Phase-Lag Design Using the Bode Diagram, 553.
10.9 System Design on the Bode Diagram Using Analytical and Computer Methods, 558.
10.10 Systems with a Prefilter, 559.
10.11 Design for Deadbeat Response, 562.
10.12 Design Example: Rotor Winder Control System, 565.
10.13 Design Example: The X-Y Plotter, 568.
10.14 System Design Using Matlab, 570.
10.15 Summary, 577.
Advanced Problems, 593.
Design Problems, 596.
Matlab Problems, 600.
Terms and Concepts, 601.
CHAPTER 11 THE DESIGN OF STATE VARIABLE FEEDBACK SYSTEMS, 603.
11.1 Introduction, 603.
11.2 Controllability, 604.
11.3 Observability, 605.
11.4 Optimal Control Systems, 607.
11.5 Pole Placement Using State Feedback, 616.
11.6 Ackermann's Formula, 622.
11.7 Limitations of State Variable Feedback, 623.
11.8 Internal Model Design, 623.
11.9 Design Example: Automatic Test System, 627.
11.10 State Variable Design Using Matlab, 629.
11.11 Summary, 634.
Advanced Problems, 639.
Design Problems, 641.
Matlab Problems, 644.
Terms and Concepts 646.
CHAPTER 12 ROBUST CONTROL SYSTEMS, 647.
12.1 Introduction, 648.
12.2 Robust Control Systems and System Sensitivity, 648.
12.3 Analysis of Robustness, 652.
12.4 Systems with Uncertain Parameters, 655.
12.5 The Design of Robust Control Systems, 656.
12.6 Three-Term (PID) Controllers, 662.
12.7 The Design of Robust PID Controlled Systems, 665.
12.8 Design Example: Aircraft Autopilot, 670.
12.9 The Design of a Space Telescope Control System, 671.
12.10 The Design of a Robust Bobbin Drive, 673.
12.11 The Robust Internal Model Control System, 676.
12.12 The Design of an Ultra-Precision Diamond Turning Machine, 678.
12.13 The Pseudo-Quantitative Feedback System, 681.
12.14 Robust Control Systems Using Matlab, 683.
12.15 Summary, 686.
Advanced Problems, 696.
Design Problems, 700.
Matlab Problems, 708.
Terms and Concepts, 709.
CHAPTER 13 DIGITAL CONTROL SYSTEMS, 710.
13.1 Introduction, 711.
13.2 Digital Computer Control System Applications, 711.
13.3 Sampled-Data Systems, 712.
13.4 The z-Transform, 716.
13.5 Closed-Loop Feedback Sampled-Data Systems, 720.
13.6 Stability Analysis in the z-Plane, 722.
13.7 Performance of a Sampled-Data Second-Order System, 723.
13.8 Closed-Loop Systems with Digital Computer Compensation, 726.
13.9 The Design of a Worktable Motion Control System, 729.
13.10 The Root Locus of Digital Control Systems, 730.
13.11 Implementation of Digital Controllers, 734.
13.12 Digital Control Systems Using Matlab, 735.
13.13 Summary, 740.
Advanced Problems, 744.
Design Problems, 746.
Matlab Problems, 747.
Terms and Concepts, 748.
APPENDIX A LAPLACE TRANSFORM PAIRS, 751.
APPENDIX B SYMBOLS, UNITS, AND CONVERSION FACTORS, 753.
APPENDIX C AN INTRODUCTION TO MATRIX ALGEBRA, 755.
APPENDIX D DECIBEL CONVERSION, 764.
APPENDIX E COMPLEX NUMBERS, 766.
APPENDIX F MATLAB BASICS, 770.
