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Copyright, iv
PREFACE, xi
1. INTRODUCTION, 1
1.1. Introduction, 2
1.2. A History of Control Systems, 4
1.3. System Configurations, 8
1.4. Analysis and Design Objectives, 10
Introduction to a Case Study, 12
1.5. The Design Process, 15
1.6. Computer-Aided Design, 20
1.7. The Control Systems Engineer, 22
Summary, 23
Review Questions, 23
Problems, 24
Progressive Analysis and Design Problems, 28
Bibliography, 29
2. MODELING IN THE FREQUENCY DOMAIN, 31
2.1. Introduction, 32
2.2. Laplace Transform Review, 32
2.3. The Transfer Function, 42
2.4. Electrical Network Transfer Functions, 45
2.5. Translational Mechanical System Transfer Functions, 59
2.6. Rotational Mechanical System Transfer Functions, 66
2.7. Transfer Functions for Systems with Gears, 71
2.8. Electromechanical System Transfer Functions, 75
2.9. Electric Circuit Analogs, 81
2.10. Nonlinearities, 84
2.11. Linearization, 85
Case Studies, 90
Summary, 93
Review Questions, 93
Problems, 94
Progressive Analysis and Design Problems, 105
Cyber Exploration Laboratory, 106
Bibliography, 109
3. MODELING IN THE TIME DOMAIN, 111
3.1. Introduction, 112
3.2. Some Observations, 112
3.3. The General State-Space Representation, 116
3.4. Applying the State-Space Representation, 118
3.5. Converting a Transfer Function to State Space, 126
3.6. Converting from State Space to a Transfer Function, 133
3.7. Linearization, 135
Case Studies, 138
Summary, 142
Review Questions, 143
Problems, 144
Progressive Analysis and Design Problems, 149
Cyber Exploration Laboratory, 150
Bibliography, 151
4. TIME RESPONSE, 153
4.1. Introduction, 154
4.2. Poles, Zeros, and System Response, 154
4.3. First-Order Systems, 157
4.4. Second-Order Systems: Introduction, 160
4.5. The General Second-Order System, 165
4.6. Underdamped Second-Order Systems, 168
4.7. System Response with Additional Poles, 177
4.8. System Response with Zeros, 181
4.9. Effects of Nonlinearities upon Time Response, 187
4.10. Laplace Transform Solution of State Equations, 190
4.11. Time Domain Solution of State Equations, 193
Case Studies, 198
Summary, 203
Review Questions, 205
Problems, 206
Design Problems, 215
Progressive Analysis and Design Problems, 217
Cyber Exploration Laboratory, 218
Bibliography, 221
5. REDUCTION OF MULTIPLE SUBSYSTEMS, 223
5.1. Introduction, 224
5.2. Block Diagrams, 224
5.3. Analysis and Design of Feedback Systems, 233
5.4. Signal-Flow Graphs, 236
5.5. Mason’s Rule, 239
5.6. Signal-Flow Graphs of State Equations, 242
5.7. Alternative Representations in State Space, 244
5.8. Similarity Transformations, 254
Case Studies, 262
Summary, 268
Review Questions, 269
Problems, 270
Design Problems, 283
Progressive Analysis and Design Problems, 284
Cyber Exploration Laboratory, 285
Bibliography, 286
6. STABILITY, 287
6.1. Introduction, 288
6.2. Routh-Hurwitz Criterion, 291
6.3. Routh-Hurwitz Criterion: Special Cases, 294
6.4. Routh-Hurwitz Criterion: Additional Examples, 300
6.5. Stability in State Space, 306
Case Studies, 309
Summary, 311
Review Questions, 311
Problems, 312
Design Problems, 317
Progressive Analysis and Design Problems, 319
Cyber Exploration Laboratory, 320
Bibliography, 321
7. STEADY-STATE ERRORS, 323
7.1. Introduction, 324
7.2. Steady-State Error for Unity Feedback Systems, 327
7.3. Static Error Constants and System Type, 333
7.4. Steady-State Error Specifications, 337
7.5. Steady-State Error for Disturbances, 339
7.6. Steady-State Error for Nonunity Feedback Systems, 341
7.7. Sensitivity, 345
7.8. Steady-State Error for Systems in State Space, 348
Case Studies, 352
Summary, 355
Review Questions, 356
Problems, 357
Design Problems, 365
Progressive Analysis and Design Problems, 367
Cyber Exploration Laboratory, 368
Bibliography, 369
8. ROOT LOCUS TECHNIQUES, 370
8.1. Introduction, 371
8.2. Defining the Root Locus, 375
8.3. Properties of the Root Locus, 378
8.4. Sketching the Root Locus, 381
8.5. Refining the Sketch, 386
8.6. An Example, 395
8.7. Transient Response Design via Gain Adjustment, 399
8.8. Generalized Root Locus, 404
8.9. Root Locus for Positive-Feedback Systems, 405
8.10. Pole Sensitivity, 408
Case Studies, 410
Summary, 416
Review Questions, 416
Problems, 417
Design Problems, 427
Progressive Analysis and Design Problems, 430
Cyber Exploration Laboratory, 432
Bibliography, 433
9. DESIGN VIA ROOT LOCUS, 435
9.1. Introduction, 436
9.2. Improving Steady-State Error via Cascade Compensation, 439
9.3. Improving Transient Response via Cascade Compensation, 449
9.4. Improving Steady-State Error and Transient Response, 463
9.5. Feedback Compensation, 476
9.6. Physical Realization of Compensation, 485
Case Studies, 490
Summary, 495
Review Questions, 496
Problems, 497
Design Problems, 503
Progressive Analysis and Design Problems, 510
Cyber Exploration Laboratory, 510
Bibliography, 512
10. FREQUENCY RESPONSE TECHNIQUES, 513
10.1. Introduction, 514
10.2. Asymptotic Approximations: Bode Plots, 520
10.3. Introduction to the Nyquist Criterion, 539
10.4. Sketching the Nyquist Diagram, 544
10.5. Stability via the Nyquist Diagram, 549
10.6. Gain Margin and Phase Margin via the Nyquist Diagram, 553
10.7. Stability, Gain Margin, and Phase Margin via Bode Plots, 556
10.8. Relation between Closed-Loop Transient and Closed-Loop Frequency Responses, 559
10.9. Relation between Closed- and Open-Loop Frequency Responses, 563
10.10. Relation between Closed-Loop Transient and Open-Loop Frequency Responses, 569
10.11. Steady-State Error Characteristics from Frequency Response, 573
10.12. Systems with Time Delay, 577
10.13. Obtaining Transfer Functions Experimentally, 581
Case Study, 585
Summary, 587
Review Questions, 589
Problems, 590
Progressive Analysis and Design Problems, 599
Cyber Exploration Laboratory, 600
Bibliography, 601
11. DESIGN VIA FREQUENCY RESPONSE, 602
11.1. Introduction, 603
11.2. Transient Response via Gain Adjustment, 604
11.3. Lag Compensation, 607
11.4. Lead Compensation, 612
11.5. Lag-Lead Compensation, 618
Case Studies, 622
Summary, 625
Review Questions, 625
Problems, 626
Design Problems, 629
Progressive Analysis and Design Problems, 631
Cyber Exploration Laboratory, 632
Bibliography, 633
12. DESIGN VIA STATE SPACE, 635
12.1. Introduction, 636
12.2. Controller Design, 637
12.3. Controllability, 643
12.4. Alternative Approaches to Controller Design, 648
12.5. Observer Design, 653
12.6. Observability, 660
12.7. Alternative Approaches to Observer Design, 664
12.8. Steady-State Error Design via Integral Control, 671
Case Study, 674
Summary, 680
Review Questions, 681
Problems, 682
Design Problems, 686
Progressive Analysis and Design Problems, 689
Cyber Exploration Laboratory, 689
Bibliography, 690
13. DIGITAL CONTROL SYSTEMS, 692
13.1. Introduction, 693
13.2. Modeling the Digital Computer, 696
13.3. The z-Transform, 699
13.4. Transfer Functions, 704
13.5. Block Diagram Reduction, 708
13.6. Stability, 711
13.7. Steady-State Errors, 718
13.8. Transient Response on the z-Plane, 722
13.9. Gain Design on the z-Plane, 724
13.10. Cascade Compensation via the s-Plane, 728
13.11. Implementing the Digital Compensator, 731
Case Studies, 734
Summary, 739
Review Questions, 740
Problems, 741
Design Problems, 744
Progressive Analysis and Design Problems, 746
Cyber Exploration Laboratory, 747
Bibliography, 748
Appendix A. List of Symbols, 750
Appendix B. MATLAB Tutorial, 754
Appendix C. MATLAB’s Simulink Tutorial, 807
Glossary, 830
Answers to Selected Problems, 839
Credits, 845
Index, 847

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