Design of Feedback Control Systems

• PrefaceChapter 1. Continuous-Time System Description1.1: Preview1.2: Basic Concepts1.2.1: Control System Terminology1.2.2: The Feedback Concept1.3: Modeling1.4: System Dynamics1.5: Electrical Components1.5.1: Mesh Analysis1.5.2: State Variables1.5.3: Node Analysis1.5.4: Analyzing Operational Amplifier Circuits1.5.5: Operational Amplifier Applications1.6: Translational Mechanical Components1.6.1: Free Body Diagrams1.6.2: State Variables1.7: Rotational Mechanical Components1.7.1: Free Body Diagrams1.7.2: Analogies1.7.3: Gear Trains and Transformers1.8: Electromechanical Components1.9: Aerodynamics1.9.1: Nomenclature1.9.2: Dynamics1.9.3: Lateral and Longitudinal Motion1.10: Thermal Systems1.11: Hydraulics1.12: Transfer Function and Stability1.12.1: Transfer Functions1.12.2: Response Terms1.12.3: Multiple Inputs and Outputs1.12.4: Stability1.13: Block Diagrams1.13.1: Block Diagram Elements1.13.2: Block Diagram Reductions1.13.3: Multiple Inputs and Outputs1.14: Signal Flow Graphs1.14.1: Comparison and Block Diagrams1.14.2: Mason's Rule1.15: A Positioning Servo1.16: Controller Model of the Thyroid Gland1.17: Stick-Slip Response of an Oil Well Drill1.18: SummaryReferencesProblemsChapter 2. Continuous-Time System Response2.1: Preview2.2: Response of First-Order Systems2.3: Response of Second-Order Systems2.3.1: Time Response2.3.2: Overdamped Response2.3.3: Critically Damped Response2.3.4: Underdamped Response2.3.5: Undamped Natural Frequency and Damping Ratio2.3.6: Rise Time, Overshoot and Settling Time2.4: Higher-Order System Response2.5: Stability Testing2.5.1: Coefficient Tests2.5.2: Routh-Hurwitz Testing2.5.3: Significance of the Array Coefficients2.5.4: Left-Column Zeros2.5.5: Row of Zeros2.5.6: Eliminating a Possible Odd Divisor2.5.7: Multiple Roots2.6: Parameter Shifting2.6.1: Adjustable Systems2.6.2: Khartinov's Theorem2.7: An Insulin Delivery System2.8: Analysis of an Aircraft Wing2.9: SummaryReferencesProblemsChapter 3. Performance Specifications3.1: Preview3.2: Analyzing Tracking Systems3.2.1: Importance of Tracking Systems3.2.2: Natural Response, Relative Stability and Damping3.3: Forced Response3.3.1: Steady State Error3.3.2: Initial and Final Values3.3.3: Steady State Errors to Power-of-Time Inputs3.4: Power-of-Time Error Performance3.4.1: System Type Number3.4.2: Achieving a Given Type Number3.4.3: Unity Feedback Systems3.4.4: Unity Feedback Error Coefficients3.5: Performance Indices and Optimal Systems3.6: System Sensitivity3.6.1: Calculating the Effects of Changes in Parameters3.6.2: Sensitivity Functions3.6.3: Sensitivity to Disturbance Signals3.7: Time Domain Design3.7.1: Process Control3.7.2: Ziegler-Nichols Compensation3.7.3: Chien-Hrones-Reswick Compensation3.8: An Electric Rail Transportation System3.9: Phase-Locked Loop for a CB Receiver3.10: Bionic Eye3.11: SummaryReferencesProblemsChapter 4. Root Locus Analysis4.1: Preview4.2: Pole-Zero Plots4.2.1: Poles and Zeros4.2.2: Graphical Evaluation4.3: Root Locus for Feedback Systems4.3.1: Angle Criterion4.3.2: High and Low Gains4.3.3: Root Locus Properties4.4: Root Locus Construction4.5: More About Root Locus4.5.1: Root Locus Calibration4.5.2: Computer-Aided Root Locus4.6: Root Locus for Other Systems4.6.1: Systems with Other Forms4.6.2: Negative Parameter Ranges4.6.3: Delay Effects4.7: Design Concepts (Adding Poles and Zeros)4.8: A Light-Source Tracking System4.9: An Artificial Limb4.10: Control of a Flexible Spacecraft4.11: Bionic Eye4.12: SummaryReferencesProblemsChapter 5. Root Locus Design5.1: Preview5.2: Shaping a Root Locus5.3: Adding and Canceling Poles and Zeros5.3.1: Adding a Pole or Zero5.3.2: Canceling a Pole or Zero5.4: Second-Order Plant Models5.5: An Uncompensated Example System5.6: Cascade Proportional Plus Integral (PI)5.6.1: General Approach to Compensator Design5.6.2: Cascade PI Compensation5.7: Cascade Lag Compensation5.8: Cascade Lead Compensation5.9: Cascade Lag-Lead Compensation5.10: Rate Feedback Compensation (PD)5.11: Proportional-Integral-Derivative Compensation5.12: Pole Placement5.12.1: Algebraic Compensation5.12.2: Selecting the Transfer Function5.12.3: Incorrect Plant Transmittance5.12.4: Robust Algebraic Compensation5.12.5: Fixed-Structure Compensation5.13: An Unstable High-Performance Aircraft5.14: Control of a Flexible Space Station5.15: Control of a Solar Furnace5.16: SummaryReferencesProblemsChapter 6. Frequency Response Analysis6.1: Preview6.2: Frequency Response6.2.1: Forced Sinusoidal Response6.2.2: Frequency Response Measurement6.2.3: Response at Low and High Frequencies6.2.4: Graphical Frequency Response Methods6.3: Bode Plots6.3.1: Amplitude Plots in Decibels6.3.2: Real Axis Roots6.3.3: Products of Transmittance Terms6.3.4: Complex Roots6.4: Using Experimental Data6.4.1: Finding Models6.4.2: Irrational Transmittances6.5: Nyquist Methods6.5.1: Generating the Nyquist (Polar) Plot6.5.2: Interpreting the Nyquist Plot6.6: Gain Margin6.7: Phase Margin6.8: Relations between Closed-Loop and Open-Loop Frequency Response6.9: Frequency Response of a Flexible Spacecraft6.10: SummaryReferencesProblemsChapter 7. Frequency Response Design7.1: Preview7.2: Relation between Root Locus, Time Domain, and Frequency Domain7.3: Compensation Using Bode Plots7.4: Uncompensated System7.5: Cascade Proportional Plus Integral (PI) and Cascade Lag Compensations7.6: Cascade Lead Compensation7.7: Cascade Lag-Lead Compensation7.8: Rate Feedback Compensation7.9: Proportional-Integral-Derivative Compensation7.10: An Automobile Driver as a Compensator7.11: SummaryReferencesProblemsChapter 8. State Space Analysis8.1: Preview8.2: State Space Representation8.2.1: Phase-Variable Form8.2.2: Dual Phase-Variable Form8.2.3: Multiple Inputs and Outputs8.2.4: Physical State Variables8.2.5: Transfer Functions8.3: State Transformations and Diagonalization8.3.1: Diagonal Forms8.3.2: Diagonalization Using Partial-Fraction Expansion8.3.3: Complex Conjugate Characteristic Roots8.3.4: Repeated Characteristic Roots8.4: Time Response from State Equations8.4.1: Laplace Transform Solution8.4.2: Time-Domain Response of First-Order Systems8.4.3: Time-Domain Response of Higher-Order Systems8.4.4: System Response Computation8.5: Stability8.5.1: Asymptotic Stability8.5.2: BIBO Stability8.5.3: Internal Stability8.6: Controllability and Observability8.6.1: The Controllability Matrix8.6.2: The Observability Matrix8.6.3: Controllability, Observability and Pole-Zero Cancellation8.6.4: Causes of Uncontrollability8.7: Inverted Pendulum Problems8.8: SummaryChapter 9. State Space Design9.1: Preview9.2: State Feedback and Pole Placement9.2.1: Stabilizability9.2.2: Choosing Pole Locations9.2.3: Limitations of State Feedback9.3: Tracking Problems9.3.1: Integral Control9.4: Observer Design9.4.1: Control Using Observers9.4.2: Separation Property9.4.3: Observer Transfer Function9.5: Reduced-Order Observer Design9.5.1: Separation Property9.5.2: Reduced-Order Observer Transfer Function9.6: A Magnetic Levitation System9.7: SummaryChapter 10. Advanced State Space Methods10.1: Preview10.2: The Linear Quadratic Regulator Problem10.2.1: Properties of the LQR Design10.2.2: Return Difference Inequality10.2.3: Optimal Root Locus10.3: Optimal Observers--The Kalman Filter10.4: The Linear Quadratic Gaussian (LQG) Problem10.4.1: Critique of LGQ10.5: Robustness10.5.1: Feedback Properties10.5.2: Uncertainty Modeling10.5.3: Robust Stability10.6: Loop Transfer Recovery (LTR)10.7: H¥ Control10.7.1: A Brief History10.7.2: Some Preliminaries10.7.3: H¥ Control: Solution10.7.4: Weights in H¥ Control Problem10.8: SummaryReferencesProblemsChapter 11. Digital Control11.1: Preview11.2: Computer Processing11.2.1: Computer History and Trends11.3: A/D and D/A Conversion11.3.1: Analog-to-Digital Conversion11.3.2: Sample and Hold11.3.3: Digital-to-Analog Conversion11.4: Discrete-Time Signals11.4.1: Representing Sequences11.4.2: Z-Transformation and Properties11.4.3: Inverse z-Transform11.5: Sampling11.6: Reconstruction of Signals from Samples11.6.1: Representing Sampled Signals with Impulses11.6.2: Relation between the z-Transform and the Laplace Transform11.6.3: The Sampling Theorem11.7: Discrete-Time Systems11.7.1: Difference Equations Response11.7.2: Z-Transfer Functions11.7.3: Block Diagrams and Signal Flow Graphs11.7.4: Stability and the Bilinear Transformation11.7.5: Computer Software11.8: State-Variable Descriptions of Discrete-Time Systems11.8.1: Simulation Diagrams and Equations11.8.2: Response and Stability11.8.3: Controllability and Observability11.9: Digitizing Control Systems11.9.1: Step-Invariant Approximation11.9.2: z-Transfer Functions of Systems with Analog Measurements11.9.3: A Design Example11.10: Direct Digital Design11.10.1: Steady State Response11.10.2: Deadbeat Systems11.10.3: A Design Example11.11: SummaryReferencesProblemsAppendix A. Matrix AlgebraA.1: PreviewA.2: NomenclatureA.3: Addition and SubtractionA.4: TranspositionA.5: MultiplicationA.6: Determinants and CofactorsA.7: InverseA.8: Simultaneous EquationsA.9: Eigenvalues and EigenvectorsA.10: Derivative of a Scalar with Respect to a VectorA.11: Quadratic Forms and SymmetryA.12: DefinitenessA.13: RankA.14: Partitioned MatricesProblemsAppendix B. Laplace TransformB.1: PreviewB.2: Definition and PropertiesB.3: Solving Differential EquationsB.4: Partial Fraction ExpansionB.5: Additional Properties of the Laplace TransformReal TranslationSecond Independent VariableFinal Value and Initial Value TheoremsConvolution IntegralIndex

'An excellent text book that explains the basic concepts to the beginner in a very lucid way, yet goes on to cover many advanced topics in sufficient detail.'Ajeet Singh, DeVry Technical Institute