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PREFACE, vii
1. INTRODUCTION, 1
1.1 Introduction, 2
1.2 A History of Control Systems, 4
1.3 System Configurations, 7
1.4 Analysis and Design Objectives, 10 Case Study, 12
1.5 The Design Process, 15
1.6 Computer-Aided Design, 20
1.7 The Control Systems Engineer, 21 Summary, 23 Review Questions, 23 Problems, 24 Cyber Exploration Laboratory, 30 Bibliography, 31
2. MODELING IN THE FREQUENCY DOMAIN, 33
2.1 Introduction, 34
2.2 Laplace Transform Review, 35
2.3 The Transfer Function, 44
2.4 Electrical Network Transfer Functions, 47
2.5 Translational Mechanical System Transfer Functions, 61
2.6 Rotational Mechanical System Transfer Functions, 69
2.7 Transfer Functions for Systems with Gears, 74
2.8 Electromechanical System Transfer Functions, 79
2.9 Electric Circuit Analogs, 84
2.10 Nonlinearities, 88
2.11 Linearization, 89 Case Studies, 94 Summary, 97 Review Questions, 97 Problems, 98 Cyber Exploration Laboratory, 112 Bibliography, 115
3. MODELING IN THE TIME DOMAIN, 117
3.1 Introduction, 118
3.2 Some Observations, 119
3.3 The General State-Space Representation, 123
3.4 Applying the State-Space Representation, 124
3.5 Converting a Transfer Function to State Space, 132
3.6 Converting from State Space to a Transfer Function, 139
3.7 Linearization, 141 Case Studies, 144 Summary, 148 Review Questions, 149 Problems, 149 Cyber Exploration Laboratory, 157 Bibliography, 159
4. TIME RESPONSE, 161
4.1 Introduction, 162
4.2 Poles, Zeros, and System Response, 162
4.3 First-Order Systems, 166
4.4 Second-Order Systems: Introduction, 168
4.5 The General Second-Order System, 173
4.6 Underdamped Second-Order Systems, 177
4.7 System Response with Additional Poles, 186
4.8 System Response With Zeros, 191
4.9 Effects of Nonlinearities Upon Time Response, 196
4.10 Laplace Transform Solution of State Equations, 199
4.11 Time Domain Solution of State Equations, 203 Case Studies, 207 Summary, 213 Review Questions, 214 Problems, 215 Cyber Exploration Laboratory, 228 Bibliography, 232
5. REDUCTION OF MULTIPLE SUBSYSTEMS, 235
5.1 Introduction, 236
5.2 Block Diagrams, 236
5.3 Analysis and Design of Feedback Systems, 245
5.4 Signal-Flow Graphs, 248
5.5 Mason''s Rule, 251
5.6 Signal-Flow Graphs of State Equations, 254
5.7 Alternative Representations in State Space, 256
5.8 Similarity Transformations, 266 Case Studies, 272 Summary, 278 Review Questions, 279 Problems, 280 Cyber Exploration Laboratory, 297 Bibliography, 299
6. STABILITY, 301
6.1 Introduction, 302
6.2 Routh-Hurwitz Criterion, 305
6.3 Routh-Hurwitz Criterion: Special Cases, 308
6.4 Routh-Hurwitz Criterion: Additional Examples, 314
6.5 Stability in State Space, 320 Case Studies, 323 Summary, 325 Review Questions, 325 Problems, 326 Cyber Exploration Laboratory, 335 Bibliography, 336
7. STEADY-STATE ERRORS, 339
7.1 Introduction, 340
7.2 Steady-State Error for Unity Feedback Systems, 343
7.3 Static Error Constants and System Type, 349
7.4 Steady-State Error Specifications, 353
7.5 Steady-State Error for Disturbances, 356
7.6 Steady-State Error for Nonunity Feedback Systems, 358
7.7 Sensitivity, 362
7.8 Steady-State Error for Systems in State Space, 364 Case Studies, 368 Summary, 371 Review Questions, 372 Problems, 373 Cyber Exploration Laboratory, 384 Bibliography, 386
8. ROOT LOCUS TECHNIQUES, 387
8.1 Introduction, 388
8.2 Defining the Root Locus, 392
8.3 Properties of the Root Locus, 394
8.4 Sketching the Root Locus, 397
8.5 Refining the Sketch, 402
8.6 An Example, 411
8.7 Transient Response Design via Gain Adjustment, 415
8.8 Generalized Root Locus, 419
8.9 Root Locus for Positive-Feedback Systems, 421
8.10 Pole Sensitivity, 424 Case Studies, 426 Summary, 431 Review Questions, 432 Problems, 432 Cyber Exploration Laboratory, 450 Bibliography, 452
9. DESIGN VIA ROOT LOCUS, 455
9.1 Introduction, 456
9.2 Improving Steady-State Error via Cascade Compensation, 459
9.3 Improving Transient Response via Cascade Compensation, 469
9.4 Improving Steady-State Error and Transient Response, 482
9.5 Feedback Compensation, 495
9.6 Physical Realization of Compensation, 503 Case Studies, 508 Summary, 513 Review Questions, 514 Problems, 515 Cyber Exploration Laboratory, 530 Bibliography, 531
10. FREQUENCY RESPONSE TECHNIQUES, 533
10.1 Introduction, 534
10.2 Asymptotic Approximations: Bode Plots, 540
10.3 Introduction to the Nyquist Criterion, 559
10.4 Sketching the Nyquist Diagram, 564
10.5 Stability via the Nyquist Diagram, 569
10.6 Gain Margin and Phase Margin via the Nyquist Diagram, 574
10.7 Stability, Gain Margin, and Phase Margin via Bode Plots, 576
10.8 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses, 580
10.9 Relation Between Closed- and Open-Loop Frequency Responses, 583
10.10 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses, 589
10.11 Steady-State Error Characteristics from Frequency Response, 593
10.12 Systems with Time Delay, 597
10.13 Obtaining Transfer Functions Experimentally, 602 Case Study, 606 Summary, 607 Review Questions, 609 Problems, 610 Cyber Exploration Laboratory, 621 Bibliography, 623
11. DESIGN VIA FREQUENCY RESPONSE, 625
11.1 Introduction, 626
11.2 Transient Response via Gain Adjustment, 627
11.3 Lag Compensation, 630
11.4 Lead Compensation, 635
11.5 Lag-Lead Compensation, 641 Case Studies, 650 Summary, 652 Review Questions, 653 Problems, 653 Cyber Exploration Laboratory, 660 Bibliography, 661
12. DESIGN VIA STATE SPACE, 663
12.1 Introduction, 664
12.2 Controller Design, 665
12.3 Controllability, 672
12.4 Alternative Approaches to Controller Design, 676
12.5 Observer Design, 682
12.6 Observability, 689
12.7 Alternative Approaches to Observer Design, 693
12.8 Steady-State Error Design Via Integral Control, 700 Case Study, 704 Summary, 709 Review Questions, 710 Problems, 711 Cyber Exploration Laboratory, 719 Bibliography, 721
13. DIGITAL CONTROL SYSTEMS, 723
13.1 Introduction , 724
13.2 Modeling the Digital Computer, 727
13.3 The z-Transform, 730
13.4 Transfer Functions, 735
13.5 Block Diagram Reduction, 739
13.6 Stability, 742
13.7 Steady-State Errors, 749
13.8 Transient Response on the z-Plane, 753
13.9 Gain Design on the z-Plane, 755
13.10 Cascade Compensation via the s-Plane, 758
13.11 Implementing the Digital Compensator, 762 Case Studies, 765 Summary, 769 Review Questions, 770 Problems, 771 Cyber Exploration Laboratory, 778 Bibliography, 780 Appendix A List of Symbols, 783 Appendix B MATLAB Tutorial, 787 B.1 Introduction, 787 B.2 MATLAB Examples, 788 B.3 Command Summary, 833 Bibliography, 835 Appendix C MATLAB''s Simulink Tutorial, 836 C.1 Introduction, 836 C.2 Using Simulink, 836 C.3 Examples, 841 Summary, 855 Bibliography, 856 Appendix D LabVIEW Tutorial, 857 D.1 Introduction, 857 D.2 Control Systems Analysis, Design, and Simulation, 858 D.3 Using LabVIEW, 859 D.4 Analysis and Design Examples, 862 D.5 Simulation Examples, 876 Summary, 885 Bibliography, 886 Glossary, 887 Answers to Selected Problems (Online) Credits, 903 Index, 907 Appendix E MATLAB''s GUI Tools Tutorial (Online) Appendix F MATLAB''s Symbolic Math Toolbox Tutorial (Online) Appendix G Matrices, Determinants, and Systems of Equations (Online) Appendix H Control System Computational Aids (Online) Appendix I Derivation of a Schematic for a DC Motor (Online) Appendix J Derivation of the Time Domain Solution of State Equations (Online) Appendix K Solution of State Equations for t 0 6¼ 0 (Online) Appendix L Derivation of Similarity Transformations (Online) Appendix M Root Locus Rules: Derivations (Online) Control Systems Engineering Toolbox (Online) Cyber Exploration Laboratory Experiments Covers Sheets (Online) Lecture Graphics (Online) Solutions to Skill-Assessment Exercises (Online) Online location is www.wiley.com/go/global/nise