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Full Description
Feedback Control of Dynamic Systems covers the material that every engineer, and most scientists and prospective managers, needs to know about feedback control-including concepts like stability, tracking, and robustness. Each chapter presents the fundamentals along with comprehensive, worked-out examples, all within a real-world context and with historical background information. The authors also provide case studies with close integration of MATLAB throughout. ?Teaching and Learning ExperienceThis program will provide a better teaching and learning experience-for you and your students. It will provide:?An Understandable Introduction to Digital Control: This text is devoted to supporting students equally in their need to grasp both traditional and more modern topics of digital control. Real-world Perspective: Comprehensive Case Studies and extensive integrated MATLAB/SIMULINK examples illustrate real-world problems and applications.Focus on Design: The authors focus on design as a theme early on and throughout the entire book, rather than focusing on analysis first and design much later.
Contents
Preface xiii1 An Overview and Brief History of Feedback Control 1A Perspective on Feedback Control 1Chapter Overview 21.1 A Simple Feedback System 31.2 A First Analysis of Feedback 61.3 Feedback System Fundamentals 101.4 A Brief History 111.5 An Overview of the Book 17Summary 19Review Questions 19Problems 202 Dynamic Models 23A Perspective on Dynamic Models 23Chapter Overview 242.1 Dynamics of Mechanical Systems 242.1.1 Translational Motion 242.1.2 Rotational Motion 312.1.3 Combined Rotation and Translation 392.1.4 Complex Mechanical Systems (W)** 422.1.5 Distributed Parameter Systems 422.1.6 Summary: Developing Equations of Motionfor Rigid Bodies 442.2 Models of Electric Circuits 452.3 Models of Electromechanical Systems 502.3.1 Loudspeakers 502.3.2 Motors 522.3.3 Gears 562.4 Heat and Fluid-Flow Models 572.4.1 Heat Flow 582.4.2 Incompressible Fluid Flow 612.5 Historical Perspective 68Summary 71Review Questions 71Problems 723 Dynamic Response 84A Perspective on System Response 84Chapter Overview 853.1 Review of Laplace Transforms 853.1.1 Response by Convolution 863.1.2 Transfer Functions and Frequency Response 913.1.3 The L Laplace Transform 1013.1.4 Properties of Laplace Transforms 1033.1.5 Inverse Laplace Transform by Partial-Fraction Expansion 1053.1.6 The Final Value Theorem 1073.1.7 Using Laplace Transforms to Solve Differential Equations 1093.1.8 Poles and Zeros 1113.1.9 Linear System Analysis Using Matlab_ 1123.2 System Modeling Diagrams 1183.2.1 The Block Diagram 1183.2.2 Block-Diagram Reduction Using Matlab 1223.2.3 Mason's Rule and the Signal Flow Graph (W) 1233.3 Effect of Pole Locations 1233.4 Time-Domain Specifications 1313.4.1 Rise Time 1323.4.2 Overshoot and Peak Time 1323.4.3 Settling Time 1343.5 Effects of Zeros and Additional Poles 1373.6 Stability 1463.6.1 Bounded Input-Bounded Output Stability 1473.6.2 Stability of LTI Systems 1483.6.3 Routh's Stability Criterion 1493.7 Obtaining Models from Experimental Data: System Identification (W) 1563.8 Amplitude and Time Scaling (W) 1563.9 Historical Perspective 156Summary 157Review Questions 159Problems 1594 A First Analysis of Feedback 180A Perspective on the Analysis of Feedback 180Chapter Overview 1814.1 The Basic Equations of Control 1824.1.1 Stability 1834.1.2 Tracking 1844.1.3 Regulation 1854.1.4 Sensitivity 1864.2 Control of Steady-State Error to Polynomial Inputs: System Type 1884.2.1 System Type for Tracking 1894.2.2 System Type for Regulation and Disturbance Rejection 1944.3 The Three-Term Controller: PID Control 1964.3.1 Proportional Control (P) 1964.3.2 Integral Control (I) 1984.3.3 Derivative Control (D) 2014.3.4 Proportional Plus Integral Control (PI) 2014.3.5 PID Control 2024.3.6 Ziegler-Nichols Tuning of the PID Controller 2064.4 Feedforward Control by Plant Model Inversion 2124.5 Introduction to Digital Control (W) 2144.6 Sensitivity of Time Response to Parameter Change (W) 2154.7 Historical Perspective 217Summary 217Review Questions 218Problems 2185 The Root-Locus Design MethodA Perspective on the Root-Locus Design Method 234Chapter Overview 2355.1 Root Locus of a Basic Feedback System 2355.2 Guidelines for Determining a Root Locus 2405.2.1 Rules for Determining a Positive (180?Root Locus 2425.2.2 Summary of the Rules for Determining a Root Locus 2485.2.3 Selecting the Parameter Value 2495.3 Selected Illustrative Root Loci 2515.4 Design Using Dynamic Compensation 2645.4.1 Design Using Lead Compensation 2665.4.2 Design Using Lag Compensation 2705.4.3 Design Using Notch Compensation 2725.4.4 Analog and Digital Implementations (W) 2745.5 A Design Example Using the Root Locus 2755.6 Extensions of the Root-Locus Method 2815.6.1 Rules for Plotting a Negative (0?Root Locus 2815.6.2 Consideration of Two Parameters 2845.6.3 Time Delay (W) 2865.7 Historical Perspective 287Summary 289Review Questions 290Problems 2916 The Frequency-Response Design MethodA Perspective on the Frequency-Response Design Method 308Chapter Overview 3096.1 Frequency Response 3096.1.1 Bode Plot Techniques 3176.1.2 Steady-State Errors 3306.2 Neutral Stability 3316.3 The Nyquist Stability Criterion 3336.3.1 The Argument Principle 3346.3.2 Application of The Argument Principle to Control Design 3356.4 Stability Margins 3486.5 Bode's Gain-Phase Relationship 3576.6 Closed-Loop Frequency Response 3616.7 Compensation 3636.7.1 PD Compensation 3636.7.2 Lead Compensation (W) 3646.7.3 PI Compensation 3746.7.4 Lag Compensation 3756.7.5 PID Compensation 3816.7.6 Design Considerations 3876.7.7 Specifications in Terms of the Sensitivity Function 3896.7.8 Limitations on Design in Terms of the Sensitivity Function 3946.8 Time Delay 3986.8.1 Time Delay via the Nyquist Diagram (W) 4006.9 Alternative Presentation of Data 4006.9.1 Nichols Chart 4006.9.2 The Inverse Nyquist Diagram (W) 4046.10 Historical Perspective 404Summary 405Review Questions 408Problems 4087 State-Space Design 433A Perspective on State-Space Design 433Chapter Overview 4347.1 Advantages of State-Space 4347.2 System Description in State-Space 4367.3 Block Diagrams and State-Space 4427.4 Analysis of the State Equations 4447.4.1 Block Diagrams and Canonical Forms 4457.4.2 Dynamic Response from the State Equations 4577.5 Control-Law Design for Full-State Feedback 4637.5.1 Finding the Control Law 4647.5.2 Introducing the Reference Input with Full-State Feedback 4737.6 Selection of Pole Locations for Good Design 4777.6.1 Dominant Second-Order Poles 4777.6.2 Symmetric Root Locus (SRL) 4797.6.3 Comments on the Methods 4887.7 Estimator Design 4897.7.1 Full-Order Estimators 4897.7.2 Reduced-Order Estimators 4957.7.3 Estimator Pole Selection 4997.8 Compensator Design: Combined Control Law and Estimator (W) 5017.9 Introduction of the Reference Input with the Estimator (W) 5147.9.1 General Structure for the Reference Input 5157.9.2 Selecting the Gain 5247.10 Integral Control and Robust Tracking 5257.10.1 Integral Control 5267.10.2 Robust Tracking Control: The Error-Space Approach 5287.10.3 Model-Following Design 5397.10.4 The Extended Estimator 5437.11 Loop Transfer Recovery 5477.12 Direct Design with Rational Transfer Functions 5527.13 Design for Systems with Pure Time Delay 5567.14 Solution of State Equations (W) 5597.15 Historical Perspective 559Summary 562Review Questions 565Problems 5668 Digital Control 590A Perspective on Digital Control 590Chapter Overview 5918.1 Digitization 5918.2 Dynamic Analysis of Discrete Systems 5948.2.1 z-Transform 5948.2.2 z-Transform Inversion 5958.2.3 Relationship Between s and z 5978.2.4 Final Value Theorem 5998.3 Design Using Discrete Equivalents 6018.3.1 Tustin's Method 6028.3.2 Zero-Order Hold (ZOH) Method 6058.3.3 Matched Pole-Zero (MPZ) Method 6078.3.4 Modified Matched Pole-Zero (MMPZ) Method 6118.3.5 Comparison of Digital Approximation Methods 6128.3.6 Applicability Limits of the Discrete Equivalent Design Method 6138.4 Hardware Characteristics 6138.4.1 Analog-to-Digital (A/D) Converters 6148.4.2 Digital-to-Analog Converters 6148.4.3 Anti-Alias Prefilters 6158.4.4 The Computer 6168.5 Sample-Rate Selection 6178.5.1 Tracking Effectiveness 6188.5.2 Disturbance Rejection 6188.5.3 Effect of Anti-Alias Prefilter 6198.5.4 Asynchronous Sampling 6208.6 Discrete Design 6208.6.1 Analysis Tools 6218.6.2 Feedback Properties 6228.6.3 Discrete Design Example 6238.6.4 Discrete Analysis of Designs 6268.7 Discrete State-Space Design Methods (W) 6288.8 Historical Perspective 628Summary 629Review Questions 631Problems 6319 Nonlinear Systems 637A Perspective on Nonlinear Systems 637Chapter Overview 6389.1 Introduction and Motivation: Why Study Nonlinear Systems? 6399.2 Analysis by Linearization 6419.2.1 Linearization by Small-Signal Analysis 6419.2.2 Linearization by Nonlinear Feedback 6469.2.3 Linearization by Inverse Nonlinearity 6479.3 Equivalent Gain Analysis Using the Root Locus 6489.3.1 Integrator Antiwindup 6559.4 Equivalent Gain Analysis Using Frequency Response: Describing Functions 6589.4.1 Stability Analysis Using Describing Functions 6659.5 Analysis and Design Based on Stability 6709.5.1 The Phase Plane 6709.5.2 Lyapunov Stability Analysis 6779.5.3 The Circle Criterion 6839.6 Historical Perspective 690Summary 691Review Questions 691Problems 69210 Control System Design: Principles and Case Studies 703A Perspective on Design Principles 703Chapter Overview 70410.1 An Outline of Control Systems Design 70510.2 Design of a Satellite's Attitude Control 71110.3 Lateral and Longitudinal Control of a Boeing 747 72910.3.1 Yaw Damper 73310.3.2 Altitude-Hold Autopilot 74110.4 Control of the Fuel-Air Ratio in an Automotive Engine 74710.5 Control of the Read/Write Head Assembly of a Hard Disk 75510.6 Control of RTP Systems in SemiconductorWafer Manufacturing 76310.7 Chemotaxis or How E. Coli Swims Away from Trouble 77710.8 Historical Perspective 786Summary 788Review Questions 790Problems 790Appendix A Laplace Transforms 804A.1 The L Laplace Transform 804A.1.1 Properties of Laplace Transforms 805A.1.2 Inverse Laplace Transform by Partial-Fraction Expansion 813A.1.3 The Initial Value Theorem 816A.1.4 Final Value Theorem 817Appendix B Solutions to the Review Questions 819Appendix C Matlab Commands 835Bibliography 840Index 848List of Appendices on the web at www.fpe7e.com Appendix WA: A Review of Complex VariablesAppendix WB: Summary of Matrix TheoryAppendix WC: Controllability and ObservabilityAppendix WD: Ackermann's Formula for Pole PlacementAppendix W2.1.4: Complex Mechanical SystemsAppendix W3.2.3: Mason's Rule and Signal Flow GraphAppendix W3.6.3.1: Routh Special CasesAppendix W3.7: System IdentificationAppendix W3.8: Amplitude and Time ScalingAppendix W4.1.4.1: The Filtered CaseAppendix W4.2.2.1: Truxal's Formula for the Error ConstantsAppendix W4.5: Introduction to Digital ControlAppendix W4.6: Sensitivity of Time Response to Parameter ChangeAppendix W5.4.4: Analog and Digital ImplementationsAppendix W5.6.3: Root Locus with Time DelayAppendix W6.7.2: Digital Implementation of Example 6.15Appendix W6.8.1: Time Delay via the Nyquist DiagramAppendix W6.9.2: The Inverse Nyquist DiagramAppendix W7.8: Digital Implementation of Example 7.31Appendix W7.9: Digital Implementation of Example 7.33Appendix W7.14: Solution of State EquationsAppendix W8.7: Discrete State-Space Design Methods**Sections with (W) indicates that additional material is located on the web at www.FPE7e.com
