《现代控制工程讲义 上》

Chapter 1 Introduction to Control Systems1

1-1 Introduction1

1-2 Examples of Control Systems3

1-3 Closed-Loop Control versus Open-Loop Control6

1-4 Outline of the Book8

Chapter 2 The Laplace Transform9

2-1 Introduction9

2-2 Review of Complex Variables and Complex Functions10

2-3 Laplace Transformation13

2-4 Laplace Transform Theorems23

2-5 Inverse Laplace Transformation32

2-6 Partial-Fraction Expansion with MATLAB36

2-7 Solving Linear,Time-Invariant,Differential Equations40

Example Problems and Solutions42

Problems51

Chapter 3 Mathematical Modeling of Dynamic Systems53

3-1 Introduction53

3-2 Transfer Function and Impulse-Response Function55

3-3 Automatic Control Systems58

3-4 Modeling in State Space70

3-5 State-Space Representation of Dynamic Systems76

3-6 Transformation of Mathematical Models with MATLAB83

3-7 Mechanical Systems85

3-8 Electrical and Electronic Systems90

3-9 Signal Flow Graphs104

3-10 Linearization of Nonlinear Mathematical Models112

Example Problems and Solutions115

Problems146

Chapter 5 Transient and Steady-State Response Analyses219

5-1 Introduction219

5-2 First-Order Systems221

5-3 Second-Order Systems224

5-4 Higher Order Systems239

5-5 Transient-Response Analysis with MATLAB243

5-6 An Example Problem Solved with MATLAB271

5-7 Routh's Stability Criterion275

5-8 Effects of Integral and Derivative Control Actions on System Performance281

5-9 Steady-State Errors in Unity-Feedback Control Systems288

Example Problems and Solutions294

Problems330

Chapter 6 Root-Locus Analysis337

6-1 Introduction337

6-2 Root-Locus Plots339

6-3 Summary of General Rules for Constructing Root Loci351

6-4 Root-Locus Plots with MATLAB358

6-5 Positive-Feedback Systems373

6-6 Conditionally Stable Systems378

6-7 Root Loci for Systems with Transport Lag379

Example Problems and Solutions384

Problems413

Chapter 7 Control Systems Design by the Root-Locus Method416

7-1 Introduction416

7-2 Preliminary Design Considerations419

7-3 Lead Compensation421

7-4 Lag Compensation429

7-5 Lag-Lead Compensation439

7-6 Parallel Compensation451

Example Problems and Solutions456

Problems488

Chapter 8 Frequency-Response Analysis492

8-1 Introduction492

8-2 Bode Diagrams497

8-3 Plotting Bode Diagrams with MATLAB516

8-4 Polar Plots523

8-5 Drawing Nyquist Plots with MATLAB531

8-6 Log-Magnitude-versus-Phase Plots539

8-7 Nyquist Stability Criterion540

8-8 Stability Analysis550

8-9 Relative Stability560

8-10 Closed-Loop Frequency Response of Unity-Feedback Systems575

8-11 Experimental Determination of Transfer Functions584

Example Problems and Solutions589

Problems612

Chapter 9 Control Systems Design by Frequency Response618

9-1 Introduction618

9-2 Lead Compensation621

9-3 Lag Compensation630

9-4 Lag-Lead Compensation639

9-5 Concluding Comments645

Example Problems and Solutions648

Problems679