《feedback control of dynamic systems fifth edition P910》

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1An Overview and Brief History of Feedback Control1

A Perspective on Feedback Control1

Chapter Overview1

1.1 A Simple Feedback System2

1.2 A First Analysis of Feedback5

1.3 A Brief History9

1.4 An Overview of the Book15

Summary16

End-of-Chapter Questions17

Problems18

2Dynamic Models20

A Perspective on Dynamic Models20

Chapter Overview21

2.1 Dynamics of Mechanical Systems22

2.2 Models of Electric Circuits34

2.3 Models of Electromechanical Systems39

2.4 Heat and Fluid-Flow Models44

2.5 Complex Mechanical Systems55

Summary61

End-of-Chapter Questions61

Problems62

3Dynamic Response72

A Perspective on System Response72

Chapter Overview73

3.1 Review of Laplace Transforms74

3.2 System Modeling Diagrams102

3.3 Effect of Pole Locations107

3.4 Time-Domain Specifications115

3.5 Effects of Zeros and Additional Poles121

3.6 Amplitude and Time Scaling127

3.7 Stability130

3.8 Obtaining Models from Experimental Data139

3.9 Mason's Rule and the Signal-Flow Graph141

Summary145

End-of-Chapter Questions147

Problems148

4Basic Properties of Feedback166

A Perspective on the Properties of Feedback166

Chapter Overview167

4.1 The Basic Equations of Control168

4.2 Control of Steady-State Error: System Type176

4.3 Control of Dynamic Error: PID Control186

4.4 Extensions to the Basic Feedback Concepts191

Summary210

End-of-Chapter Questions211

Problems212

5The Root-Locus Design Method230

A Perspective on the Root-Locus Design Method230

Chapter Overview231

5.1 Root Locus of a Basic Feedback System232

5.2 Guidelines for Sketching a Root Locus237

5.3 Selected Illustrative Root Loci249

5.4 Selecting the Parameter Value263

5.5 Design Using Dynamic Compensation266

5.6 A Design Example Using the Root Locus278

5.7 Extensions of the Root-Locus Method284

Summary292

End-of-Chapter Questions294

Problems295

6The Frequency-Response Design Method314

A Perspective on the Frequency-Response Design Method314

Chapter Overview315

6.1 Frequency Response316

6.2 Neutral Stability338

6.3 The Nyquist Stability Criterion340

6.4 Stability Margins353

6.5 Bode's Gain-Phase Relationship361

6.6 Closed-Loop Frequency Response365

6.7 Compensation366

6.8 Alternative Presentations of Data392

6.9 Specifications in Terms of the Sensitivity Function398

6.10 Time Delay407

Summary409

End-of-Chapter Questions412

Problems413

7State-Space Design438

A Perspective on State-Space Design438

Chapter Overview439

7.1 Advantages of State Space440

7.2 System Description in State Space441

7.3 Block Diagrams and State Space448

7.4 Analysis of the State Equations451

7.5 Control-Law Design for Full-State Feedback471

7.6 Selection of Pole Locations for Good Design485

7.7 Estimator Design497

7.8 Compensator Design: Combined Control Law and Estimator511

7.9 Introduction of the Reference Input with the Estimator524

7.10 Integral Control and Robust Tracking536

7.11 Loop Transfer Recovery （LTR）554

7.12 Direct Design with Rational Transfer Functions559

7.13 Design for Systems with Pure Time Delay563

Summary568

End-of-Chapter Questions569

Problems572

8Digital Control594

A Perspective on Digital Control594

Chapter Overview595

8.1 Digitization596

8.2 Dynamic Analysis of Discrete Systems598

8.3 Design Using Discrete Equivalents606

8.4 Hardware Characteristics615

8.5 Sample-Rate Selection619

8.6 Discrete Design622

8.7 State-Space Design Methods629

Summary637

End-of-Chapter Questions639

Problems639

9Nonlinear Systems652

Perspective on Nonlinear Systems652

Chapter Overview653

9.1 Introduction and Motivation: Why Study Nonlinear Systems?654

9.2 Analysis by Linearization656

9.3 Equivalent Gain Analysis Using the Root Locus663

9.4 Equivalent Gain Analysis Using Frequency Response: Describing Functions673

9.5 Analysis and Design Based on Stability684

Summary706

End-of-Chapter Questions706

Problems707

10 Control System Design: Principles and Case Studies716

A Perspective on Design Principles716

Chapter Overview717

10.1 An Outline of Control Systems Design718

10.2 Design of a Satellite's Attitude Control723

10.3 Lateral and Longitudinal Control of a Boeing 747742

10.4 Control of the Fuel-Air Ratio in an Automotive Engine761

10.5 Control of the Read/Write Head Assembly of a Hard Disk769

10.6 Control of Rapid Thermal Processing （RTP） Systems in Semiconductor Wafer Manufacturing777

Summary791

End-of-Chapter Questions793

Problems793

Appendix A Laplace Transforms807

A.1 The ？_ Laplace Transform807

A.2 Final Value Theorem821

Appendix B A Review of Complex Variables823

B.1Definition of a Complex Number823

B.2 Algebraic Manipulations825

B.3 Graphical Evaluation of Magnitude and Phase827

B.4 Differentiation and Integration828

B.5 Euler's Relations828

B.6 Analytic Functions829

B.7 Cauchy's Theorem829

B.8 Singularities and Residues830

B.9 Residue Theorem830

B.10 The Argument Principle831

B.11 Bilinear Transformation833

Appendix C Summary of Matrix Theory835

C.1 Matrix Definitions835

C.2Elementary Operations on Matrices835

C.3 Trace836

C.4 Transpose836

C.5 Determinant and Matrix Inverse837

C.6 Properties of the Determinant838

C.7 Inverse of Block Triangular Matrices839

C.8 Special Matrices839

C.9 Rank840

C.10 Characteristic Polynomial840

C.11 Cayley-Hamilton Theorem840

C.12 Eigenvalues and Eigenvectors840

C.13 Similarity Transformations841

C.14 Matrix Exponential842

C.15 Fundamental Subspaces843

C.16 Singular-Value Decomposition843

C.17 Positive Definite Matrices844

C.18 Matrix Identity844

Appendix D Controllability and Observability845

D.1Controllability845

D.2 Observability851

Appendix E Ackermann's Formula for Pole Placement853

Appendix F MATLAB Commands857

Appendix G Solutions to the End-of-Chapter Questions859

References875

Index885