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PART 11

1 Introduction and Linearized Dynamic Models1

1.1 Introduction1

1.2 Examples and Classifications of Control Systems1

1.3 Open-Loop Control and Closed-Loop Control3

1.4 Control System Analysis and Design6

1.5 Linearized Dynamic Models8

1.6 Laplace Transforms11

1.7 Transfer Functions and System Response15

1.8 Block Diagram Reduction20

1.9 Conclusion24

2 Transfer Function Models of Physical Systems29

2.1 Introduction29

2.2 Mechanical Systems29

2.3 Electrical Systems:Circuits34

2.4 Electromechanical Systems:Transfer Functions of Motors and Generators39

2.5 Thermal Systems44

2.6 Fluid Systems48

2.7 Fluid Power Control Elements54

2.8 Conclusion59

3 Transient Performance and the S-Plane65

3.1 Introduction65

3.2 The S-Plane,Pole-Zero Patterns,and Residue Calculation65

3.3 Transient Response,Including Repeated and Complex Poles69

3.4 Simple Lag:First-Order Systems77

3.5 Quadratic Lag:Second-Order Systems79

3.6 Performance and Stability of Higher-Order Systems86

3.7 Routh-Hurwitz Stability Criterion89

3.8 Effect of System Zeros93

3.9 Conclusion100

4 Feedback System Modeling and Performance104

4.1 Introduction104

4.2 Feedback System Model Examples104

4.3 Direct Block Diagram Modeling of Feedback Systems108

4.4 Effect of Feedback on Parameter Sensitivity and Disturbance Response111

4.5 Steady-State Errors in Feedback Systems117

4.6 Transient Response versus Steady-State Errors121

4.7 Conclusion126

PART 2130

1 Robustness in Multivariable Control System Design130

1.1 Introduction130

1.2 Sensitivity of the Characteristic Gain Loci132

1.3 Uncertainty in a Feedback System135

1.4 Relative Stability Matrices137

1.5 Multivariable Gain and Phase Margins139

1.6 Conclusion143

2 The Inverse Nyquist Array Design Method148

2.1 Introduction148

2.2 The Multivariable Design Problem149

2.3 Stability153

2.4 Design Technique159

2.5 Conclusion164

3 Optimal Control169

3.1 The Calculus of Variations:Classical Theory169

3.2 The Optimal Control Problem171

3.3 Singular Control Problems176

3.4 Dynamic Programming180

3.5 The Hamilton-Jacobi Approach182

4 Optimization in Multivariable Design189

4.1 Introduction189

4.2 Problem Formulation190

4.3 Allocation Problem193

4.4 Scaling Problem196

4.5 Compensator Design198

4.6 Design Example200

4.7 Discussion203

5 Pole Assignment207

5.1 Introduction207

5.2 State-Feedback Algorithms209

5.3 Output-Feedback Algorithms216

5.4 Concluding Remarks225

PART 3231

1 Multivariable Frequency Domain Design Method for Disturbance Minimization231

1.1 Introduction231

1.2 Statement of The Problem232

1.3 Design Scheme for Disturbance Minimization233

1.4 Illustrative Example238

1.5 Conclusion242

2 Application of the Robust Servo-mechanism Controller to Systems with Periodic Tracking Disturbance Signals249

2.1 Introduction249

2.2 Development251

2.3 Numerical Examples258

2.4 Conclusion262

3 Regulator Design with Poles in a Specified Region267

3.1 Introduction267

3.2 Preliminaries269

3.3 Pole Assignment in a Specified Region273

3.4 Optimal Regulator with its Poles in a Specified Region280

3.5 Conclusions288

4 Direct Adaptive Output Tracking Control Using Multilayered Neural Networks292

4.1 Introduction292

4.2 Nonlinear Control Formulation294

4.3 Adaptive Tracking Using Multilayered Neural Networks297

4.4 Results on Convergence of Weight Learning301

4.5 Results on Feedback Stability303

4.6 Simulation Results309

4.7 Concluding Remarks310

5 Genetic Algorithms-A Robust Optimization Tool314

5.1 Introduction314

5.2 Genetic Algorithms316

5.3 GA in Aerospace System Optimization326

5.4 Summary and Discussion329