Control Systems Engineering, International Adaptation

1. INTRODUCTION 1.1 Introduction 1.2 System Configurations 1.3 Servomechanism 1.4 A History of Control Systems 1.5 Analysis and Design Objectives 1.6 The Design Process 1.7 Multivariable Systems 1.8 Computer-Aided Design 1.9 The Control Systems Engineer Summary Review Questions Problems Cyber Exploration Laboratory Bibliography 2. MODELING IN THE FREQUENCY DOMAIN 2.1 Introduction 2.2 Laplace Transform Review 2.3 The Transfer Function 2.4 Electrical Network Transfer Functions 2.5 Translational Mechanical System Transfer Functions 2.6 Rotational Mechanical System Transfer Functions 2.7 Transfer Functions for Systems with Gears 2.8 Electromechanical System Transfer Functions 2.9 Electric Circuit Analogs 2.10 Nonlinearities 2.11 Linearization Summary Review Questions Problems Cyber Exploration Laboratory Hardware Interface Laboratory Bibliography 3. MODELING IN THE TIME DOMAIN 3.1 Introduction 3.2 Some Observations 3.3 The General State-Space Representation 3.4 Applying the State-Space Representation 3.5 Converting a Transfer Function to State Space 3.6 Converting from State Space to a Transfer Function 3.7 Linearization Summary Review Questions Problems Cyber Exploration Laboratory Bibliography 4. TIME RESPONSE ANALYSIS 4.1 Introduction 4.2 Poles, Zeros, and System Response 4.3 First-Order Systems 4.4 Second-Order Systems: Introduction 4.5 The General Second-Order System 4.6 Underdamped Second-Order Systems 4.7 System Response with Additional Poles 4.8 System Response with Zeros 4.9 Effects of Nonlinearities upon Time Response 4.10 Laplace Transform Solution of State Equations 4.11 Time Domain Solution of State Equations Summary Review Questions Problems Cyber Exploration Laboratory Hardware Interface Laboratory Bibliography 5. REDUCTION OF MULTIPLE SUBSYSTEMS 5.1 Introduction 5.2 Block Diagrams 5.3 Analysis and Design of Feedback Systems 5.4 Signal-Flow Graphs 5.5 Mason’s Rule 5.6 Signal-Flow Graphs of State Equations 5.7 Alternative Representations in State Space 5.8 Similarity Transformations Summary Review Questions Problems Cyber Exploration Laboratory Bibliography 6. STABILITY 6.1 Introduction 6.2 Routh–Hurwitz Criterion 6.3 Routh–Hurwitz Criterion: Special Cases 6.4 Routh–Hurwitz Criterion: Additional Examples 6.5 Stability in State Space Summary Review Questions Problems Cyber Exploration Laboratory              Bibliography 7. STEADY-STATE ERRORS 7.1 Introduction 7.2 Steady-State Error for Unity-Feedback Systems 7.3 Static Error Constants and System Type 7.4 Steady-State Error Specifications 7.5 Steady-State Error for Disturbances 7.6 Steady-State Error for Nonunity-Feedback Systems 7.7 Sensitivity 7.8 Steady-State Error for Systems in State Space Summary Review Questions Problems Cyber Exploration Laboratory Bibliography 8. ROOT LOCUS TECHNIQUES 8.1 Introduction 8.2 Defining the Root Locus 8.3 Properties of the Root Locus 8.4 Sketching the Root Locus 8.5 Refining the Sketch 8.6 An Example 8.7 Transient Response Design via Gain Adjustment 8.8 Generalized Root Locus 8.9 Root Locus for Positive-Feedback Systems 8.10 Pole Sensitivity Summary Review Questions Problems Cyber Exploration Laboratory Hardware Interface Laboratory Bibliography 9. DESIGN VIA ROOT LOCUS 9.1 Introduction 9.2 Improving Steady-State Error via Cascade Compensation 9.3 Improving Transient Response via Cascade Compensation 9.4 Improving Steady-State Error and Transient Response 9.5 Feedback Compensation 9.6 Physical Realization of Compensation 9.7 Tuning of PID Controllers Summary Review Questions Problems Cyber Exploration Laboratory Hardware Interface Laboratory Bibliography 10. FREQUENCY RESPONSE TECHNIQUES 10.1 Introduction 10.2 Asymptotic Approximations: Bode Plots 10.3 All-Pass and Non-Minimum Phase Systems 10.4 Introduction to the Nyquist Criterion 10.5 Sketching the Nyquist Diagram 10.6 Stability via the Nyquist Diagram 10.7 Gain Margin and Phase Margin via the Nyquist Diagram 10.8 Stability, Gain Margin, and Phase Margin via Bode Plots 10.9 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses 10.10 Relation Between Closed- and Open-Loop Frequency Responses 10.11 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses 10.12 Steady-State Error Characteristics from Frequency Response 10.13 Systems with Time Delay 10.14 Obtaining Transfer Functions Experimentally Summary Review Questions Problems Cyber Exploration Laboratory Bibliography 11. DESIGN VIA FREQUENCY RESPONSE 11.1 Introduction 11.2 Transient Response via Gain Adjustment 11.3 Lag Compensation 11.4 Lead Compensation 11.5 Lag–Lead Compensation Summary Review Questions Problems Cyber Exploration Laboratory Bibliography 12. DESIGN VIA STATE SPACE 12.1 Introduction 12.2 Controller Design 12.3 Controllability 12.4 Alternative Approaches to Controller Design 12.5 Observer Design 12.6 Observability 12.7 Alternative Approaches to Observer Design 12.8 Steady-State Error Design via Integral Control Summary Review Questions Problems Cyber Exploration Laboratory Bibliography 13. DIGITAL CONTROL SYSTEMS 13.1 Introduction 13.2 Modeling the Digital Computer 13.3 The z-Transform 13.4 Transfer Functions 13.5 Block Diagram Reduction 13.6 Stability 13.7 Steady-State Errors 13.8 Transient Response on the z-Plane 13.9 Gain Design on the z-Plane 13.10 Cascade Compensation via the s-Plane 13.11 Implementing the Digital Compensator Summary Review Questions Problems Cyber Exploration Laboratory Bibliography 14. OPTIMAL CONTROL SYSTEMS (Available Online) 14.1 Introduction 14.2 Performance Indices 14.3 Optimal Control Problem 14.4 Regulator Problem 14.5 State Regulator 14.6 Output Regulator 14.7 Tracking Problem Summary Review Questions Problems Cyber Exploration Laboratory Bibliography APPENDIX A1 List of Symbols APPENDIX A2 Antenna Azimuth Position Control System APPENDIX A3 Unmanned Free-Swimming Submersible Vehicle APPENDIX A4 Key Equations GLOSSARY ANSWERS TO SELECTED PROBLEMS INDEX   ONLINE APPENDICES APPENDIX B MATLAB Tutorial APPENDIX C Simulink Tutorial APPENDIX D LabVIEW Tutorial APPENDIX E MATLAB’s GUI Tools Tutorial APPENDIX F MATLAB’s Symbolic Math Toolbox Tutorial APPENDIX G Matrices, Determinants, and Systems of Equations APPENDIX H Control System Computational Aids APPENDIX I Derivation of a Schematic for a DC Motor APPENDIX J Derivation of the Time Domain Solution of State Equations APPENDIX K Solution of State Equations for t0 ≠ 0 APPENDIX L Derivation of Similarity Transformations APPENDIX M Root Locus Rules: Derivations