Preface xi 1 An Overview and Brief History of Feedback Control Chapter Overview A Perspective on Feedback Contro1 1.1 A Simple Feedback System 1.2 A First Analysis of Feedback 1.3 A Brief History 1.4 An Overview of the Book Summary Review Questions Problems 2 Dynamic Models Chapter Overview A Perspective on Dynamic Models 2.1 Dynamics of Mechanical Systems 2.2 Differential Equations in State-Variable Form 2.3 Models of Electric Circuits 2.4 Models of Electromechanical Systems 2.5 Heat-and Fluid-Flow Models 2.6 Linearization and Scaling Summary Review Questions Problems 3 Dynamic Response Chapter Overview Aperspective on System Response 3.1 Review of Laplace Transforms 3.2 System Modeling Diagrams 3.3 Effect of Pole Locations 3.4 Time-Domain Specifications 3.5 Effects of Zeros and Additional Poles 3.6 Stability 3.7 Numerical Simulation ▲3.8 Obtaining Models from Experimental Data Summary Review Questions Problems 4 Basic Properties of Feedback Chapter Overview A Perspective On Properties of Feedback 4.1 A Perspective on Properties of Feedback 4.2 The Classical Three-Term Controller 4.3 Steady-State Tracking and System Type 4.4 Digital Implementation of Controllers Summary Review Questions Problems 5 The Root-Locus Design Method Chapter Overview A Perspective on the Root-locus Desgn Method 5.1 Root Locus of a Basic Feedback System 5.2 Guidelines for Sketching a Root Locus ▲5.3 Selected Illustrative Root Loci ▲5.4 Selecting the Parameter Value 5.5 Dynamic Compensation 5.6 A Design Example Using the Root Locus 5.7 Extensions of the Root-Locus Method Summary Review Questions Problems 6 The Frequency-Response Design Method Chapter Overview A Perspective on the Frequency-response Design Method 6.1 Frequency Response 6.2 Neutral Stability 6.3 The Nyquist Stability Criterion 6.4 Stability Margins 6.5 Bode’s Gain-Phase Relationship 6.6 Closed-Loop Frequency Response 6.7 Compensation ▲6.8 Alternate Presentations of Data ▲6.9 Specifications in Terms of the Sensitivity Function ▲6.10 Time Delay ▲6.11 Obtaining a Pole-Zero Model from Frequency-Response Data Summary Review Questions Problems 7 State-Space Design Chapter Overview A Perspective on State-Space Design 7.1 Advantages of State Space 7.2 Analysis of the State Equations 7.3 Control-Law Design for Full-State Feedback 7.4 Selection of Pole Locations for Good Design 7.5 Estimator Design 7.6 Compensator Design: Control Law and Estimator ▲7.7 Loop Transfer Recovery(LTR) 7.8 Introduction of the Reference Input with the Estimator 7.9 Integral Control and Robust Tracking ▲7.10 Direct Design with Rational Transfer Functions ▲7.11 Design for Systems with Pure Time Delay ▲7.12 Lyapunov Stability Summary Review Questions Problems 8 Digital Control Chapter Overview A Perspective on Digital Control 8.1 Digitization 8.2 Dynamic Analysis of Discrete Systems 8.3 Design by Emulation 8.4 Discrete Design 8.5 State-Space Design Methods 8.6 Hardware Characteristics 8.7 Word-Size Effects 8.8 Sample-Rate Selection Summary Review Questions Problems 9 Control-System Design: Principles and Case Studies Chapter Overview A Perspective on Design Principles 9.1 An Outline of Control Systems Design 9.2 Design of a Satellite’s Attitude Control 9.3 Lateral and Longitudinal Control of a Boeing 747 9.4 Control of the Fuel-Air Ratio in an Automotive Engine 9.5 Control of a Digital Tape Transport 9.6 Control of the Read/Write Head Assembly of a Hard Disk 9.7 Control of Rapid Thermal Processing(RTP)Sytems in Semiconductor Wafer Manufacturing Summary Review Questions Problems Appendix A Laplace Transforms A.1 The -Laplace Transform Appendix B A Review of Complex Variables B.1 Definition of a Complex Number B.2 Algebraic Manipulations B.3 Graphical Evaluation of Magnitude and Phase B.4 Differentiation and Integration B.5 Euler’s Relations B.6 Analytic Functions B.7 Cauchy’s Theorem B.8 Singularities and Residues B.9 Residue Theorem B.10 The Argument Principle Appendix C Summary of Matrix Theory C.1 Matrix Definitions C.2 Elementary Operations on Matrices C.3 Trace C.4 Transpose C.5 Determinant and Inverse C.6 Properties of the Determinant C.7 Inverse of Block Triangular Matrices C.8 Special Matrices C.9 Rank C.10 Characteristic Polynomial C.11 Cayley-Hamilton Theorem C.12 Eigenvalues and Eigenvectors C.13 Similarity Transformations C.14 Matrix Exponential C.15 Fundamental Subspaces C.16 Singular-Value Decomposition C.17 Positive Definite Matrices C.18 Matrix Identity Appendix D Controllability and Observability D.1 Controllability D.2 Observability Appendix E Ackermann’s Formula for Pole Placement
Appendix F MATLAB Commands Appendix G Solutions to Review Questions References Index
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