PREFACE 1 INTRODUCTION TO SYSTEM DYNAMICS 1-1 Introduction 1-2 Mathematical Modeling of Dynamic Systems 1-3 Analysis and Design of Dynamic Systems 1-4 Summary 2 THE LAPLACE TRANSFORM 2-1 Introduction 2-2 Complex Numbers,Complex Variables,and Complex Functions 2-3 Laplace Transformation 2-4 Inverse Laplace Transformation 2-5 Solving Linear,Time-Invariant Differential Equations Example Problems and Solutions Problems 3 MECHANICAL SYSTEMS 3-1 Introduction 3-2 Mechanical Elements 3-3 Mathematical Modeling of Simple Mechanical Systems 3-4 Work,Energy,and Power Example Problems and Solutions Problems 4 TRANSFER-FUNCTION APPROACH TO MODELING DYNAMIC SYSTEMS 4-1 Introduction 4-2 Block Diagrams 4-3 Partial-Fraction Expansion with MATLAB 4-4 Transient-Response Analysis with MATLAB Example Problems and Solutions Problems 5 STATE-SPACE APPROACH TO MODELING DYNAMIC SYSTEMS 5-1 Introduction 5-2 Transient-Response Analysis of Systems in State-Space Form with MATLAB 5-3 State-Space Modeling of Systems with No Input Derivatives 5-4 State-Space Modeling of Systems with Input Derivatives 5-5 Transformation of Mathematical Models with MATLAB Example Problems and Solutions Problems 6 ELECTRICAL SYSTEMS AND ELECTROMECHANICAL SYSTEMS 6-1 Introduction 6-2 Fundamentals of Electrical Circuits 6-3 Mathematical Modeling of Electrical Systems 6-4 Analogous Systems 6-5 Mathematical Modeling of Electromechnaical Systems 6-6 Mathematical Modeling of Operational-Amplifier Systems Example Problems and Solutions Problems 7 FLUID SYSTEMS AND THERMAL SYSTEMS 7-1 Introduction 7-2 Mathematical Modeling of Liquid-Level Systems 7-3 Mathematical Modeling of Pneumatic Systems 7-4 Linearization of Nonlinear Systmes 7-5 Mathematical Modeling of Hydraulic Systems 7-6 Mathematical Modeling of Thermal Systems Example Problems and Solutions Problems 8 TIME-DOMAIN ANALYSIS OF DYNAMIC SYSTEMS 8-1 Introduction 8-2 Transient-Response Analysis of First-Order Systems 8-3 Transient-Response Analysis of Second-Order Systems 8-4 Transient-Response Analysis of Higher Order Systems 8-5 Solution of the State Equation Example Problems and Solutions Problems 9 FREQUENCY-DOMAIN ANALYSIS OF DYNAMIC SYSTEMS 9-1 Introduction 9-2 Sinusoidal Transfer Function 9-3 Vibrations in Rotating Mechanical Systems 9-4 Vibration Isolation 9-5 Dynamic Vibration Absorbers 9-6 Free Vibrations in Multi-Degrees-of-Freedom Systems Example Problems and Solutions Problems 10 TIME-DOMAIN ANALYSIS AND DESIGN OF CONTROL SYSTEMS 10-1 Introduction 10-2 Block Diagrams and Their Simplification 10-3 Automatic Controllers 10-4 Transient-Response Analysis 10-5 Transient-Response Specifications 10-6 Improving Transient-Response and Steady-State Characteristics 10-7 Stability Analysis 10-8 Root-Locus Analysis 10-9 Root-Locus Polts with MATLAB 10-10 Tuning Rules for PID Controllers Example Problems and Solutions Problems 11 FREQUENCY-DOMAIN ANALYSIS AND DESIGN OF CONTROL SYSTEMS 11-1 Introduction 11-2 Bode Diagram Representation of the Frequency Response 11-3 Plotting Bode Diagrams with MATLAB 11-4 Nyquist Plots and the Nyquist Stability Criterion 11-5 Drawing Nyquist Plots with MATLAB 11-6 Design of Control Systems in the Frequency Domain Example Problems and Solutions Problems APPENDIX A SYSTEMS OF UNITS APPENDIX B CONVERSION TABLES APPENDIX C VECTOR-MATRIX ALGEBRA APPENDIX D INTRODUCTION TO MATLAB REFERENCES INDEX
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