1 An Overview and Brief History of Feedback Control 1 A Perspective on Feedback Control 1 Chapter Overview 1 1.1 A Simple Feedback System 2 1.2 A First Analysis of Feedback 5 1.3 A Brief History 7 1.4 An Overview of the Book 12 Summary 13 End-of-Chapter Questions 14 Problems 14 2 Dynamic Models 17 A Perspective on Dynamic Models 17 Chapter Overview 17 2.1 Dynamics of Mechanical Systems 18 2.2 Models of Electric Circuits 28 2.3 Models of Electromechanical Systems 31 ▲2.4 Heat and Fluid-Flow Models 36 ▲2.5 Complex Mechanical Systems 45 Summary 49 End-of-Chapter Questions 49 Problems 50 3 Dynamic Response 58 A Perspective on System Response 58 Chapter Overview 58 3.1 Review of Laplace Transforms 58 3.2 System Modeling Diagrams 80 3.3 Effect of Pole Locations 84 3.4 Time-Domain Specifications 90 3.5 Effects of Zeros and Additional Poles 94 3.6 Amplitude and Time Scaling 98 3.7 Stability 100 ▲3.8 Obtaining Models from Experimental Data 108 ▲3.9 Mason’s Rule and the Signal-Flow Graph 109 Summary 112 End-of-Chapter Questions 113 Problems 114 4 Basic Properties of Feedback 127 A Perspective on the Properties of Feedback 127 Chapter Overview 127 4.1 The Basic Equations of Control 128 4.2 Control of Steady-State Error: System Type 134 4.3 Control of Dynamic Error: PID Control 142 ▲4.4 Extensions to the Basic Feedback Concepts 146 Summary 160 End-of-Chapter Questions 161 Problems 161 5 The Root-Locus Design Method 177 A Perspective on the Root-Locus Design Method 177 Chapter Overview 177 5.1 Root Locus of a Basic Feedback System 178 5.2 Guidelines for Sketching a Root Locus 182 5.3 Selected Illustrative Root Loci 191 5.4 Selecting the Parameter Value 201 5.5 Design Using Dynamic Compensation 203 5.6 A Design Example Using the Root Locus 210 5.7 Extensions of the Root-Locus Method 215 Summary 222 End-of-Chapter Questions 223 Problems 224 6 The Frequency-Response Design Method 239 A Perspective on the Frequency-Response Design Method 239 Chapter Overview 239 6.1 Frequency Response 240 6.2 Neutral Stability 256 6.3 The Nyquist Stability Criterion 258 6.4 Stability Margins 267 6.5 Bode’s Gain–Phase Relationship 272 6.6 Closed-Loop Frequency Response 275 6.7 Compensation 276 ▲6.8 Alternative Presentations of Data 295 ▲6.9 Specifications in Terms of the Sensitivity Function 299 ▲6.10 Time Delay 305 Summary 307 End-of-Chapter Questions 309 Problems 310 7 State-Space Design 329 A Perspective on State-Space Design 329 Chapter Overview 329 7.1 Advantages of State Space 330 7.2 System Description in State Space 331 7.3 Block Diagrams and State Space 336 7.4 Analysis of the State Equations 339 7.5 Control-Law Design for Full-State Feedback 355 7.6 Selection of Pole Locations for Good Design 366 7.7 Estimator Design 374 7.8 Compensator Design: Combined Control Law and Estimator 385 7.9 Introduction of the Reference Input with the Estimator 396 7.10 Integral Control and Robust Tracking 406 ▲7.11 Loop Transfer Recovery (LTR) 420 ▲7.12 Direct Design with Rational Transfer Functions 424 ▲7.13 Design for Systems with Pure Time Delay 427 Summary 431 End-of-Chapter Questions 432 Problems 434 8 Digital Control 452 A Perspective on Digital Control 452 Chapter Overview 452 8.1 Digitization 452 8.2 Dynamic Analysis of Discrete Systems 454 8.3 Design Using Discrete Equivalents 460 8.4 Hardware Characteristics 468 8.5 Sample-Rate Selection 471 ▲8.6 Discrete Design 473 ▲8.7 State-Space Design Methods 479 Summary 485 End-of-Chapter Questions 486 Problems 487 9 Nonlinear Systems 497 Perspective on Nonlinear Systems 497 Chapter Overview 497 9.1 Introduction and Motivation: Why Study Nonlinear Systems? 498 9.2 Analysis by Linearization 499 9.3 Equivalent Gain Analysis Using the Root Locus 505 9.4 Equivalent Gain Analysis Using Frequency Response: Describing Functions 513 ▲9.5 Analysis and Design Based on Stability 522 Summary 537 End-of-Chapter Questions 537 Problems 538 10 Control System Design: Principles and Case Studies 545 A Perspective on Design Principles 545 Chapter Overview 545 10.1 An Outline of Control Systems Design 545 10.2 Design of a Satellite’s Attitude Control 550 10.3 Lateral and Longitudinal Control of a Boeing 747 561 10.4 Control of the Fuel–Air Ratio in an Automotive Engine 574 10.5 Control of the Read/Write Head Assembly of a Hard Disk 580 10.6 Control of Rapid Thermal Processing (RTP) Systems in Semiconductor Wafer Manufacturing 586 Summary 597 End-of-Chapter Questions 599 Problems 599 Appendix A1 Laplace Transforms 610 A.1 The L-Laplace Transform 610 A.2 Final Value Theorem 620 Appendix B A Review of Complex Variables 622 B.1 Definition of a Complex Number 622 B.2 Algebraic Manipulations 623 B.3 Graphical Evaluation of Magnitude and Phase 625 B.4 Differentiation and Integration 625 B.5 Euler’s Relations 626 B.6 Analytic Functions 626 B.7 Cauchy’s Theorem 626 B.8 Singularities and Residues 627 B.9 Residue Theorem 628 B.10 The Argument Principle 628 B.11 Bilinear Transformation 629 Appendix C Summary of Matrix Theory 631 C.1 Matrix Definitions 631 C.2 Elementary Operations on Matrices 631 C.3 Trace 632 C.4 Transpose 632 C.5 Determinant and Matrix Inverse 632 C.6 Properties of the Determinant 633 C.7 Inverse of Block Triangular Matrices 634 C.8 Special Matrices 634 C.9 Rank 635 C.10 Characteristic Polynomial 635 C.11 Cayley-Hamilton Theorem 635 C.12 Eigenvalues and Eigenvectors 635 C.13 Similarity Transformations 636 C.14 Matrix Exponential 636 C.15 Fundamental Subspaces 637 C.16 Singular-Value Decomposition 637 C.17 Positive Definite Matrices 638 C.18 Matrix Identity 638 Appendix D Controllability and Observability 639 D.1 Controllability 639 D.2 Observability 643 Appendix E Ackermann’s Formula for Pole Placement 645 Appendix F MATLAB Commands 648 Appendix G Solutions to the End-of-Chapter Questions 649 References 661 Index 668
鄂公網(wǎng)安備 42010302001612號(hào) 