chapter 1 introduction to control systems 1-1 introduction 1-2 examples of control systems 1-3 closed-loop control versus open-loop control 1-4 design and compensation of control systems 1-5 outline of the book chapter 2 mathematical modeling of control systems 2-1 introduction 2-2 transfer function and impulse-response function 2-3 automatic control systems 2-4 modeling in state space 2-5 state-space representation of scalar differential equation systems 2-6 transformation of mathematical models with matlab 2-7 linearization of nonlinear mathematical models example problems and solutions problems chapter 3 mathematical modeling of mechanical systems and electrical systems 3-1 introduction 3-2 mathematical modeling of mechanical systems 3-3 mathematical modeling of electrical systems example problems and solutions problems chapter 4 mathematical modeling of fluid systems and thermal systems 4-1 introduction 4-2 liquid-level systems 4-3 pneumatic systems 4-4 hydraulic systems 4-5 thermal systems example problems and solutions problems chapter 5 transient and steady-state response analyses 5-1 introduction 5-2 first-order systems 5-3 second-order systems 5-4 higher-order systems 5-5 transient-response analysis with matlab 5-6 routh's stability criterion 5-7 effects of integral and derivative control actions on system performance 5-8 steady-state errors in unity-feedback control systems example problems and solutions problems chapter 6 control systems analysis and design by the root-locus method 6-1 introduction 6-2 root-locus plots 6-3 plotting rootloci with matlab 6-4 root-locus plots of positive feedback systems 6-5 root-locus approach to control-systems design 6-6 lead compensation 6-7 lag compensation 6-8 lag-lead compensation 6-9 parallel compensation example problems and solutions problems chapter 7 control systems analysis and design by the frequency-response method 7-1 introduction 7-2 bode diagrams 7-3 polar plots 7-4 log-magnitude-versus-phase plots 7-5 nyquist stability criterion 7-6 stability analysis 7-7 relative stability analysis 7-8 close(i-loop frequency response of unity-feedback systems 7-9 experimental determination of transfer functions 7-10 control systems design by frequency-response approach 7-11 lead compensation 7-12 lag compensation 7-13 lag-lead compensation example problems and solutions problems chapter 8 pid controllers and modified pid controllers 8-1 introduction 8-2 ziegler-nichols rules for tuning pid controllers 8-3 design of pid controllers with frequency-response approach 8-4 design of pid controllers with computational optimization approach 8-5 modifications of pid control schemes 8-6 two-degrees-of-freedom control 8-7 zero-placement approach to improve response characteristics example problems and solutions problems chapter 9 control systems analysis in state space 9-1 introduction 9-2 state-space representations of transfer-function systems 9-3 transformation of system models with matlab 9-4 solving the time-invariant state equation 9-5 some useful results in vector-matrix analysis 9-6 controllability 9-7 observability example problems and solutions problems chapter 10 control systems design in state space 10-1 introduction 10-2 pole placement 10-3 solving pole-placement problems with matlab 10-4 design of serve systems 10-5 state observers 10-6 design of regulator systems with observers 10-7 design of control systems with observers 10-8 quadratic optimal regulator systems 10-9 robust control systems example problems and solutions problems appendix a laplace transform tables appendix b partial-fraction expansion appendix c vector-matrix algebra references index
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