CHAPTER 1 Introduction to Control Systems
1.1 Introduction
1.2 Brief History of Automatic Control
1.3 Examples of Control Systems
1.4 Engineering Design
1.5 Control System Design
1.6 Mechatronic Systems
1.7 Green Engineering
1.8 The Future Evolution of Control Systems
1.9 Design Examples
1.10 Sequential Design Example: Disk Drive Read System
1.11 Summary
CHAPTER 2 Mathematical Models of Systems
2.1 Introduction
2.2 Differential Equatio of Physical Systems
2.3 Linear Approximatio of Physical Systems
2.4 The Laplace Traform
2.5 The Trafer Function of Linear Systems
2.6 Block Diagram Models
2.7 Signal-Flow Graph Models
2.8 Design Examples
2.9 The Simulation of Systems Using Control Design Software
2.10 Sequential Design Example: Disk Drive Read System
2.11 Summary
CHAPTER 3 State Variable Models
3.1 Introduction
3.2 The State Variables of a Dynamic System
3.3 The State Differential Equation
3.4 Signal-Flow Graph and Block Diagram Models
3.5 Alternative Signal-Flow Graph and Block Diagram Models
3.6 The Trafer Function from the State Equation
3.7 The Time Respoe and the State Traition Matrix
3.8 Design Examples
3.9 Analysis of State Variable Models Using Control Design
Software
3.10 Sequential Design Example: Disk Drive Read System
3.11 Summary
CHAPTER 4 Feedback Control System Characteristics
4.1 Introduction
4.2 Error Signal Analysis
4.3 Seitivity of Control Systems to Parameter Variatio
4.4 Disturbance Signals in a Feedback Control System
4.5 Control of the Traient Respoe
4.6 Steady-State Error
4.7 The Cost of Feedback
4.8 Design Examples
4.9 Control System Characteristics Using Control Design Software
4.10 Sequential Design Example: Disk Drive Read System
4.11 Summary
CHAPTER 5 The Performance of Feedback Control Systems
5.1 Introduction
5.2 Test Input Signals
5.3 Performance of Second-Order Systems
5.4 Effects of a Third Pole and a Zero on the Second-Order System
Respoe
5.5 The s-Plane Root Location and the Traient Respoe
5.6 The Steady-State Error of Feedback Control Systems
5.7 Performance Indices
5.8 The Simplification of Linear Systems
5.9 Design Examples
5.10 System Performance Using Control Design Software
5.11 Sequential Design Example: Disk Drive Read System
5.12 Summary
CHAPTER 6 The Stability of Linear Feedback Systems
6.1 The Concept of Stability
6.2 The Routh–Hurwitz Stability Criterion
6.3 The Relative Stability of Feedback Control Systems
6.4 The Stability of State Variable Systems
6.5 Design Examples
6.6 System Stability Using Control Design Software
6.7 Sequential Design Example: Disk Drive Read System
6.8 Summary
CHAPTER 7 The Root Locus Method
7.1 Introduction
7.2 The Root Locus Concept
7.3 The Root Locus Procedure
7.4 Parameter Design by the Root Locus Method
7.5 Seitivity and the Root Locus
7.6 PID Controlle
7.7 Negative Gain Root Locus
7.8 Design Examples
7.9 The Root Locus Using Control Design Software
7.10 Sequential Design Example: Disk Drive Read System
7.11 Summary
CHAPTER 8 Frequency Respoe Methods
8.1 Introduction
8.2 Frequency Respoe Plots
8.3 Frequency Respoe Measurements
8.4 Performance Specificatio in the Frequency Domain
8.5 Log Magnitude and Phase Diagrams
8.6 Design Examples
8.7 Frequency Respoe Methods Using Control Design Software
8.8 Sequential Design Example: Disk Drive Read System
8.9 Summary
CHAPTER 9 Stability in the Frequency Domain
9.1 Introduction
9.2 Mapping Contou in the s-Plane
9.3 The Nyquist Criterion
9.4 Relative Stability and the Nyquist Criterion
9.5 Time-Domain Performance Criteria in the Frequency Domain
9.6 System Bandwidth
9.7 The Stability of Control Systems with Time Delays
9.8 Design Examples
9.9 PID Controlle in the Frequency Domain
9.10 Stability in the Frequency Domain Using Control Design
Software
9.11 Sequential Design Example: Disk Drive Read System
9.12 Summary
CHAPTER 10 The Design of Feedback Control Systems
10.1 Introduction
10.2 Approaches to System Design
10.3 Cascade Compeation Networks
10.4 Phase-Lead Design Using the Bode Diagram
10.5 Phase-Lead Design Using the Root Locus
10.6 System Design Using Integration Networks
10.7 Phase-Lag Design Using the Root Locus
10.8 Phase-Lag Design Using the Bode Diagram
10.9 Design on the Bode Diagram Using Analytical Methods
10.10 Systems with a Prefilter
10.11 Design for Deadbeat Respoe
10.12 Design Examples
10.13 System Design Using Control Design Software
10.14 Sequential Design Example: Disk Drive Read System
10.15 Summary
CHAPTER 11 The Design of State Variable Feedback Systems
11.1 Introduction
11.2 Controllability and Observability
11.3 Full-State Feedback Control Design
11.4 Observer Design
11.5 Integrated Full-State Feedback and Observer
11.6 Reference Inputs
11.7 Optimal Control Systems
11.8 Internal Model Design
11.9 Design Examples
11.10 State Variable Design Using Control Design Software
11.11 Sequential Design Example: Disk Drive Read System
11.12 Summary
CHAPTER 12 Robust Control Systems
12.1 Introduction
12.2 Robust Control Systems and System Seitivity
12.3 Analysis of Robustness
12.4 Systems with Uncertain Paramete
12.5 The Design of Robust Control Systems
12.6 The Design of Robust PID-Controlled Systems
12.7 The Robust Internal Model Control System
12.8 Design Examples
12.9 The Pseudo-Quantitative Feedback System
12.10 Robust Control Systems Using Control Design Software
12.11 Sequential Design Example: Disk Drive Read System
12.12 Summary
CHAPTER 13 Digital Control Systems
13.1 Introduction
13.2 Digital Computer Control System Applicatio
13.3 Sampled-Data Systems
13.4 The z-Traform
13.5 Closed-Loop Feedback Sampled-Data Systems
13.6 Performance of a Sampled-Data, Second-Order System
13.7 Closed-Loop Systems with Digital Computer Compeation
13.8 The Root Locus of Digital Control Systems
13.9 Implementation of Digital Controlle
13.10 Design Examples
13.11 Digital Control Systems Using Control Design Software
13.12 Sequential Design Example: Disk Drive Read System
13.13 Summary
APPENDIX A MATLAB Basics
References
Index
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