现代控制系统 英文版PDF电子书下载

CHAPTER 1 Introduction to Control Systems 1

1.1 Introduction 2

1.2 History of Automatic Control 4

1.3 Two Examples of the Use of Feedback 7

1.4 Control Engineering Practice 8

1.5 Examples of Modern Control Systems 9

1.6 Automatic Assembly and Robots 16

1.7 The Future Evolution of Control Systems 16

1.8 Engineering Design 18

1.9 Control System Design 19

1.10 Design Example:Turntable Speed Control 21

1.11 Design Example:Insulin Delivery Control System 22

1.12 Sequential Design Example:Disk Drive Read System 23

Exercises 24

Problems 25

Design Problems 30

Terms and Concepts 31

CHAPTER 2 Mathematical Models of Systems 32

2.1 Introduction 33

2.2 Differential Equations of Physical Systems 33

2.3 Linear Approximations of Physical Systems 38

2.4 The Laplace Transform 41

2.5 The Transfer Function of Linear Systems 47

2.6 Block Diagram Models 62

2.7 Signal-Flow Graph Models 66

2.8 Computer Analysis of Control Systems 71

2.9 Design Examples 72

2.10 The Simulation of Systems Using MATLAB 80

2.11 Sequential Design Example:Disk Drive Read System 94

2.12 Summary 97

Exercises 98

Problems 104

Advanced Problems 115

Design Problems 115

MATLAB Problems 116

Terms and Concepts 118

CHAPTER 3 State Variable Models 119

3.1 Introduction 120

3.2 The State Variables of a Dynamic System 121

3.3 The State Differential Equation 123

3.4 Signal-Flow Graph State Models 126

3.5 Alternative Signal-Flow Graph State Models 132

3.6 The Transfer Function from the State Equation 136

3.7 The Time Response and the State Transition Matrix 138

3.8 A Discrete-Time Evaluation of the Time Response 142

3.9 Design Example: Printer Belt Drive 147

3.10 Analysis of State Variable Models Using MATLAB 152

3.11 Sequential Design Example: Disk Drive Read System 155

3.12 Summary 159

Exercises 159

Problems 161

Advanced Problems 168

Design Problems 170

MATLAB Problems 171

Terms and Concepts 172

CHAPTER 4 Feedback Control System Characteristics 173

4.1 Open-and Closed-Loop Control Systems 174

4.2 Sensitivity of Control Systems to Parameter Variations 176

4.3 Control of the Transient Response of Control Systems 179

4.4 Disturbance Signals in a Feedback Control System 183

4.5 Steady-State Error 187

4.6 The Cost of Feedback 190

4.7 Design Example:English Channel Boring Machines 191

4.8 Design Example:Mars Rover Vehicle 194

4.9 Control System Characteristics Using MATLAB 196

4.10 Sequential Design Example:Disk Drive Read System 202

4.11 Summary 205

Exercises 207

Problems 209

Advanced Problems 215

Design Problems 218

MATLAB Problems 220

Terms and Concepts 222

CHAPTER 5 The Performance of Feedback Control Systems 223

5.1 Introduction 224

5.2 Test Input Signals 225

5.3 Performance of a Second-Order System 227

5.4 Effects of a Third Pole and a Zero on the Second-Order System Response 233

5.5 Estimation of the Damping Ratio 238

5.6 The s-Plane Root Location and the Transient Response 239

5.7 The Steady-State Error of Feedback Control Systems 240

5.8 The Steady-State Error of Nonunity Feedback Systems 245

5.9 Performance Indices 247

5.10 The Simplification of Linear Systems 256

5.11 Design Example: Hubble Telescope Pointing Control 259

5.12 System Performance Using MATLAB 262

5.13 Sequential Design Example:Disk Drive Read System 271

Exercises 275

5.14 Summary 277

Problems 279

Advanced Problems 284

Design Problems 285

MATLAB Problems 287

Terms and Concepts 289

CHAPTER 6 The Stability of Linear Feedback Systems 290

6.1 The Concept of Stability 291

6.2 The Routh-Hurwitz Stability Criterion 295

6.3 The Relative Stability of Feedback Control Systems 303

6.4 The Stability of State Variable Systems 304

6.5 Design Example:Tracked Vehicle Turning Control 307

6.6 System Stability Using MATLAB 309

6.7 Sequential Design Example:Disk Drive Read System 317

6.8 Summary 320

Exercises 321

Problems 322

Advanced Problems 326

Design Problems 328

MATLAB Problems 329

Terms and Concepts 330

CHAPTER 7 The Root Locus Method 331

7.2 The Root Locus Concept 332

7.1 Introduction 332

7.3 The Root Locus Procedure 339

7.4 An Example of a Control System Analysis and Design Utilizing the Root Locus Method 351

7.5 Parameter Design by the Root Locus Method 354

7.6 Sensitivity and the Root Locus 359

7.7 Three-Term(PID)Controllers 366

7.8 Design Example:Laser Manipulator Control System 368

7.9 The Design of a Robot Control System 371

7.10 The Root Locus Using MATLAB 373

7.11 Sequential Design Example:Disk Drive Read System 379

7.12 Summary 380

Exercises 384

Problems 386

Advanced Problems 396

Design Problems 398

MATLAB Problems 404

Terms and Concepts 405

CHAPTER 8 Frequency Response Methods 406

8.1 Introduction 407

8.2 Frequency Response plots 409

8.3 An Example of Drawing the Bode Diagram 426

8.4 Frequency Response Measurements 430

8.5 Performance Specifications in the Frequency Domain 432

8.6 Log Magnitude and Phase Diagrams 435

8.7 Design Example: Engraving Machine Control System 435

8.8 Frequency Response Methods Using MATLAB 439

8.9 Sequential Design Example: Disk Drive Read System 444

8.10 Summary 446

Exercises 451

Problems 454

Advanced Problems 462

Design Problems 464

MATLAB Problems 466

Terms and Concepts 468

CHAPTER 9 Stability in the Frequency Domain 469

9.1 Introduction 470

9.2 Mapping Contours in the s-Plane 471

9.3 The Nyquist Criterion 476

9.4 Relative Stability and the Nyquist Criterion 487

9.5 Time-Domain Performance Criteria Specified in the Frequency Domain 493

9.6 System Bandwidth 500

9.7 The Stability of Control Systems with Time Delays 501

9.8 Design Example: Remotely Controlled Reconnaissance Vehicle 505

9.9 PID Controllers in the Frequency Domain 508

9.10 Stability in the Frequency Domain Using MATLAB 509

9.11 Sequential Design Example: Disk Drive Read System 519

9.12 Summary 521

Exercises 528

Problems 534

Advanced Problems 544

Design Problems 546

MATLAB Problems 551

Terms and Concepts 552

CHAPTER 10 The Design of Feedback Control Systems 553

10.1 Introduction 554

10.2 Approaches to System Design 555

10.3 Cascade Compensation Networks 557

10.4 Phase-Lead Design Using the Bode Diagram 561

10.5 Phase-Lead Design Using the Root Locus 567

10.6 System Design Using Integration Networks 573

10.7 Phase-Lag Design Using the Root Locus 576

10.8 Phase-Lag Design Using the Bode Diagram 580

10.9 System Design on the Bode Diagram Using Analytical and Computer Methods 585

10.10 Systems with a Prefilter 586

10.11 Design for Deadbeat Response 589

10.12 Design Example:Rotor Winder Control System 592

10.13 Design Example:The X-Y Plotter 595

10.14 System Design Using MATLAB 598

10.15 Sequential Design Example:Disk Drive Read System 605

10.16 Summary 606

Exercises 608

Problems 610

Advanced Problems 621

Design Problems 624

MATLAB Problems 628

Terms and Concepts 630

CHAPTER 11 The Design of State Variable Feedback Systems 631

11.1 Introduction 631

11.2 Controllability 632

11.3 Observability 634

11.4 Optimal Control Systems 636

11.5 Pole Placement Using State Feedback 645

11.6 Ackermann s Formula 651

11.7 Limitations of State Variable Feedback 652

11.8 Internal Model Design 652

11.9 Design Example: Automatic Test System 655

11.10 State Variable Design Using MATLAB 658

11.11 Sequential Design Example: Disk Drive Read System 666

11.12 Summary 668

Exercises 668

Problems 669

Advanced Problems 672

Design Problems 674

MATLAB Problems 677

Terms and Concepts 679

CHAPTER 12 Robust Control Systems 680

12.1 Introduction 681

12.2 Robust Control Systems and System Sensitivity 682

12.3 Analysis of Robustness 685

12.4 Systems with Uncertain Parameters 688

12.5 The Design of Robust Control Systems 690

12.6 PID Controllers 695

12.7 The Design of Robust PID Controlled Systems 697

12.8 Design Example: Aircraft Autopilot 702

12.9 The Design of a Space Telescope Control System 703

12.10 The Design of a Robust Bobbin Drive 705

12.11 The Robust Internal Model Control System 708

12.12 The Design of an Ultra-Precision Diamond Turning Machine 710

12.13 The Pseudo-Quantitative Feedback System 714

12.14 Robust Control Systems Using MATLABL 716

12.15 Sequential Design Example:Disk Drive Read System 719

12.16 Summary 721

Exercises 723

Problems 724

Advanced Problems 730

Design Problems 733

MATLAB Problems 741

Terms and Concepts 742

CHAPTER 13 Digital Control Systems 743

13.1 Introduction 744

13.2 Digital Computer Control System Applications 744

13.3 Sampled-Data Systems 746

13.4 The z-Transform 749

13.5 Closed-Loop Feedback Sampled-Data Systems 754

13.6 Stability Analysis in the z-Plane 756

13.7 Performance of a Sampled-Data, Second-Order System 757

13.8 Closed-Loop Systems with Digital Computer Compensation 760

13.9 The Design of a Worktable Motion Control System 762

13.10 The Root Locus of Digital Control Systems 764

13.11 Implementation of Digital Controllers 768

13.12 Digital Control Systems Using MATLAB 769

13.13 Sequential Design Example:Disk Drive Read System 774

13.14 Summary 776

Exercises 776

Problems 778

Advanced Problems 780

Design Problems 782

MATLAB Problems 783

Terms and Concepts 784

APPENDIXA MATLAB Basics 787

APPENDIXB Simulink Basics 805

References 813

Index 825