现代控制工程 第4版PDF电子书下载

Chapter 1 Introduction to Control Systems 1

1-1 Introduction 1

1-2 Examples of Control Systems 3

1-3 Closed-Loop Control versus Open-Loop Control 6

1-4 Outline of the Book 8

Chapter 2 The Laplace Transform 9

2-1 Introduction 9

2-2 Review of Complex Variables and Complex Functions 10

2-3 Laplace Transformation 13

2-4 Laplace Transform Theorems 23

2-5 Inverse Laplace Transformation 32

2-6 Partial-Fraction Expansion with MATLAB 36

2-7 Solving Linear,Time-Invariant,Differential Equations 40

Example Problems and Solutions 42

Problems 51

Chapter 3 Mathematical Modeling of Dynamic Systems 53

3-1 Introduction 53

3-2 Transfer Function and Impulse-Response Function 55

3-3 Automatic Control Systems 58

3-4 Modeling in State Space 70

3-5 State-Space Representation of Dynamic Systems 76

3-6 Transformation of Mathematical Models with MATLAB 83

3-7 Mechanical Systems 85

3-8 Electrical and Electronic Systems 90

3-9 Signal Flow Graphs 104

3-10 Linearization of Nonlinear Mathematical Models 112

Example Problems and Solutions 115

Problems 146

Chapter 4 Mathematical Modeling of Fluid Systems and Thermal Systems 152

4-1 Introduction 152

4-2 Liquid-Level Systems 153

4-3 Pneumatic Systems 158

4-4 Hydraulic Systems 175

4-5 Thermal Systems 188

Example Problems and Solutions 192

Problems 211

Chapter 5 Transient and Steady-State Response Analyses 219

5-1 Introduction 219

5-2 First-Order Systems 221

5-3 Second-Order Systems 224

5-4 Higher-Order Systems 239

5-5 Transient-Response Analysis with MATLAB 243

5-6 An Example Problem Solved with MATLAB 271

5-7 Routh's Stability Criterion 275

5-8 Effects of Integral and Derivative Control Actions on System Performance 281

5-9 Steady-State Errors in Unity-Feedback Control Systems 288

Example Problems and Solutions 294

Problems 330

Chapter 6 Root-Locus Analysis 337

6-1 Introduction 337

6-2 Root-Locus Plots 339

6-3 Summary of General Rules for Constructing Root Loci 351

6-4 Root-Locus Plots with MATLAB 358

6-5 Positive-Feedback Systems 373

6-6 Conditionally Stable Systems 378

6-7 Root Loci for Systems with Transport Lag 379

Example Problems and Solutions 384

Problems 413

Chapter 7 Control Systems Design by the Root-Locus Method 416

7-1 Introduction 416

7-2 Preliminary Design Considerations 419

7-3 Lead Compensation 421

7-4 Lag Compensation 429

7-5 Lag-Lead Compensation 439

7-6 Parallel Compensation 451

Example Problems and Solutions 456

Problems 488

Chapter 8 Frequency-Response Analysis 492

8-1 Introduction 492

8-2 Bode Diagrams 497

8-3 Plotting Bode Diagrams with MATLAB 516

8-4 Polar Plots 523

8-5 Drawing Nyquist Plots with MATLAB 531

8-6 Log-Magnitude-versus-Phase Plots 539

8-7 Nyquist Stability Criterion 540

8-8 Stability Analysis 550

8-9 Relative Stability 560

8-10 Closed-Loop Frequency Response of Unity-Feedback Systems 575

8-11 Experimental Determination of Transfer Functions 584

Example Problems and Solutions 589

Problems 612

Chapter 9 Control Systems Design by Frequency Response 618

9-1 Introduction 618

9-2 Lead Compensation 621

9-3 Lag Compensation 630

9-4 Lag-Lead Compensation 639

9-5 Concluding Comments 645

Example Problems and Solutions 648

Problems 679

Chapter 10 PID Controls and Two-Degrees-of-Freedom Control Systems 681

10-1 Introduction 681

10-2 Tuning Rules for PID Controllers 682

10-3 Computational Approach to Obtain Optimal Sets of Parameter Values 692

10-4 Modifications of PID Control Schemes 700

10-5 Two-Degrees-of-Freedom Control 703

10-6 Zero-Placement Approach to Improve Response Characteristics 705

Example Problems and Solutions 724

Problems 745

Chapter 11 Analysis of Control Systems in State Space 752

11-1 Introduction 752

11-2 State-Space Representations of Transfer-Function Systems 753

11-3 Transformation of System Models with MATLAB 760

11-4 Solving the Time-Invariant State Equation 764

11-5 Some Useful Results in Vector-Matrix Analysis 772

11-6 Controllability 779

11-7 Observability 786

Example Problems and Solutions 792

Problems 824

Chapter 12 Design of Control Systems in State Space 826

12-1 Introduction 826

12-2 Pole Placement 827

12-3 Solving Pole-Placement Problems with MATLAB 839

12-4 Design of Servo Systems 843

12-5 State Observers 855

12-6 Design of Regulator Systems with Observers 882

12-7 Design of Control Systems with Observers 890

12-8 Quadratic Optimal Regulator Systems 897

Example Problems and Solutions 910

Problems 948

References 952

Index 956