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