PART 1 1
1 Introduction and Linearized Dynamic Models 1
1.1 Introduction 1
1.2 Examples and Classifications of Control Systems 1
1.3 Open-Loop Control and Closed-Loop Control 3
1.4 Control System Analysis and Design 6
1.5 Linearized Dynamic Models 8
1.6 Laplace Transforms 11
1.7 Transfer Functions and System Response 15
1.8 Block Diagram Reduction 20
1.9 Conclusion 24
2 Transfer Function Models of Physical Systems 29
2.1 Introduction 29
2.2 Mechanical Systems 29
2.3 Electrical Systems:Circuits 34
2.4 Electromechanical Systems:Transfer Functions of Motors and Generators 39
2.5 Thermal Systems 44
2.6 Fluid Systems 48
2.7 Fluid Power Control Elements 54
2.8 Conclusion 59
3 Transient Performance and the S-Plane 65
3.1 Introduction 65
3.2 The S-Plane,Pole-Zero Patterns,and Residue Calculation 65
3.3 Transient Response,Including Repeated and Complex Poles 69
3.4 Simple Lag:First-Order Systems 77
3.5 Quadratic Lag:Second-Order Systems 79
3.6 Performance and Stability of Higher-Order Systems 86
3.7 Routh-Hurwitz Stability Criterion 89
3.8 Effect of System Zeros 93
3.9 Conclusion 100
4 Feedback System Modeling and Performance 104
4.1 Introduction 104
4.2 Feedback System Model Examples 104
4.3 Direct Block Diagram Modeling of Feedback Systems 108
4.4 Effect of Feedback on Parameter Sensitivity and Disturbance Response 111
4.5 Steady-State Errors in Feedback Systems 117
4.6 Transient Response versus Steady-State Errors 121
4.7 Conclusion 126
PART 2 130
1 Robustness in Multivariable Control System Design 130
1.1 Introduction 130
1.2 Sensitivity of the Characteristic Gain Loci 132
1.3 Uncertainty in a Feedback System 135
1.4 Relative Stability Matrices 137
1.5 Multivariable Gain and Phase Margins 139
1.6 Conclusion 143
2 The Inverse Nyquist Array Design Method 148
2.1 Introduction 148
2.2 The Multivariable Design Problem 149
2.3 Stability 153
2.4 Design Technique 159
2.5 Conclusion 164
3 Optimal Control 169
3.1 The Calculus of Variations:Classical Theory 169
3.2 The Optimal Control Problem 171
3.3 Singular Control Problems 176
3.4 Dynamic Programming 180
3.5 The Hamilton-Jacobi Approach 182
4 Optimization in Multivariable Design 189
4.1 Introduction 189
4.2 Problem Formulation 190
4.3 Allocation Problem 193
4.4 Scaling Problem 196
4.5 Compensator Design 198
4.6 Design Example 200
4.7 Discussion 203
5 Pole Assignment 207
5.1 Introduction 207
5.2 State-Feedback Algorithms 209
5.3 Output-Feedback Algorithms 216
5.4 Concluding Remarks 225
PART 3 231
1 Multivariable Frequency Domain Design Method for Disturbance Minimization 231
1.1 Introduction 231
1.2 Statement of The Problem 232
1.3 Design Scheme for Disturbance Minimization 233
1.4 Illustrative Example 238
1.5 Conclusion 242
2 Application of the Robust Servo-mechanism Controller to Systems with Periodic Tracking Disturbance Signals 249
2.1 Introduction 249
2.2 Development 251
2.3 Numerical Examples 258
2.4 Conclusion 262
3 Regulator Design with Poles in a Specified Region 267
3.1 Introduction 267
3.2 Preliminaries 269
3.3 Pole Assignment in a Specified Region 273
3.4 Optimal Regulator with its Poles in a Specified Region 280
3.5 Conclusions 288
4 Direct Adaptive Output Tracking Control Using Multilayered Neural Networks 292
4.1 Introduction 292
4.2 Nonlinear Control Formulation 294
4.3 Adaptive Tracking Using Multilayered Neural Networks 297
4.4 Results on Convergence of Weight Learning 301
4.5 Results on Feedback Stability 303
4.6 Simulation Results 309
4.7 Concluding Remarks 310
5 Genetic Algorithms-A Robust Optimization Tool 314
5.1 Introduction 314
5.2 Genetic Algorithms 316
5.3 GA in Aerospace System Optimization 326
5.4 Summary and Discussion 329