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-In variant，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