Chapter 1 Introduction to Control Systems 1
1-1 Introduction 1
1-2 Examples of Control Systems 4
1-3 Closed-Loop Control Versus Open-Loop Control 7
1-4 Design and Compensation of Control Systems 9
1-5 Outline of the Book 10
Chapter 2 Mathematical Modeling of Control Systems 13
2-1 Introduction 13
2-2 Transfer Function and Impulse-Response Function 15
2-3 Automatic Control Systems 17
2-4 Modeling in State Space 29
2-5 State-Space Representation of Scalar Differential Equation Systems 35
2-6 Transformation of Mathematical Models with MATLAB 39
2-7 Linearization of Nonlinear Mathematical Models 43
Example Problems and Solutions 46
Problems 60
Chapter 3 Mathematical Modeling of Mechanical Systems and Electrical Systems 63
3-1 Introduction 63
3-2 Mathematical Modeling of Mechanical Systems 63
3-3 Mathematical Modeling of Electrical Systems 72
Example Problems and Solutions 86
Problems 97
Chapter 4 Mathematical Modeling of Fluid Systems and Thermal Systems 100
4-1 Introduction 100
4-2 Liquid-Level Systems 101
4-3 Pneumatic Systems 106
4-4 Hydraulic Systems 123
4-5 Thermal Systems 136
Example Problems and Solutions 140
Problems 152
Chapter 5 Transient and Steady-State Response Analyses 159
5-1 Introduction 159
5-2 First-Order Systems 161
5-3 Second-Order Systems 164
5-4 Higher-Order Systems 179
5-5 Transient-Response Analysis with MATLAB 183
5-6 Routh's Stability Cntenon 212
5-7 Effects of Integral and Derivative Control Actions on System Performance 218
5-8 Steady-State Errors in Unity-Feedback Control Systems 225
Example Problems and Solutions 231
Problems 263
Chapter 6 Control Systems Analysis and Design by the Root-Locus Method 269
6-1 Introduction 269
6-2 Root-Locus Plots 270
6-3 Plotting Root Loci with MATLAB 290
6-4 Root-Locus Plots of Positive Feedback Systems 303
6-5 Root-Locus Approach to Control-Systems Design 308
6-6 Lead Compensation 311
6-7 Lag Compensation 321
6-8 Lag-Lead Compensation 330
6-9 Parallel Compensation 342
Example Problems and Solutions 347
Problems 394
Chapter 7 Control Systems Analysis and Design by the Frequency-Response Method 398
7-1 Introduction 398
7-2 Bode Diagrams 403
7-3 Polar Plots 427
7-4 Log-Magnitude-versus-Phase Plots 443
7-5 Nyquist Stability Cntenon 445
7-6 Stability Analysis 454
7-7 Relative Stability Analysis 462
7-8 Closed-Loop Frequency Response of Unity-Feedback Systems 477
7-9 Experimental Determination of Transfer Functions 486
7-10 Control Systems Design by Frequency-Response Approach 491
7-11 Lead Compensation 493
7-12 Lag Compensation 502
7-13 Lag-Lead Compensation 511
Example Problems and Solutions 521
Problems 561
Chapter 8 PID Controllers and Modified PID Controllers 567
8-1 Introduction 567
8-2 Ziegler-Nichols Rules for Tuning PID Controllers 568
8-3 Design of PID Controllers with Frequency-Response Approach 577
8-4 Design of PID Controllers with Computational Optimization Approach 583
8-5 Modifications of PID Control Schemes 590
8-6 Two-Degrees-of-Freedom Control 592
8-7 Zero-Placement Approach to Improve Response Characteristics 595
Example Problems and Solutions 614
Problems 641
Chapter 9 Control Systems Analysis in State Space 648
9-1 Introduction 648
9-2 State-Space Representations of Transfer-Function Systems 649
9-3 Transformation of System Models with MATLAB 656
9-4 Solving the Time-Invariant State Equation 660
9-5 Some Useful Results in Vector-Matrix Analysis 668
9-6 Controllability 675
9-7 Observability 682
Example Problems and Solutions 688
Problems 720
Chapter 10 Control Systems Design in State Space 722
10-1 Introduction 722
10-2 Pole Placement 723
10-3 Solving Pole-Placement Problems with MATLAB 735
10-4 Design of Servo Systems 739
10-5 State Observers 751
10-6 Design of Regulator Systems with Observers 778
10-7 Design of Control Systems with Observers 786
10-8 Quadratic Optimal Regulator Systems 793
10-9 Robust Control Systems 806
Example Problems and Solutions 817
Problems 855
Appendix A Laplace Transform Tables 859
Appendix B Partial-Fraction Expansion 867
Appendix C Vector-Matrix Algebra 874
References 882
Index 886