Design and Analysis of Control Systems,9780849318986

Design and Analysis of Control Systems

by ;
Edition: 1st
ISBN13: 9780849318986
ISBN10: 084931898X
Format: Hardcover
Pub. Date: 1999-06-23
Publisher(s): CRC Press
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Summary

Written to inspire and cultivate the ability to design and analyze feasible control algorithms for a wide range of engineering applications, this comprehensive text covers the theoretical and practical principles involved in the design and analysis of control systems. From the development of the mathematical models for dynamic systems, the author shows how they are used to obtain system response and facilitate control, then addresses advanced topics, such as digital control systems, adaptive and robust control, and nonlinear control systems.

Table of Contents

An Introduction to Control Systems
1(48)
Introduction
1(1)
Background
2(1)
A Recent History of Control Systems
2(3)
Automatic Control
3(1)
Multivariable Control
4(1)
The Basic Components of a Control System
5(1)
Open-Loop Control vs. Closed-Loop Control
6(3)
Open-Loop Control
6(1)
Closed-Loop Control
7(1)
Advantages of Closed-Loop Systems
8(1)
Disadvantages of Closed-Loop Systems
8(1)
Examples of Control Systems
9(8)
Manual Car Direction of Travel Control
9(2)
Cruise Control for a Car
11(1)
Automatic Water Level Control
12(1)
Manual Water Level Control
13(1)
Turntable Speed Control
13(2)
Blood Glucose Control
15(1)
Manual Control of a Sound Amplifier
16(1)
Feedback in Social, Economic, and Political Systems
17(1)
Classification of Control Systems
17(3)
Linear vs. Nonlinear Control Systems
18(1)
Time-Invariant vs. Time-Variant Control Systems
19(1)
Continuous-Data vs. Discrete-Data Control Systems
19(1)
Regulator vs. Tracking Control Systems
20(1)
Control System Design
20(3)
Advanced Applications of Control Systems
23(10)
A Modular and Scalable Wheeled Mobile Robot
23(2)
The Mars Sojourner Rover
25(1)
Mars Surveyor 2001 Orbiter and Lander
26(3)
Deep Space 1
29(1)
The Experimental Unmanned Vehicle (XUV)
30(2)
Magnetic Levitation
32(1)
Process Control: Metal Rolling Mill
32(1)
Examples of Control System Experiments
33(9)
Inverted Pendulum
33(2)
2-DOF Helicopter Experiment
35(2)
3-DOF Helicopter Experiment
37(1)
2-DOF Robot Experiment
38(1)
Magnetic Levitation Experiment
38(1)
The Pendubot
39(3)
Book Outline
42(3)
Problems
45(4)
Modeling of Dynamic Systems
49(100)
Introduction
49(2)
Chapter Objectives
50(1)
Dynamic Systems
51(1)
Dynamic System Models
51(1)
Modeling Concepts
52(1)
Summary of the Model Derivation Procedure
52(1)
Forms of the Dynamic System Model
53(1)
Overview of Different Dynamic Systems
53(32)
Translational Mechanical Systems
53(8)
Rotational Mechanical Systems
61(4)
Electrical Systems
65(12)
Electromechanical Systems
77(1)
Pneumatic, Hydraulic and Fluid Systems
77(6)
Thermal Systems
83(2)
State-Variable Matrix Form
85(6)
Choice of State Variables
86(3)
State-Variable Form for Nonlinear Systems
89(1)
Characteristics of State-Variable Models
89(1)
Summary of the State-Variable Form Modeling
90(1)
Input-Output Differential Equation Form
91(1)
Comparison with the State-Variable Form
91(1)
Transfer Function Form
92(9)
Obtaining the Transfer Function
93(1)
Directly Taking Laplace Transforms
93(2)
The s-Operator Method
95(3)
The Component Transfer Function Method
98(3)
The Transfer Function in Pole-Zero Factored Form
101(1)
Switching Between Different Model Forms
101(3)
Examples of Dynamic System Modeling
104(25)
An Electromechanical System
124(5)
Linearization of Nonlinear Models
129(5)
Small Signal Linearization
130(1)
Linearization of Element Laws
130(1)
Linearization of Models
131(1)
Linearization Concepts
132(2)
Experimental Data Approach
134(3)
Transient Response
135(1)
Frequency Response
136(1)
Stochastic Steady State
136(1)
Pseudo-Random Noise (PRBS)
136(1)
Models from Transient-Response Data
137(1)
Models from Other Data
137(1)
Pure Time Delay
137(1)
Problems
137(12)
Dynamic System Response
149(112)
Introduction
149(2)
Chapter Objectives
150(1)
Time Domain Solution of System Models
151(22)
Homogeneous Input-Output Equations
151(2)
Nonhomogeneous Input-Output Equations
153(3)
First-Order Systems
156(7)
Second-Order Systems
163(2)
Analogous Mechanical and Electrical Systems
165(2)
Solution of State-Variable Matrix Equations
167(6)
Frequency Domain Solution of Models
173(20)
The Laplace Transform
173(1)
Properties of Laplace Transforms
174(2)
Laplace Transform of Some Key Functions
176(6)
Partial Fractions
182(11)
Determination of the System Response
193(8)
Using the Input-Output Equation
193(8)
Using the System Transfer Function
201(8)
The Impulse Response (Natural Response)
204(1)
The Unit Step Response
205(1)
The Impulse and Unit Step Responses: The Relationship
205(1)
Final Value Theorem (FVT)
206(1)
Initial Value Theorem (IVT)
207(1)
DC Gain
208(1)
First-Order Systems
209(1)
Second-Order Systems
210(11)
Impulse and Step Responses
211(3)
Stability for Second-Order System
214(3)
Characteristics of a Step Response
217(1)
Effects of Pole-Zero Location on the Response
218(3)
Examples: System Response (Laplace Transforms)
221(11)
Block Diagrams
232(3)
Networks of Blocks
232(3)
Simplifying Block Diagrams
235(8)
Direct Block Diagram Reduction
235(3)
The Signal Flow Graph
238(1)
Properties of Signal Flow Graphs
239(1)
Mason's Transfer Function Rule
240(3)
Examples: Simplifying Block Diagrams
243(7)
Problems
250(11)
Characteristics of Feedback Control Systems
261(86)
Introduction
261(1)
Open-Loop Control vs. Closed-Loop Control
262(3)
Open-Loop Control
262(1)
Closed-Loop Control
263(1)
Advantages of Closed-Loop Systems
263(1)
Disadvantages of Closed-Loop Systems
264(1)
Examples of Open- and Closed-Loop Systems
265(1)
Car Cruise Control System (Open-Loop)
265(5)
Input-Output Form
266(1)
Transfer Function Form
266(1)
Block Diagram Form
267(1)
State-Variable Form
268(2)
Car Cruise Control System (Closed-Loop)
270(5)
Input-Output Form
271(1)
Transfer Function Form
271(1)
Block Diagram Form
271(2)
State-Variable Form
273(2)
DC Motor Speed Control (Open-Loop)
275(6)
Input-Output Form
276(2)
Transfer Function Form
278(2)
Block Diagram Form (Open-Loop)
280(1)
State-Variable Form
280(1)
DC Motor Position Control (Open-Loop)
281(3)
Input-Output Form
282(1)
Transfer Function
282(1)
State-Variable Form
283(1)
DC Motor Speed Control (Closed-Loop)
284(7)
Input-Output Form
284(1)
Transfer Function Form
285(1)
Block Diagram Form (Closed-Loop)
286(2)
State-Variable Form
288(3)
Modeling of PID Controllers
291(9)
Proportional Controller (P)
292(1)
Proportional and Integral Controller (PI)
292(2)
Proportional and Derivative Controller (PD)
294(1)
Proportional, Integral & Derivative Controller (PID)
294(4)
Summary of PID Controller Characteristics
298(2)
MATLAB Implementation
300(2)
State-Variable Form
300(1)
Transfer Function
300(1)
Sample MATLAB Code: Motor Speed PID Control
301(1)
Tuning of PID Controllers
302(2)
Quarter Decay Ratio Method
302(1)
Stability Limit Method
303(1)
Steady State Tracking and System Type
304(10)
Sensitivity
314(7)
Definition of Sensitivity
314(1)
Open- and Closed-Loop Sensitivity
315(6)
Stability
321(11)
Bounded Input-Bounded Output Stability
322(1)
Asymptotic Internal Stability
323(1)
Routh-Hurwitz Stability Criterion
323(9)
Problems
332(15)
Root Locus Design Methods
347(46)
Introduction
347(1)
Root Locus
348(3)
Background
348(1)
The Root Locus: Definition
348(2)
Magnitude and Angle Criteria
350(1)
Breakpoint, Departure and Arrival Angles
351(1)
Constructing the Root Locus
351(9)
Summary of the Root Locus Steps
352(1)
Details of the Root Locus Steps
352(6)
Determining the Control Gain (Root Locus Gain)
358(1)
Root Locus for Second-Order Systems
359(1)
Examples of Root Locus Design
360(22)
Dynamic Compensation: Lead and Lag
382(2)
Extensions of Root Locus Method
384(2)
Time Delay
384(2)
Nonlinear Systems
386(1)
Computer-Aided Determination of the Root Locus
386(3)
MATLAB
388(1)
Problems
389(4)
Frequency-Response Design Methods
393(82)
Introduction
393(7)
Magnitude and Phase Angle
394(2)
Combining Magnitudes and Phase Angles
396(4)
Bode Plots: The Principles
400(6)
Background
400(1)
Advantages of Bode Plots
401(2)
Bode Plot Techniques
403(3)
Constant Factors (Gain)
406(2)
Magnitude
406(1)
Phase Angle
407(1)
A Simple Zero Factor
408(3)
Magnitude
409(1)
Phase Angle
410(1)
A Simple Pole Factor
411(3)
Magnitude
412(1)
Phase Angle
413(1)
An Integrator Factor
414(2)
Magnitude
414(1)
Phase Angle
415(1)
A Derivative Factor
416(2)
Magnitude
416(1)
Phase Angle
417(1)
A Complex Pole Factor
418(2)
Magnitude
418(2)
Phase Angle
420(1)
A Complex Zero Factor
420(1)
Magnitude
421(1)
Phase Angle
421(1)
Drawing Bode Plots
421(13)
Nonminimum Phase Systems
434(2)
Magnitude and Phase
434(2)
Time Delay (Transport Lag)
436(2)
Magnitude
436(1)
Phase Angle
437(1)
Bode Plots Using MATLAB
438(1)
Sample Algorithms
438(1)
System Models From Experiment Frequency Data
439(1)
Nyquist Analysis
440(1)
Advantages of Nyquist Method
440(1)
Polar Plots
441(1)
Four Classes of Basic Factors
442(11)
Properties of Polar Plots
447(1)
Nyquist Path
448(1)
Nyquist Diagram
448(1)
Plotting and Analyzing the Nyquist Plot
448(1)
Nyquist Stability Criterion
449(1)
Nyquist Diagrams Using MATLAB
450(3)
Argument and Rouche's Theorem
453(1)
Examples of Nyquist Analysis
453(10)
Stability margins
463(1)
Gain Margin (GM)
463(1)
Phase Margin (PM)
464(1)
Relative Stability
464(1)
Gain and Phase Relationship
464(1)
Compensation
465(3)
PD Compensation
466(1)
Lead Compensation
466(1)
PI Compensation
466(1)
Lag Compensation
466(1)
PID Compensation (Lead-Lag Compensator)
467(1)
Summary of Compensation Characteristics
467(1)
Problems
468(7)
State-Space Design Methods
475(96)
Introduction
475(1)
The Block Diagram and the Transfer Function
476(7)
State-Space Description and the Block Diagram
476(3)
Transfer Function, Poles, and Zeros
479(4)
System Response: The State-Transition Matrix
483(14)
Direct Solution of the Differential Equation
483(9)
System Response by Laplace Transform Method
492(5)
System Controllability and Observability
497(12)
Controllability
497(5)
Observability
502(7)
Similarity Transformations: Canonical Forms
509(12)
Similarity Transformation
509(1)
Controllable Canonical Form
510(4)
Observable Canonical Form
514(4)
Diagonal Canonical Form
518(2)
Jordan Canonical Form
520(1)
Transfer Function Decomposition
521(2)
Direct Decomposition
521(2)
Full State Feedback Control
523(13)
Pole Placement Design Method
525(6)
Pole Placement Using Ackermann's Formula
531(5)
Introduction to Optimal Control
536(11)
Overview of Optimization Theory
537(3)
The Basic Optimal Control Problem
540(7)
Estimator Design
547(17)
Full State Estimator
548(3)
Duality of Estimation and Control
551(1)
Reduced-Order Estimator
552(9)
Compensator Design: Control Law and Estimator
561(3)
Problems
564(7)
Digital Control Systems
571(98)
Introduction
571(1)
Sampled Data Systems
572(15)
General Structure
572(1)
Data Sampling
572(6)
Characteristics of Discrete Time Signals
578(9)
Analysis of the Discrete Time Systems
587(64)
Difference Equations
587(11)
The Difference Operator (Δ) and Shift Operator (q)
598(4)
Discrete Approximation of Continuous Processes
602(4)
The Z-Transforms
606(15)
Dynamic System Response and Stability Analysis
621(7)
Discretization in the Frequency Domain
628(4)
The State-Space Analysis
632(8)
The Root Locus in the Z-Plane
640(2)
The Frequency-Response Analysis
642(9)
Design of Discrete Time Controllers
651(11)
Controller Feasibility: the Concept of Causality
651(1)
Pole-Zero Matching Control Technique
652(2)
The Pole Placement Methods in the z-Domain
654(1)
The Frequency-Response Design Methods
655(1)
The Discrete Time PID Controller
655(6)
Implementation of Digital Control Systems
661(1)
Problems
662(7)
Advanced Control Systems
669(96)
Introduction
669(1)
State-Space Estimation
670(3)
System Description
670(1)
Kalman Filter Algorithm
671(2)
The Information Filter
673(11)
Information Space
673(3)
Information Filter Derivation
676(3)
Filter Characteristics
679(1)
An Example of Linear Estimation
679(3)
Comparison of the Kalman and Information Filters
682(2)
The Extended Kalman Filter (EKF)
684(7)
Nonlinear State-Space
685(1)
EKF Derivation
686(4)
Summary of the EKF Algorithm
690(1)
The Extended Information Filter (EIF)
691(4)
Nonlinear Information Space
691(1)
EIF Derivation
692(2)
Summary of the EIF Algorithm
694(1)
Filter Characteristics
695(1)
Examples of Estimation in Nonlinear Systems
695(12)
Nonlinear State Evolution and Linear Observations
696(2)
Linear State Evolution with Nonlinear Observations
698(3)
Both Nonlinear State Evolution and Observations
701(2)
Comparison of the EKF and EIF
703(2)
Decentralized Estimation
705(2)
Optimal Stochastic Control
707(7)
Stochastic Control Problem
708(1)
Optimal Stochastic Solution
709(3)
Nonlinear Stochastic Control
712(2)
Centralized Control
714(1)
An Extended Example
714(5)
Unscaled Individual States
715(1)
Continuous Time Models
716(2)
Discrete Time Models
718(1)
Nonlinear Control Systems
719(38)
Nonlinear Dynamic Systems
719(2)
Describing Function Analysis
721(1)
Phase Plane Methods
722(18)
Lyapunov's Theory
740(17)
Design of Nonlinear Control Systems
757(4)
Feedback Linearization Methods
757(1)
Introduction to Adaptive Control
758(1)
Introduction to Neural Control
758(1)
Introduction to Robust Control
758(3)
Problems
761(4)
A Laplace and Z-Transforms 765(6)
A.1 Properties of Laplace Transforms
765(1)
A.2 Table of Laplace Transforms
766(1)
A.3 Properties of Z-Transforms
767(1)
A.4 Table of Z-Transforms
768(1)
A.5 Table of Z-Transforms (contd.)
769(2)
B MATLAB: Basics and Exercises 771(24)
B.1 Getting Started
771(1)
B.2 Creating MATLAB Files
772(1)
B.3 Commands
772(6)
B.3.1 Vectors
772(1)
B.3.2 Functions
773(1)
B.3.3 Plotting
774(1)
B.3.4 Polynomials
775(1)
B.3.5 Matrices
776(2)
B.4 Printing
778(1)
B.5 Using M-files in MATLAB
778(1)
B.6 Saving Workspace
779(1)
B.7 Getting Help in MATLAB
780(1)
B.8 Control Functions
780(3)
B.9 More Commands
783(1)
B.10 Labwork I
784(2)
B.11 Labwork II
786(1)
B.12 Labwork III
786(3)
B.13 Labwork IV
789(2)
B.14 Labwork V
791(1)
B.15 Labwork VI
792(3)
Bibliography 795(2)
Index 797

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