Advanced Control Engineering

Contents......Page 5
1.1 Historical review......Page 15
1.2 Control system fundamentals......Page 17
1.3 Examples of control systems......Page 20
1.4 Summary......Page 24
2.2 Simple mathematical model of a motor vehicle......Page 27
2.3 More complex mathematical models......Page 28
2.4 Mathematical models of mechanical systems......Page 29
2.5 Mathematical models of electrical systems......Page 35
2.6 mathematical models of thermal systems......Page 39
2.7 Mathematical models of fluid systems......Page 41
2.8 Further problems......Page 45
3.1 Introduction......Page 49
3.2 Laplace transforms......Page 50
3.3 Transfer functions......Page 53
3.4 Common time domain input functions......Page 55
3.5 Time domain response of first-order systems......Page 57
3.6 Time domain response of second-order systems......Page 63
3.7 Step response analysis and performance specfication......Page 69
3.8 Response of higher-order systems......Page 72
3.9 Further problems......Page 74
4.1 Closed-loop transfer function......Page 77
4.2 Block diagram reduction......Page 78
4.3 Systems with multiple inputs......Page 83
4.4 Transfer functions for system elements......Page 85
4.5 Controllers for closed-loop systems......Page 95
4.6 Case study examples......Page 106
4.7 Further problems......Page 118
5.1 Stability of dynamic systems......Page 124
5.2 The Routh-Hurwitz stability criterion......Page 126
5.3 Root-locus analysis......Page 132
5.4 Design in the s-plane......Page 146
5.5 Further problems......Page 155
6.1 Frequency domain analysis......Page 159
6.2 The complex frequency approach......Page 161
6.3 The Bode diagram......Page 165
6.4 Stability in the frequency domain......Page 175
6.5 Relationship between open-loop and closed-loop frequency response......Page 186
6.6 Compensator design in the frequency domain......Page 192
6.7 Relationship between frequency response and time response for closed-loop systems......Page 205
6.8 Further problems......Page 207
7.1 Microprocessor control......Page 212
7.2 Shannon\'s sampling theorem......Page 214
7.3 Ideal sampling......Page 215
7.4 The z-transform......Page 216
7.5 Digital control systems......Page 224
7.6 Stability in the z-plane......Page 227
7.7 Digital compensator design......Page 234
7.8 Further problems......Page 243
8.1 The state-space-approach......Page 246
8.2 Solution of the state vector differential equation......Page 253
8.3 Discrete-time solution of the state vector differential equation......Page 258
8.4 Control of multivariable systems......Page 262
8.5 Further problems......Page 280
9.1 Review of optimal control......Page 286
9.2 The Linear Quadratic Regulator......Page 288
9.3 The linear quadratic tracking problem......Page 294
9.4 The Kalman filter......Page 298
9.5 Linear Quadratic Gaussian control system design......Page 302
9.6 Robust control......Page 313
9.7 H2- and H infinity optimal control......Page 319
9.8 Robust stability and robust performance......Page 320
9.9 Multivariable robust control......Page 328
9.10 Further problems......Page 335
10.1 Intelligent control systems......Page 339
10.2 Fuzzy logic control systems......Page 340
10.3 Neural network control systems......Page 361
10.4 Genetic algorithms and their application to control system design......Page 379
10.5 Further problems......Page 387
A1.2 Tutorial 1: Matrix operations......Page 394
A1.3 Tutorial 2: Time domain analysis......Page 396
A1.4 Tutorial 3: Closed-loop control systems......Page 399
A1.5 Tutorial 4: Classical design in the s-plane......Page 402
A1.6 Tutorial 5: Classical design in the frequency domain......Page 407
A1.7 Tutorial 6: Digital control system design......Page 411
A1.8 Tutorial 7: State-space methods for control system design......Page 415
A1.9 Tutorial 8: Optimal and robust control system design......Page 422
A1.10 Tutorial 9: Intelligent control system design......Page 431
A2.1 Definitions......Page 438
A2.2 Matrix operations......Page 439
References and further reading......Page 442
Index......Page 447