Control System Engineering

Preface
	Key Features
	New to This Edition
	Ancillary Material
	Book Organization by Chapter
	Acknowledgments
Chapter 1: Introduction
	Chapter 1 Problems
		Progressive Analysis and Design Problems
	Readings
		1.1 Introduction
		1.2 A History of Control Systems
		1.3 System Configurations
		1.4 Analysis and Design Objectives
		1.5 The Design Process
		1.6 Computer-Aided Design
		1.7 The Control Systems Engineer
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 2: Modeling in the Frequency Domain
	Chapter 2 Problems
		Progressive Analysis and Design Problems
	Readings
		2.1 Introduction
		2.2 Laplace Transform Review
		2.3 The Transfer Function
		2.4 Electrical Network Transfer Functions
		2.5 Translational Mechanical System Transfer Functions
		2.6 Rotational Mechanical System Transfer Functions
		2.7 Transfer Functions for Systems with Gears
		2.8 Electromechanical System Transfer Functions
		2.9 Electric Circuit Analogs
		2.10 Nonlinearities
		2.11 Linearization
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 3: Modeling in the Time Domain
	Chapter 3 Problems
		Progressive Analysis and Design Problems
	Readings
		3.1 Introduction
		3.2 Some Observations
		3.3 The General State-Space Representation
		3.4 Applying the State-Space Representation
		3.5 Converting a Transfer Function to State Space
		3.6 Converting from State Space to a Transfer Function
		3.7 Linearization
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 4: Time Response
	Chapter 4 Problems
		Design Problems
		Progressive Analysis and Design Problems
	Readings
		4.1 Introduction
		4.2 Poles, Zeros, and System Response
		4.3 First-Order Systems
		4.4 Second-Order Systems: Introduction
		4.5 The General Second-Order System
		4.6 Underdamped Second-Order Systems
		4.7 System Response with Additional Poles
		4.8 System Response with Zeros
		4.9 Effects of Nonlinearities upon Time Response
		4.10 Laplace Transform Solution of State Equations
		4.11 Time Domain Solution of State Equations
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 5: Reduction of Multiple Subsystems
	Chapter 5 Problems
		Design Problems
		Progressive Analysis and Design Problems
	Readings
		5.1 Introduction
		5.2 Block Diagrams
		5.3 Analysis and Design of Feedback Systems
		5.4 Signal-Flow Graphs
		5.5 Mason's Rule
		5.6 Signal-Flow Graphs of State Equations
		5.7 Alternative Representations in State Space
		5.8 Similarity Transformations
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 6: Stability
	Chapter 6 Problems
		Design Problems
		Progressive Analysis and Design Problems
	Readings
		6.1 Introduction
		6.2 Routh–Hurwitz Criterion
		6.3 Routh–Hurwitz Criterion: Special Cases
		6.4 Routh–Hurwitz Criterion: Additional Examples
		6.5 Stability in State Space
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 7: Steady-State Errors
	Chapter 7 Problems
		Design Problems
		Progressive Analysis and Design Problems
	Readings
		7.1 Introduction
		7.2 Steady-State Error for Unity-Feedback Systems
		7.3 Static Error Constants and System Type
		7.4 Steady-State Error Specifications
		7.5 Steady-State Error for Disturbances
		7.6 Steady-State Error for Nonunity-Feedback Systems
		7.7 Sensitivity
		7.8 Steady-State Error for Systems in State Space
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 8: Root Locus Techniques
	Chapter 8 Problems
		Design Problems
		Progressive Analysis and Design Problems
	Readings
		8.1 Introduction
		8.2 Defining the Root Locus
		8.3 Properties of the Root Locus
		8.4 Sketching the Root Locus
		8.5 Refining the Sketch
		8.6 An Example
		8.7 Transient Response Design via Gain Adjustment
		8.8 Generalized Root Locus
		8.9 Root Locus for Positive-Feedback Systems
		8.10 Pole Sensitivity
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 9: Design via Root Locus
	Chapter 9 Problems
		Design Problems
		Progressive Analysis and Design Problems
	Readings
		9.1 Introduction
		9.2 Improving Steady-State Error via Cascade Compensation
		9.3 Improving Transient Response via Cascade Compensation
		9.4 Improving Steady-State Error and Transient Response
		9.5 Feedback Compensation
		9.6 Physical Realization of Compensation
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 10: Frequency Response Techniques
	Chapter 10 Problems
		Progressive Analysis and Design Problems
	Readings
		10.1 Introduction
		10.2 Asymptotic Approximations: Bode Plots
		10.3 Introduction to the Nyquist Criterion
		10.4 Sketching the Nyquist Diagram
		10.5 Stability via the Nyquist Diagram
		10.6 Gain Margin and Phase Margin via the Nyquist Diagram
		10.7 Stability, Gain Margin, and Phase Margin via Bode Plots
		10.8 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses
		10.9 Relation Between Closed- and Open-Loop Frequency Responses
		10.10 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses
		10.11 Steady-State Error Characteristics from Frequency Response
		10.12 Systems with Time Delay
		10.13 Obtaining Transfer Functions Experimentally
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 11: Design via Frequency Response
	Chapter 11 Problems
		Design Problems
		Progressive Analysis and Design Problems
	Readings
		11.1 Introduction
		11.2 Transient Response via Gain Adjustment
		11.3 Lag Compensation
		11.4 Lead Compensation
		11.5 Lag-Lead Compensation
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 12: Design via State Space
	Chapter 12 Problems
		Design Problems
		Progressive Analysis and Design Problems
	Readings
		12.1 Introduction
		12.2 Controller Design
		12.3 Controllability
		12.4 Alternative Approaches to Controller Design
		12.5 Observer Design
		12.6 Observability
		12.7 Alternative Approaches to Observer Design
		12.8 Steady-State Error Design via Integral Control
		Summary
		Review Questions
		Cyber Exploration Laboratory
		Bibliography
Chapter 13: Digital Control Systems
	Chapter 13 Problems
		Design Problems
		Progressive Analysis and Design Problems
	Readings
		13.1 Introduction
		13.2 Modeling the Digital Computer
		13.3 The z -Transform
		13.4 Transfer Functions
		13.5 Block Diagram Reduction
		13.6 Stability
		13.7 Steady-State Errors
		13.8 Transient Response on the z-Plane
		13.9 Gain Design on the z-Plane
		13.10 Cascade Compensation via the s-Plane
		13.11 Implementing the Digital Compensator
		Summary
		Review Questions
		Bibliography
Appendix A1: List of Symbols
Appendix A2: Antenna Azimuth Position Control System
	Layout
	Schematic
	Block Diagram
	Schematic Parameters
	Block Diagram Parameters
Appendix A3: Unmanned Free‐Swimming Submersible Vehicle
	Pitch Control System
	Heading Control System
Appendix A4: Key Equations
Appendix B: MATLAB Tutorial
	B.1 Introduction
	B.2 MATLAB Examples
	B.3 Command Summary
	Bibliography
Appendix C: Simulink Tutorial
	C.1 Introduction
	C.2 Using Simulink
	C.3 Examples
	C.4 Using Simulink for Control System Design
	Summary
	Bibliography
Appendix D: LabVIEW Tutorial
	D.1 Introduction
	D.2 Control Systems Analysis, Design, and Simulation
	D.3 Using LabVIEW
	D.4 Analysis and Design Examples
	D.5 Simulation Examples
	D.6 Interfacing with External Hardware
	Summary
	Bibliography
Appendix E: MATLAB's GUI Tools Tutorial
	E.1 Introduction
	E.2 The Linear System Analyzer: Description
	E.3 Using the Linear System Analyzer
	E.4 Linear System Analyzer Examples
	E.5 Simulink and the Linear Analysis Tool
	E.6 Using the Linear Analysis Tool with Simulink to Analyze a Response
	E.7 The Control System Designer: Description
	E.8 Using the Control System Designer
	Summary
	Bibliography
Appendix F: MATLAB's Symbolic Math Toolbox Tutorial
	F.1 Introduction
	F.2 Symbolic Math Toolbox Examples
	F.3 Command Summary
	Bibliography
Appendix G: Matrices, Determinants, and Systems of Equations
	G.1 Matrix Definitions and Notations
	G.2 Matrix Operations
	G.3 Matrix and Determinant Identities
	G.4 Systems of Equations
	Bibliography
Appendix H: Control System Computational Aids
	H.1 Step Response of a System Represented in State Space
	H.2 Root Locus and Frequency Response
Appendix I: Derivation of a Schematic for a DC Motor
	Bibliography
Appendix J: Derivation of the Time Domain Solution of State Equations
	J.1 Derivation
	Bibliography
Appendix K: Solution of State Equations for t0 ≠ 0
	Bibliography
Appendix L: Derivation of Similarity Transformations
	L.1 Introduction
	L.2 Expressing Any Vector in Terms of Basis Vectors
	L.3 Vector Transformations
	L.4 Finding the Transformation Matrix, P
	L.5 Transforming the State Equations
	Bibliography
Appendix M: Root Locus Rules: Derivations
	M.1 Derivation of the Behavior of the Root Locus at Infinity (Kuo, 1987)
	M.2 Derivation of Transition Method for Breakaway and Break‐in Points
	Bibliography
Glossary
Answers to Selected Problems
Index
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