Ernst Cassirer on Form and Technology: Contemporary Readings

Contents......Page 6
Cover......Page 1
Preface......Page 10
 1.1 Introduction......Page 14
 1.2 Basic Concepts......Page 18
 1.3 Basic Structures of Feedback Systems......Page 20
 1.4 About This Book......Page 22
 Notes and References......Page 24
2 Modeling and Simulation......Page 26
  2.1.1 Electrical systems......Page 27
  2.1.2 Mechanical systems......Page 30
  2.1.3 Electromechanical systems......Page 31
 2.2 State Space Model and Linearization......Page 34
 2.3 Transfer Functions and Impulse Responses......Page 40
 2.4 Simplifying Block Diagrams......Page 44
 2.5 Transfer Function Modeling......Page 47
 2.6 MATLAB Manipulation of LTI Systems......Page 49
  2.7.1 Hardware simulation and implementation......Page 52
  2.7.2 Software simulation and implementation......Page 55
 2.8 MISO and SIMO Systems......Page 57
 2.9 Modeling of Closed-Loop Systems......Page 60
  2.10.1 Ball and beam system......Page 66
  2.10.2 Inverted pendulum system......Page 68
 Problems......Page 70
 Notes and References......Page 75
3 Stability and Stabilization......Page 76
 3.1 Concept of Stability......Page 77
 3.2 Routh Criterion......Page 81
 3.3 Other Stability Criteria......Page 89
 3.4 Robust Stability......Page 95
 3.5 Stability of Closed-Loop Systems......Page 99
 3.6 Pole Placement Design......Page 108
 3.7 All Stabilizing Controllers*......Page 114
 3.8 All Stabilizing 2DOF Controllers*......Page 119
  3.9.1 Ball and beam system......Page 124
  3.9.2 Inverted pendulum system......Page 127
 Problems......Page 133
 Notes and References......Page 136
4 Time-Domain Analysis......Page 140
 4.1 Responses to Typical Input Signals......Page 141
 4.2 Step Response Analysis......Page 146
 4.3 Dominant Poles and Zeros......Page 156
 4.4 Steady-State Response and System Type......Page 159
 4.5 Internal Model Principle......Page 166
 4.6 Undershoot......Page 169
 4.7 Overshoot......Page 173
 4.8 Time-Domain Signal and System Norms......Page 179
 4.9 Computation of the Time-Domain 2-Norm......Page 183
 Problems......Page 188
 Notes and References......Page 195
5 Root-Locus Method......Page 198
 5.1 Root-Locus Techniques......Page 199
 5.2 Derivations of Root-Locus Rules*......Page 208
 5.3 Effects of Adding Poles and Zeros......Page 211
 5.4 Phase-Lag Controller......Page 212
 5.5 PI Controller......Page 217
 5.6 Phase-Lead Controller......Page 218
 5.7 PD Controller......Page 224
 5.8 Lead-Lag or PID Controller......Page 228
 5.9 2DOF Controllers......Page 231
 5.11 Complementary Root-Locus......Page 232
 5.12 Strong Stabilization......Page 235
 5.13 Case Study – Ball and Beam System......Page 239
 Problems......Page 243
 Notes and References......Page 246
6 Frequency-Domain Analysis......Page 247
 6.1 Frequency Response......Page 248
 6.2 Bode Diagrams......Page 257
 6.3 Nyquist Stability Criterion......Page 265
 6.4 Gain Margin and Phase Margin......Page 273
 6.5 Closed-Loop Frequency Response......Page 278
 6.6 Nichols Chart......Page 281
 6.7 Riemann Plot......Page 284
 Problems......Page 288
 Notes and References......Page 291
7 Classical Design in Frequency Domain......Page 292
 7.1 Phase-Lag Controller......Page 293
 7.2 PI Controller......Page 297
 7.3 Phase-Lead Controller......Page 299
 7.4 PD Controller......Page 305
 7.5 Lead-Lag or PID Controller......Page 308
  7.6.1 Ziegler and Nichols first method......Page 311
  7.6.2 Frequency-response analysis of the Ziegler and Nichols tuning rules......Page 312
  7.6.3 Ziegler and Nichols second method......Page 316
 7.7 Derivative Control......Page 317
 7.8 Alternative PID Implementation......Page 321
 7.9 Integral Control and Antiwindup......Page 322
 7.10 Design by Loopshaping......Page 325
 7.11 Bode\'s Gain and Phase Relation......Page 327
 7.12 Bode\'s Sensitivity Integral......Page 332
 Problems......Page 334
 Notes and References......Page 336
 8.1 Frequency-Domain 2-Norm of Signals and Systems......Page 338
 8.2 Frequency-Domain ∞-Norm of Systems......Page 346
 8.3 Model Uncertainties and Robust Stability......Page 350
 8.4 Chordal and Spherical Distances......Page 358
 8.5 Distance between Systems......Page 361
 8.6 Uncertainty and Robustness......Page 367
 Problems......Page 374
 Notes and References......Page 377
 9.1 Controller with Optimal Transient......Page 378
 9.2 Controller with Weighted Optimal Transient......Page 385
 9.3 Minimum-Energy Stabilization......Page 391
 9.4 Derivation of the Optimal Controller*......Page 393
 9.5 Optimal Robust Stabilization......Page 398
 9.6 Stabilization with Guaranteed Robustness......Page 407
 Problems......Page 411
 Notes and References......Page 413
 A.1 Definition......Page 414
 A.2 Properties......Page 415
 A.3 Inverse Laplace Transform......Page 418
 Notes and References......Page 423
 B.1 Matrices......Page 425
 B.2 Polynomials......Page 427
 Notes and References......Page 431
 C.2 Chapter 2......Page 432
 C.3 Chapter 3......Page 435
 C.4 Chapter 4......Page 436
 C.5 Chapter 5......Page 438
 C.6 Chapter 6......Page 439
 C.7 Chapter 7......Page 440
 C.9 Chapter 9......Page 441
Bibliography......Page 443
 G......Page 450
 S......Page 451
 Z......Page 452