Feedback Systems: An Introduction for Scientists and Engineers

Cover
Feedback Systems: An Introduction for Scientists and Engineers
©
Contents
Preface to the Second Edition
Preface to the First Edition
1 Introduction
	1.1 What Is Feedback?
	1.2 What is Feedforward?
	1.3 What Is Control?
	1.4 Use of Feedback and Control
	1.5 Feedback Properties
	1.6 Simple Forms of Feedback
	1.7 Combining Feedback with Logic
	1.8 Control System Architectures
	1.9 Further Reading
	Exercises
2 Feedback Principles
	2.1 Nonlinear Static Models
	2.2 Linear Dynamical Models
	2.3 Using Feedback to Improve Disturbance Attenuation
	2.4 Using Feedback to Track Reference Signals
	2.5 Using Feedback to Provide Robustness
	2.6 Positive Feedback
	2.7 Further Reading
	Exercises
3 System Modeling
	3.1 Modeling Concepts
	3.2 State Space Models
	3.3 Modeling Methodology
	3.4 Modeling Examples
	3.5 Further Reading
	Exercises
4 Examples
	4.1 Cruise Control
	4.2 Bicycle Dynamics
	4.3 Operational Amplifier Circuits
	4.4 Computing Systems and Networks
	4.5 Atomic Force Microscopy
	4.6 Drug Administration
	4.7 Population Dynamics
	Exercises
5 Dynamic Behavior
	5.1 Solving Differential Equations
	5.2 Qualitative Analysis
	5.3 Stability
	5.4 Lyapunov Stability Analysis
	5.5 Parametric and Nonlocal Behavior
	5.6 Further Reading
	Exercises
6 Linear Systems
	6.1 Basic Definitions
	6.2 The Matrix Exponential
	6.3 Input/Output Response
	6.4 Linearization
	6.5 Further Reading
	Exercises
7 State Feedback
	7.1 Reachability
	7.2 Stabilization by State Feedback
	7.3 Design Considerations
	7.4 Integral Action
	7.5 Linear Quadratic Regulators
	7.6 Further Reading
	Exercises
8 Output Feedback
	8.1 Observability
	8.2 State Estimation
	8.3 Control Using Estimated State
	8.4 Kalman Filtering
	8.5 State Space Controller Design
	8.6 Further Reading
	Exercises
9 Transfer Functions
	9.1 Frequency Domain Modeling
	9.2 Determining the Transfer Function
	9.3 Laplace Transforms
	9.4 Block Diagrams and Transfer Functions
	9.5 Zero Frequency Gain, Poles, and Zeros
	9.6 The Bode Plot
	9.7 Further Reading
	Exercises
10 Frequency Domain Analysis
	10.1 The Loop Transfer Function
	10.2 The Nyquist Criterion
	10.3 Stability Margins
	10.4 Bode's Relations and Minimum Phase Systems
	10.5 Generalized Notions of Gain and Phase
	10.6 Further Reading
	Exercises
11 PID Control
	11.1 Basic Control Functions
	11.2 Simple Controllers for Complex Systems
	11.3 PID Tuning
	11.4 Integral Windup
	11.5 Implementation
	11.6 Further Reading
	Exercises
12 Frequency Domain Design
	12.1 Sensitivity Functions
	12.2 Performance Specifications
	12.3 Feedback Design via Loop Shaping
	12.4 Feedforward Design
	12.5 The Root Locus Method
	12.6 Design Example
	12.7 Further Reading
	Exercises
13 Robust Performance
	13.1 Modeling Uncertainty
	13.2 Stability in the Presence of Uncertainty
	13.3 Performance in the Presence of Uncertainty
	13.4 Design for Robust Performance
	13.5 Further Reading
	Exercises
14 Fundamental Limits
	14.1 System Design Considerations
	14.2 Bode's Integral Formula
	14.3 Gain Crossover Frequency Inequality
	14.4 The Maximum Modulus Principle
	14.5 Robust Pole Placement
	14.6 Nonlinear Effects
	14.7 Further Reading
	Exercises
15 Architecture and System Design
	15.1 Introduction
	15.2 System and Control Design
	15.3 Top-Down Architectures
	15.4 Bottom-Up Architectures
	15.5 Interaction
	15.6 Adaptation and Learning
	15.7 Control Design in Common Application Fields
	15.8 Further Reading
Bibliography
Index