Introduction to Automatic Control

MATHEMATICAL DESCRIPTION OF DYNAMIC SYSTEMS......Page 14
TIME-DOMAIN DESCRIPTION......Page 16
S-DOMAIN DESCRIPTION......Page 18
FREQUENCY-DOMAIN DESCRIPTION......Page 28
ASSIGNMENTS (Homework #2)......Page 36
(Homework #3)......Page 37
TYPICAL DYNAMIC BLOCKS......Page 38
CONSTANT GAIN......Page 39
FIRST ORDER SYSTEM......Page 40
SECOND ORDER SYSTEM......Page 44
INTEGRATOR......Page 48
DIFFERENTIATOR......Page 49
TIME DELAY......Page 50
BLOCK DIAGRAMS......Page 57
SIGNAL-FLOW GRAPHS......Page 66
EXAMPLE OF A ONE HOUR TEST......Page 79
NUMERICAL SIMULATION......Page 80
LOOP AND CLOSED-LOOP SYSTEM TRANSFER FUNCTIONS......Page 84
COMPUTATION OF SYSTEM POLES AND ZEROS......Page 87
FREQUENCY DOMAIN TECHNIQUES:  NYQUIST PROCEDURES......Page 88
FREQUENCY DOMAIN TECHNIQUES:  BODE PLOTS......Page 92
BODE PLOT OF A FIRST ORDER SYSTEM......Page 94
BODE PLOT OF A SECOND ORDER SYSTEM......Page 96
BODE PLOT OF A DIFFERENTIATOR......Page 98
BODE PLOT OF A COMPLEX SYSTEM......Page 100
ROOT LOCUS TECHNIQUES......Page 103
ASSIGNMENTS (HOMEWORK #5)......Page 113
STABILITY ANALYSIS......Page 115
STABILITY ANALYSIS USING ROOT LOCUS PROCEDURE......Page 118
STABILITY ANALYSIS USING HURWITZ TECHNIQUE......Page 120
NYQUIST STABILITY ANALYSIS......Page 124
BODE STABILITY ANALYSIS......Page 127
STABILITY GAIN MARGIN......Page 129
STABILITY PHASE MARGIN......Page 134
ANALYSIS OF SYSTEM STATICS......Page 138
STEADY-STATE ERRORS CAUSED BY DISTURBANCE......Page 141
(TRACKING ERRORS)......Page 144
ANALYSIS OF SYSTEM DYNAMICS......Page 152
ROLE OF SYSTEM ZEROS......Page 158
ASSIGNMENTS (HOMEWORK #6)......Page 161
HOMEWORK # 7......Page 162
EXAMPLE OF A ONE HOUR TEST......Page 164
DESIGN CONSIDERATIONS AND PROBLEM DEFINITION......Page 166
UTILIZATION OF THE PROPERTIES OF SECOND ORDER SYSTEM......Page 170
POLE-ZERO CANCELLATION......Page 176
USE OF ROOT LOCUS......Page 180
S-DOMAIN DESIGN ( POLE PLACEMENT......Page 187
SYSTEM BANDWIDTH AND DISTURBANCE REJECTION AS DESIGN SPECS......Page 208
PHASE-LEAD COMPENSATOR......Page 211
PHASE-LAG COMPENSATOR......Page 213
LEAD-LAG and LAG-LEAD COMPENSATORS......Page 214
ASSIGNMENTS (HOMEWORK #9)......Page 229
HOMEWORK #10......Page 231
EXAMPLE OF A ONE-HOUR TEST......Page 233
INTRODUCTION TO DIGITAL CONTROL......Page 234
DISCRETE-TIME REPRESENTATION OF CONTINUOUS SIGNALS......Page 235
Z-TRANSFORM AND ITS PROPERTIES......Page 237
PROPERTIES OF Z-TRANSFORM......Page 238
REPRESENTATION OF A DISCRETE-TIME SIGNAL BY A NUMBER SEQUENCE......Page 242
DISCRETE-TIME-DOMAIN DESCRIPTION OF DYNAMIC SYSTEMS......Page 243
ANALYSIS OF DISCRETE-TIME CONTROL SYSTEMS......Page 249
Z-DOMAIN DESIGN OF CONTROL SYSTEMS......Page 254
ASSIGNMENTS (HOMEWORK #11)......Page 263
REFERENCES......Page 264