Modern Control Engineering

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Title Page\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0......Page 2
Copyright\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0......Page 3
Contents......Page 4
Preface......Page 10
1–1 Introduction......Page 12
1–2 Examples of Control Systems......Page 15
1–3 Closed-Loop Control Versus Open-Loop Control......Page 18
1–4 Design and Compensation of Control Systems......Page 20
1–5 Outline of the Book......Page 21
2–1 Introduction......Page 24
2–2 Transfer Function and Impulse-Response Function......Page 26
2–3 Automatic Control Systems......Page 28
2–4 Modeling in State Space......Page 40
2–5 State-Space Representation of Scalar Differential Equation Systems......Page 46
2–6 Transformation of Mathematical Models with MATLAB......Page 50
2–7 Linearization of Nonlinear Mathematical Models......Page 54
Example Problems and Solutions......Page 57
Problems......Page 71
3–2 Mathematical Modeling of Mechanical Systems......Page 74
3–3 Mathematical Modeling of Electrical Systems......Page 83
Example Problems and Solutions......Page 97
Problems......Page 108
4–1 Introduction......Page 111
4–2 Liquid-Level Systems......Page 112
4–3 Pneumatic Systems......Page 117
4–4 Hydraulic Systems......Page 134
4–5 Thermal Systems......Page 147
Example Problems and Solutions......Page 151
Problems......Page 163
5–1 Introduction......Page 170
5–2 First-Order Systems......Page 172
5–3 Second-Order Systems......Page 175
5–4 Higher-Order Systems......Page 190
5–5 Transient-Response Analysis with MATLAB......Page 194
5–6 Routh’s Stability Criterion......Page 223
5–7 Effects of Integral and Derivative Control Actions on System Performance......Page 229
5–8 Steady-State Errors in Unity-Feedback Control Systems......Page 236
Example Problems and Solutions......Page 242
Problems......Page 274
6–1 Introduction......Page 280
6–2 Root-Locus Plots......Page 281
6–3 Plotting Root Loci with MATLAB......Page 301
6–4 Root-Locus Plots of Positive Feedback Systems......Page 314
6–5 Root-Locus Approach to Control-Systems Design......Page 319
6–6 Lead Compensation......Page 322
6–7 Lag Compensation......Page 332
6–8 Lag–Lead Compensation......Page 341
6–9 Parallel Compensation......Page 353
Example Problems and Solutions......Page 358
Problems......Page 405
7–1 Introduction......Page 409
7–2 Bode Diagrams......Page 414
7–3 Polar Plots......Page 438
7–4 Log-Magnitude-versus-Phase Plots......Page 454
7–5 Nyquist Stability Criterion......Page 456
7–6 Stability Analysis......Page 465
7–7 Relative Stability Analysis......Page 473
7–8 Closed-Loop Frequency Response of Unity-Feedback Systems......Page 488
7–9 Experimental Determination of Transfer Functions......Page 497
7–10 Control Systems Design by Frequency-Response Approach......Page 502
7–11 Lead Compensation......Page 504
7–12 Lag Compensation......Page 513
7–13 Lag–Lead Compensation......Page 522
Example Problems and Solutions......Page 532
Problems......Page 572
8–1 Introduction......Page 578
8–2 Ziegler–Nichols Rules for Tuning PID Controllers......Page 579
8–3 Design of PID Controllers with Frequency-Response Approach......Page 588
8–4 Design of PID Controllers with Computational Optimization Approach......Page 594
8–5 Modifications of PID Control Schemes......Page 601
8–6 Two-Degrees-of-Freedom Control......Page 603
8–7 Zero-Placement Approach to Improve Response Characteristics......Page 606
Example Problems and Solutions......Page 625
Problems......Page 652
9–1 Introduction......Page 659
9–2 State-Space Representations of Transfer-Function Systems......Page 660
9–3 Transformation of System Models with MATLAB......Page 667
9–4 Solving the Time-Invariant State Equation......Page 671
9–5 Some Useful Results in Vector-Matrix Analysis......Page 679
9–6 Controllability......Page 686
9–7 Observability......Page 693
Example Problems and Solutions......Page 699
Problems......Page 731
10–1 Introduction......Page 733
10–2 Pole Placement......Page 734
10–3 Solving Pole-Placement Problems with MATLAB......Page 746
10–4 Design of Servo Systems......Page 750
10–5 State Observers......Page 762
10–6 Design of Regulator Systems with Observers......Page 789
10–7 Design of Control Systems with Observers......Page 797
10–8 Quadratic Optimal Regulator Systems......Page 804
10–9 Robust Control Systems......Page 817
Example Problems and Solutions......Page 828
Problems......Page 866
Appendix A: Laplace Transform Tables......Page 870
Appendix B: Partial-Fraction Expansion......Page 878
Appendix C: Vector-Matrix Algebra......Page 885
References......Page 893
B......Page 897
D......Page 898
I......Page 899
M......Page 900
P......Page 902
R......Page 903
T......Page 904
Z......Page 905