Modern Control Systems, 13th Ed.

Cover......Page 1
Title Page......Page 6
Copyright Page......Page 7
Brief Contents......Page 10
Contents......Page 12
Preface......Page 18
About the Authors......Page 30
Chapter 1 Introduction to Control Systems......Page 34
 1.1 Introduction......Page 35
 1.2 Brief History of Automatic Control......Page 38
 1.3 Examples of Control Systems......Page 44
 1.4 Engineering Design......Page 51
 1.5 Control System Design......Page 52
 1.6 Mechatronic Systems......Page 55
 1.7 Green Engineering......Page 59
 1.8 The Future Evolution of Control Systems......Page 60
 1.9 Design Examples......Page 62
 1.10 Sequential Design Example: Disk Drive Read System......Page 66
 Skills Check......Page 69
 Exercises......Page 72
 Problems......Page 73
 Advanced Problems......Page 78
 Design Problems......Page 81
 Terms and Concepts......Page 83
Chapter 2 Mathematical Models of Systems......Page 84
 2.2 Differential Equations of Physical Systems......Page 85
 2.3 Linear Approximations of Physical Systems......Page 90
 2.4 The Laplace Transform......Page 93
 2.5 The Transfer Function of Linear Systems......Page 100
 2.6 Block Diagram Models......Page 112
 2.7 Signal-Flow Graph Models......Page 117
 2.8 Design Examples......Page 124
 2.9 The Simulation of Systems Using Control Design Software......Page 141
 2.10 Sequential Design Example: Disk Drive Read System......Page 155
 2.11 Summary......Page 158
 Skills Check......Page 159
 Exercises......Page 163
 Problems......Page 169
 Advanced Problems......Page 181
 Design Problems......Page 183
 Computer Problems......Page 185
 Terms and Concepts......Page 187
Chapter 3 State Variable Models......Page 189
 3.2 The State Variables of a Dynamic System......Page 190
 3.3 The State Differential Equation......Page 193
 3.4 Signal-Flow Graph and Block Diagram Models......Page 199
 3.5 Alternative Signal-Flow Graph and Block Diagram Models......Page 210
 3.6 The Transfer Function from the State Equation......Page 214
 3.7 The Time Response and the State Transition Matrix......Page 215
 3.8 Design Examples......Page 219
 3.9 Analysis of State Variable Models Using Control Design Software......Page 233
 3.10 Sequential Design Example: Disk Drive Read System......Page 237
 3.11 Summary......Page 240
 Skills Check......Page 241
 Exercises......Page 244
 Problems......Page 247
 Advanced Problems......Page 255
 Design Problems......Page 257
 Computer Problems......Page 258
 Terms and Concepts......Page 259
Chapter 4 Feedback Control System Characteristics......Page 261
 4.1 Introduction......Page 262
 4.2 Error Signal Analysis......Page 264
 4.3 Sensitivity of Control Systems to Parameter Variations......Page 266
 4.4 Disturbance Signals in a Feedback Control System......Page 269
 4.5 Control of the Transient Response......Page 274
 4.6 Steady-State Error......Page 277
 4.7 The Cost of Feedback......Page 279
 4.8 Design Examples......Page 280
 4.9 Control System Characteristics Using Control Design Software......Page 290
 4.10 Sequential Design Example: Disk Drive Read System......Page 296
 4.11 Summary......Page 300
 Skills Check......Page 301
 Exercises......Page 305
 Problems......Page 309
 Advanced Problems......Page 315
 Design Problems......Page 318
 Computer Problems......Page 322
 Terms and Concepts......Page 325
Chapter 5 The Performance of Feedback Control Systems......Page 326
 5.2 Test Input Signals......Page 327
 5.3 Performance of Second-Order Systems......Page 330
 5.4 Effects of a Third Pole and a Zero on the Second-Order System Response......Page 335
 5.5 The s-Plane Root Location and the Transient Response......Page 340
 5.6 The Steady-State Error of Feedback Control Systems......Page 342
 5.7 Performance Indices......Page 349
 5.8 The Simplification of Linear Systems......Page 354
 5.9 Design Examples......Page 357
 5.10 System Performance Using Control Design Software......Page 369
 5.11 Sequential Design Example: Disk Drive Read System......Page 375
 5.12 Summary......Page 377
 Skills Check......Page 378
 Exercises......Page 381
 Problems......Page 384
 Advanced Problems......Page 390
 Design Problems......Page 392
 Computer Problems......Page 395
 Terms and Concepts......Page 398
Chapter 6 The Stability of Linear Feedback Systems......Page 399
 6.1 The Concept of Stability......Page 400
 6.2 The Routh–Hurwitz Stability Criterion......Page 404
 6.3 The Relative Stability of Feedback Control Systems......Page 412
 6.4 The Stability of State Variable Systems......Page 413
 6.5 Design Examples......Page 416
 6.6 System Stability Using Control Design Software......Page 424
 6.7 Sequential Design Example: Disk Drive Read System......Page 430
 6.8 Summary......Page 432
 Skills Check......Page 433
 Exercises......Page 436
 Problems......Page 438
 Advanced Problems......Page 443
 Design Problems......Page 446
 Computer Problems......Page 448
 Terms and Concepts......Page 450
Chapter 7 The Root Locus Method......Page 451
 7.2 The Root Locus Concept......Page 452
 7.3 The Root Locus Procedure......Page 457
 7.4 Parameter Design by the Root Locus Method......Page 471
 7.5 Sensitivity and the Root Locus......Page 477
 7.6 PID Controllers......Page 482
 7.7 Negative Gain Root Locus......Page 493
 7.8 Design Examples......Page 498
 7.9 The Root Locus Using Control Design Software......Page 507
 7.10 Sequential Design Example: Disk Drive Read System......Page 513
 7.11 Summary......Page 515
 Skills Check......Page 519
 Exercises......Page 523
 Problems......Page 527
 Advanced Problems......Page 536
 Design Problems......Page 540
 Computer Problems......Page 546
 Terms and Concepts......Page 548
Chapter 8 Frequency Response Methods......Page 550
 8.1 Introduction......Page 551
 8.2 Frequency Response Plots......Page 553
 8.3 Frequency Response Measurements......Page 574
 8.4 Performance Specifications in the Frequency Domain......Page 576
 8.5 Log-Magnitude and Phase Diagrams......Page 579
 8.6 Design Examples......Page 580
 8.7 Frequency Response Methods Using Control Design Software......Page 589
 8.8 Sequential Design Example: Disk Drive Read System......Page 594
 8.9 Summary......Page 596
 Skills Check......Page 601
 Exercises......Page 606
 Problems......Page 609
 Advanced Problems......Page 618
 Design Problems......Page 620
 Computer Problems......Page 623
 Terms and Concepts......Page 625
Chapter 9 Stability in the Frequency Domain......Page 627
 9.1 Introduction......Page 628
 9.2 Mapping Contours in the s-Plane......Page 629
 9.3 The Nyquist Criterion......Page 635
 9.4 Relative Stability and the Nyquist Criterion......Page 646
 9.5 Time-Domain Performance Criteria in the Frequency Domain......Page 653
 9.7 The Stability of Control Systems with Time Delays......Page 660
 9.8 Design Examples......Page 664
 9.9 PID Controllers in the Frequency Domain......Page 682
 9.10 Stability in the Frequency Domain Using Control Design Software......Page 683
 9.11 Sequential Design Example: Disk Drive Read System......Page 691
 9.12 Summary......Page 694
 Skills Check......Page 703
 Exercises......Page 706
 Problems......Page 712
 Advanced Problems......Page 722
 Design Problems......Page 725
 Computer Problems......Page 730
 Terms and Concepts......Page 732
Chapter 10 The Design of Feedback Control Systems......Page 733
 10.1 Introduction......Page 734
 10.2 Approaches to System Design......Page 735
 10.3 Cascade Compensators......Page 736
 10.4 Phase-Lead Design Using the Bode Plot......Page 740
 10.5 Phase-Lead Design Using the Root Locus......Page 746
 10.6 System Design Using Integration Compensators......Page 752
 10.7 Phase-Lag Design Using the Root Locus......Page 755
 10.8 Phase-Lag Design Using the Bode Plot......Page 758
 10.9 Design on the Bode Plot Using Analytical Methods......Page 763
 10.10 Systems with a Prefilter......Page 764
 10.11 Design for Deadbeat Response......Page 767
 10.12 Design Examples......Page 769
 10.13 System Design Using Control Design Software......Page 779
 10.14 Sequential Design Example: Disk Drive Read System......Page 786
 10.15 Summary......Page 788
 Skills Check......Page 789
 Exercises......Page 793
 Problems......Page 797
 Advanced Problems......Page 806
 Design Problems......Page 809
 Computer Problems......Page 813
 Terms and Concepts......Page 816
Chapter 11 The Design of State Variable Feedback Systems......Page 817
 11.2 Controllability and Observability......Page 818
 11.3 Full-State Feedback Control Design......Page 824
 11.4 Observer Design......Page 830
 11.5 Integrated Full-State Feedback and Observer......Page 834
 11.6 Reference Inputs......Page 840
 11.7 Optimal Control Systems......Page 842
 11.8 Internal Model Design......Page 850
 11.9 Design Examples......Page 853
 11.10 State Variable Design Using Control Design Software......Page 860
 11.11 Sequential Design Example: Disk Drive Read System......Page 865
 Skills Check......Page 867
 Exercises......Page 871
 Problems......Page 873
 Advanced Problems......Page 877
 Design Problems......Page 880
 Computer Problems......Page 883
 Terms and Concepts......Page 885
Chapter 12 Robust Control Systems......Page 887
 12.1 Introduction......Page 888
 12.2 Robust Control Systems and System Sensitivity......Page 889
 12.3 Analysis of Robustness......Page 893
 12.4 Systems with Uncertain Parameters......Page 895
 12.5 The Design of Robust Control Systems......Page 897
 12.6 The Design of Robust PID-Controlled Systems......Page 901
 12.7 The Robust Internal Model Control System......Page 905
 12.8 Design Examples......Page 908
 12.9 The Pseudo-Quantitative Feedback System......Page 919
 12.10 Robust Control Systems Using Control Design Software......Page 921
 12.11 Sequential Design Example: Disk Drive Read System......Page 924
 12.12 Summary......Page 926
 Skills Check......Page 928
 Exercises......Page 932
 Problems......Page 933
 Advanced Problems......Page 938
 Design Problems......Page 941
 Computer Problems......Page 946
 Terms and Concepts......Page 948
Chapter 13 Digital Control Systems......Page 950
 13.2 Digital Computer Control System Applications......Page 951
 13.3 Sampled-Data Systems......Page 953
 13.4 The z-Transform......Page 956
 13.5 Closed-Loop Feedback Sampled-Data Systems......Page 960
 13.6 Performance of a Sampled-Data, Second-Order System......Page 964
 13.7 Closed-Loop Systems with Digital Computer Compensation......Page 966
 13.8 The Root Locus of Digital Control Systems......Page 969
 13.10 Design Examples......Page 973
 13.11 Digital Control Systems Using Control Design Software......Page 982
 13.12 Sequential Design Example: Disk Drive Read System......Page 987
 Skills Check......Page 989
 Exercises......Page 993
 Problems......Page 995
 Advanced Problems......Page 997
 Design Problems......Page 998
 Computer Problems......Page 1000
 Terms and Concepts......Page 1001
References......Page 1002
Index......Page 1019
Appendix A MATLAB Basics......Page 1036
Appendix B MathScript RT Module Basics......Page 1054
Appendix C Symbols, Units, and Conversion Factors......Page 1079
Appendix D Laplace Transform Pairs......Page 1081
Appendix E An Introduction to Matrix Algebra......Page 1083
Appendix F Decibel Conversion......Page 1092
Appendix G Complex Numbers......Page 1093
Appendix H z-Transform Pairs Preface......Page 1097
Appendix I Discrete-Time Evaluation of the Time Response......Page 1099