Preface k
Chapter 1 Introduction toControl Systems 1
1-1 Introduction1
1-2 Examples ofControl Systems 3
1-3 Closed-LoopControl versus Open-Loop Control 6
1-4 Outline ofthe Book 8
Chapter 3 MathematicalModeling of Dynamic Systems
3-1 Introduction53
3-2 Transfer Function and Impulse-Response Function 55
3-3 Automatic Control Systems 58
3-2 Modeling in State Space 70
3-5 State-SpaceRepresentation of Dynamic Systems 76
3-6 Transformationof Mathematical Models with MATLAB
3-7 Mechanical Systems 85
3-8 Electricaland Electronic Systems 90
3-9 Signal Flow Graphs 104
3-10 Linearizationsof Nonlinear Mathematical Models
Chapter 4 MathematicalModeling of Fluid Systems and Thermal Systems
4-1 Introduction152
4-2 Liquid-Level Systems 153
4-3 Pneumatic Systems 158
4-4 Hydraulic Systems 175
4-5 Thermal Systems 188
Chapter 5 Transient andSteady-State Response Analyses
5-1 Introduction219
5-2 First-Order Systems 221
5-3 Second-Order Systems 224
5-4 Higher Order Systems 239
5-5Transient-Response Analysis with MATLAB 243
5-6 An Example Problem Solved with MATLAB 271
5-7 Routh'sStability Criterion 275
5-8 Effects ofIntegral and Derivative Control Actions on System Performance 281
5-9 Steady-StateErrors in Unity-Feedback Control Systems 288
Chapter 6 Root-LocusAnalysis 337
6-1 Introduction337
6-2 Root-LocusPlots 339
6-3 Summary of General Rules for Constructing Root Loci 351
6-4 Root-Locus Plots with MATLAB 358
6-5 Positive-Feedback Systems 373
6-6 Conditionally Stable Systems 378
6-7 Root Locifor Systems with Transport Lag 379
Chapter 7 Control SystemsDesign by the Root-Locus Method 416
7-1 Introduction416
7-2 Preliminary Design Considerations 419
7-3 Lead Compensation 421
7-4 Lag Compensation 429
7-5 Lag-Lead Compensation 439
7-6 Parallel Compensation 451
Chapter 8 Frequency-ResponseAnalysis 492
8-1 Introduction492
8-2 Bode Diagrams 497
8-3 Plotting Bode Diagrams with 1ATLAB 516
8-4 Polar Plots 523
8-5 Drawing Nyquist Plots with MATLAB 531
8-6 Log-Magnitude-versus-Phase Plots 539
8-7 Nyquìst Stability Criterion 540
8-8 Stability Analysis 550
8-9 Relative Stability 560
8-10 Closed-LoopFrequency Response of Unity-Feedback Systems 575
8-11 Experimental Determination of Transfer Functions 584
Chapter 9 Control SystemsDesign by Frequency Response
9-1 Introduction618
9-2 Lead Compensation 621
9-3 Lag Compensation 630
9-4 Lag-LeadCompensation 639
9-5 Concluding Comments 645
Chapter 10 PID Controlsand Two-Degrees-of-Freedom Control Systems
10-1Introduction 681
10-2 Tuning Rules for PID Controllers 682
10-3 Computational Approach to Obtain Optimal Sets of Parameter Values 692
10-4 Modifications of PID Control Schemes 700
10-5 Two-Degrees-of-Freedom Control 703
10-6 Zero-Placement Approach to Improve Response Characteristics 705
Chapter 11 Analysis ofControl Systems in State Space
11-1Introduction 752
11-2 State-Space Representations of Transfer-Function Systems 753
11-3 Transformation of System Models with MATLAB 760
11-4 Solving the Time-Invariant State Equation 764
11-5 Some Useful Results in Vector-Matrix Analysis 772
11-6 Controllability 779
11-7 Observability 786
Chapter 12 Design ofControl Systems in State Space 826
12-1 Introduction 826
12-2 Pole Placement 827
12-3 Solving Pole-Placement Problems with MATLAB 839
12-4 Design of Servo Systems 843
12-5 State Observers855
12-6 Design of Regulator Systems with Observers 882
12-7 Design of Control Systems with Observers 890
12-8 Quadratic Optimal Regulator Systems 897
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