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Feedback Control Systems, Third Edition
Author: Phillips, Charles L. / Habor, Royce
Cover: Hard cover
Pages: 752
List Price: $84.00
Published by Prentice Hall
Date Published: 08/1995
ISBN: 0133716910
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PREFACE
1 INTRODUCTION 1
1.1 The Control Problem 3
1.2 Examples of Control Systems 5
1.3 Short History of Control 9
References 11
2 MODELS OF PHYSICAL SYSTEMS 12
2.1 System Modeling 12
2.2 Electrical Circuits 14
2.3 Block Diagrams and Signal Flow Graphs 21
2.4 Mason's Gain formula 24
2.5 Mechanical Translational Systems 29
2.6 Mechanical Rotational Systems 34
2.7 Electromechanical Systems 36
2.8 Sensors 41
2.9 Temperature-Control System 46
2.10 Analogous Systems 48
2.11 Transformers and Gears 50
2.12 Robotic Control System 52
2.13 System Identification 55
2.14 Linearization 55
2.15 Summary 55
References 57
Problems 58
3 STATE-VARIABLE MODELS 69
3.1 State-Variable Modeling 70
3.2 Simulation Diagrams 73
3.3 Solution of State Equations 80
3.4 Transfer Functions 87
3.5 Similarity Transformations 89
3.6 Digital Simulation 96
3.7 Controls Software 101
3.8 Analog Simulation 104
3.9 Summary 106
References 107
Problems 107
4 SYSTEM RESPONSES 121
4.1 Time Response of First-Order Systems 122
4.2 Time Response of Second-Order Systems 127
4.3 Time Response Specifications in Design 130
4.4 Frequency Response of Systems 134
4.5 Time and Frequency Scaling 141
4.6 Response of Higher-Order Systems 143
4.7 Reduced-Order Models 147
4.8 Summary 148
References 148
Problems 148
5 CONTROL SYSTEM CHARACTERISTICS 157
5.1 Closed-Loop Control System 158
5.2 Stability 162
5.3 Sensitivity 166
5.4 Disturbance Rejection 170
5.5 Steady-State Accuracy 175
5.6 Transient Response 183
5.7 Closed-Loop Frequency Response 185
5.8 Summary 186
References 186
Problems 186
6 STABILITY ANALYSIS 197
6.1 Routh-Hurwitz Stability Criterion 199
6.2 Roots of the Characteristic Equation 208
6.3 Stability by Simulation 209
6.4 Summary 210
Problems 211
7 ROOT-LOCUS ANALYSIS AND DESIGN 220
7.1 Root-Locus Principles 220
7.2 Some Root-Locus Techniques 229
7.3 Additional Root-Locus Techniques 229
7.4 Additional Properties of the Root Locus 243
7.5 Other Configurations 246
7.6 Root-Locus Design 249
7.7 Phase-Lead Design 252
7.8 Analytical Phase-Lead Design 253
7.9 Phase-Lag Design 257
7.10 PID Design 262
7.11 Analytical PID Design 266
7.12 Complementary Root Locus 269
7.13 Compensator Realization 272
7.14 Summary 275
References 276
Problems 276
8 FREQUENCY-RESPONSE ANALYSIS 285
8.1 Frequency Responses 285
8.2 Bode Diagrams 291
8.3 Additional Terms 303
8.4 Nyquist Criterion 309
8.5 Application of the Nyquist Criterion 317
8.6 Relative Stability and the Bode Diagram 328
8.7 Closed-Loop Frequency Response 342
8.8 Frequency-Response Software 349
8.9 Summary 349
References 350
Problems 350
9 FREQUENCY-RESPONSE DESIGN 361
9.1 Control System Specifications 361
9.2 Compensation 366
9.3 Gain Compensation 368
9.4 Phase-Lag Compensation 373
9.5 Phase-Lead Compensation 377
9.6 Analytical Design 381
9.7 Lag-Lead Compensation 390
9.8 PID Controller Design 392
9.9 Analytical PID Controller Design 398
9.10 PID Controller Implementation 402
9.11 Frequency-Response Design Software 404
9.12 Summary 406
References 407
Problems 407
10 MODERN CONTROL DESIGN 418
10.1 Pole-Placement Design 419
10.2 Ackermann's Formula 422
10.3 State Estimation 427
10.4 Closed-Loop System Characteristics 436
10.5 Reduced-Order Estimators 438
10.6 Controllability and Observability 444
10.7 Systems with Inputs 450
10.8 Modern Control Software 458
10.9 Summary 459
References 459
Problems 460
11 DISCRETE-TIME SYSTEMS 468
11.1 Discrete-Time System 468
11.2 Transform Methods 471
11.3 Theorems of the z-transform 473
11.4 Solution of Difference Equations 476
11.5 Inverse z-Transform 479
11.6 Simulation Diagrams and Flow Graphs 481
11.7 State Variables 484
11.8 Solution of State Equations 486
11.9 Summary 490
References 490
Problems 491
12 SAMPLED-DATA SYSTEMS 498
12.1 Sampled Data 498
12.2 Ideal Sampler 500
12.3 Properties of the Starred Transform 503
12.4 Data Reconstruction 507
12.5 Pulse Transfer Function 509
12.6 Open-Loop Systems Containing Digital 515
Filters
12.7 Closed-Loop Discrete-Time Systems 517
12.8 Transfer Functions for Closed-Loop 518
Systems
12.9 State Variables for Sampled-Data 523
Systems
12.10 Controls Software 528
12.11 Summary 529
References 530
Problems 530
13 ANALYSIS AND DESIGN OF DIGITAL CONTROL 537
SYSTEMS
13.1 Two Examples 537
13.2 Discrete System Stability 542
13.3 Jury's Test 543
13.4 Mapping the s-Plane into the z-Plane 545
13.5 Root Locus 549
13.6 Nyquist Criterion 551
13.7 Bilinear Transformation 557
13.8 Routh-Hurwitz Criterion 560
13.9 Bode Diagram 561
13.10 Steady-State Accuracy 564
13.11 Design of Digital Control Systems 566
13.12 Phase-Lag Design 570
13.13 Phase-Lead Design 575
13.14 Digital PID Controllers 578
13.15 Root-Locus Design 582
13.16 Control Software 585
13.17 Summary 586
References 587
Problems 587
14 NONLINEAR SYSTEM ANALYSIS 593
14.1 Nonlinear System Definitions and 594
Properties
14.2 Review of the Nyquist Criterion 596
14.3 Describing Function 598
14.4 Derivations of Describing Functions 599
14.5 Use of the Describing Function 607
14.6 Stability of Limit Cycles 612
14.7 Design 616
14.8 Application to Other Systems 618
14.9 Linearization 618
14.10 Equilibrium States and Lyapunov 623
Stability
14.11 State Plane Analysis 627
14.12 Linear-System Response 631
14.13 Method of Isoclines 634
14.14 Summary 640
References 640
Problems 641
APPENDICES 647
A Matrices 647
B Design Equations 654
C Laplace Transform 660
D Laplace Transform and z-Transform Tables 675
INDEX 677
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