|
Norman S. Nise, "Control Systems Engineering" |
|
 Addison
Wesley Longman Inc., second edition, 1995 |
1. Introduction (1) |
| 1.1. Introduction (2) | |
| 1.2. A History of Control Systems (4) | |
| 1.3. The Control Systems Engineer (9) | |
| 1.4. Response Characteristics and System Configurations (10) | |
| 1.5. Analysis and Design Objectives (14) | |
| Antenna Azimuth: An Introduction to Position Control Systems (17) | |
| 1.6. The design Process (21) | |
| 1.7. Computer-Aided Design (27) | |
| Summary (28) | |
| Review Questions (28) | |
| Problems (29) | |
| Bibliography (33) | |
| 2. Modeling in the Frequency Domain (35) | |
| 2.1. Introduction (36) | |
| 2.2. Laplace Transform Review (37) | |
| 2.3. The Transfer Function (46) | |
| 2.4. Electric Network Transfer Functions (49) | |
| 2.5. Translation Mechanical System Transfer Functions (64) | |
| 2.6. Rotational Mechanical System Transfer Functions (71) | |
| 2.7. Transfer Functions for Systems with Gears (76) | |
| 2.8. Electromechanical System Transfer Functions (81) | |
| 2.9. Electric Circuit Analogs (87) | |
| 2.10. Nonlinearites (91) | |
| 2.11. Linearization (92) | |
| Antenna Control: Transfer Functions (98) | |
| Transfer Function of a Human Leg (100) | |
| Summary (102) | |
| Review Questions (102) | |
| Problems (103) | |
| Bibliography (115) | |
| 3. Modeling in the Time Domain (117) | |
| 3.1. Introduction (118) | |
| 3.2. Some Observations (119) | |
| 3.3. The General State-Space Representation (124) | |
| 3.4. Applying the State-Space Representation (126) | |
| 3.5. Converting a Transfer Function to State Space (133) | |
| 3.6. Converting from State Space to a Transfer Function (140) | |
| 3.7. Linearization (141) | |
| Antenna Control: State-Space Representation (144) | |
| Pharmaceutical Drug Absorption (146) | |
| Summary (149) | |
| Review Questions (150) | |
| Problems (150) | |
| Bibliography (158) | |
| 4. Time Response (159) | |
| 4.1. Introduction (160) | |
| 4.2. Poles, Zeros, and System Response (161) | |
| 4.3. First-Order Systems (164) | |
| 4.4. Second-Order Systems: Introduction (167) | |
| 4.5. The General Second-Order System (172) | |
| 4.6. Underdamped second-Order Systems (176) | |
| 4.7. System Response with Additional Poles (186) | |
| 4.8. System Response with Zeros (190) | |
| 4.9. Laplace Transform Solution of State Equations (915) | |
| 4.10. Time Domain Solution of State Equations (198) | |
| 4.11. Time Response via Computer Simulation (203) | |
| Antenna Control: Open-Loop Response (206) | |
| UFSS: Open-Loop Pitch Response (209) | |
| Summary (212) | |
| Review Questions (214) | |
| Problems (215) | |
| Design Problems (223) | |
| Bibliography (225) | |
| 5. Reduction of Multiple Subsystems (226) | |
| 5.1. Introduction (227) | |
| 5.2. Block Diagrams (228) | |
| 5.3. Analysis and Design of Feedback Systems (237) | |
| 5.4. Signal-Flow Graphs (240) | |
| 5.5. Mason's Rule (242) | |
| 5.6. Signal-Flow Graphs of State Equations (245) | |
| 5.7. Alternate Representations in State Space (247) | |
| 5.8. Similarity Transformations (257) | |
| Antenna Control: Designing a Closed-Loop Response (268) | |
| UFSS Vehicle: Pitch-Angle Control Representation (272) | |
| Summary (274) | |
| Review Questions (275) | |
| Problems (276) | |
| Design Problems (292) | |
| Bibliography (294) | |
| 6. Stability (295) | |
| 6.1. Introduction (296) | |
| 6.2. Routh-Hurwitz Criterion (300) | |
| 6.3. Routh-Hurwitz Criterion: Special Cases (303) | |
| 6.4. Routh-Hurwitz Criterion: Additional Examples (310) | |
| 6.5. Stability in State Space (317) | |
| Antenna Control: Stability Design via Gain (320) | |
| UFSS Vehicle: Stability Design via Gain (320) | |
| Summary (322) | |
| Review Questions (323) | |
| Problems (323) | |
| Design Problems (330) | |
| Bibliography (332) | |
| 7. Steady-State Errors (333) | |
| 7.1. Introduction (334) | |
| 7.2. Steady-State Error for Unity Feedback Systems (338) | |
| 7.3. Static Error Constants and System Type (344) | |
| 7.4. Steady-State Error Specifications (348) | |
| 7.5. Steady-State Error for Disturbances (350) | |
| 7.6. Steady-State Error for Nonunity Feedback Systems (352) | |
| 7.7. Sensitivity (355) | |
| Antenna Control: Steady-State Error Design via Gain (358) | |
| Video Laser Disc Recorder: Steady-State Error Design via Gain (359) | |
| Summary (361) | |
| Review Questions (362) | |
| Problems (363) | |
| Design problems (376) | |
| Bibliography (378) | |
| 8. Root Locus Techniques (379) | |
| 8.1. Introduction (380) | |
| 8.2. Defining the Root Locus (385) | |
| 8.3. Properties of the Root Locus (388) | |
| 8.4. Sketching the Root Locus (390) | |
| 8.5. Refining the Sketch (395) | |
| 8.6. An Example (404) | |
| 8.7. Transient Response Design via Gain Adjustment (407) | |
| 8.8. Generalized Root Locus (412) | |
| 8.9. Root Locus for Positive-Feedback Systems (414) | |
| 8.10. Pole Sensitivity (417) | |
| Antenna Control: Transient Design via Gain (419) | |
| UFSS Vehicle: Transient Design via Gain (420) | |
| Summary (424) | |
| Review Questions (425) | |
| Problems (426) | |
| Design Problems (439) | |
| Bibliography (442) | |
| 9. Design via Root Locus (444) | |
| 9.1. Introduction (445) | |
| 9.2. Improving Steady-State Error via Cascade Compensation (449) | |
| 9.3. Improving Transient Response via Cascade Compensation (459) | |
| 9.4. Improving Steady-State Error and Transient Response (475) | |
| 9.5. Feedback Compensation (488) | |
| 9.6. Physical Realization of Compensation (500) | |
| Antenna Control: Lag-Lead Compensation (505) | |
| UFSS Vehicle: Lead and Feedback Compensation (508) | |
| Summary (511) | |
| Review Questions (512) | |
| Problems (513) | |
| Design Problems (521) | |
| Bibliography (527) | |
| 10. Frequency Response Techniques (528) | |
| 10.1. Introduction (529) | |
| 10.2. Asymptotic Approximations: Bode Plots (536) | |
| 10.3. Introduction to the Nyquist Criterion (556) | |
| 10.4. Sketching the Nyquist Diagram (562) | |
| 10.5. Stability via the Nyquist Diagram (567) | |
| 10.6. Gain Margin and Phase Margin (572) | |
| 10.7. Stability via Bode Plots (574) | |
| 10.8. Relation between Closed-Loop Transient and Closed-Loop Frequency Responses (577) | |
| 10.9. Relation between Closed- and Open-Loop Frequency Responses (580) | |
| 10.10. Relation between Closed-Loop transient and Open-Loop Frequency Responses (586) | |
| 10.11. Steady-State Error Characteristic from Frequency Response (590) | |
| 10.12. Systems with Time Delay (594) | |
| 10.13. Obtaining Transfer Functions Experimentally (599) | |
| Antenna Control: Stability Design and Transient Performance (602) | |
| Summary (604) | |
| Review Questions (605) | |
| Problems (606) | |
| Bibliography (615) | |
| 11. Design via Frequency Response (616) | |
| 11.1. Introduction (617) | |
| 11.2. Transient Response via Gain Adjustment (618) | |
| 11.3. Lag Compensation (621) | |
| 11.4. Lead Compensation (625) | |
| 11.5. Lag-Lead Compensation (632) | |
| Antenna Control: Gain Design (637) | |
| Antenna Control: Cascade Compensation Design (638) | |
| Summary (639) | |
| Review Questions (640) | |
| Problems (640) | |
| Design Problems (644) | |
| Bibliography (646) | |
| 12. Design via State Space (647) | |
| 12.1. Introduction (648) | |
| 12.2. Controller Design (650) | |
| 12.3. Controllability (656) | |
| 12.4. Alternative Approaches to Controller Design (660) | |
| 12.5. Observer Design (665) | |
| 12.6. Observability (627) | |
| 12.7. Alternative Approaches to Observer Design (676) | |
| 12.8. Steady-State Error (681) | |
| Antenna Control: Design of Controller and Observer (688) | |
| Summary (693) | |
| Review Questions (694) | |
| Problems (695) | |
| Design Problems (701) | |
| Bibliography (702) | |
| 13. Digital Control Systems (703) | |
| 13.1. Introduction (704) | |
| 13.2. Modeling the Digital Computer (708) | |
| 13.3. The z-transform (712) | |
| 13.4. Transfer Functions (716) | |
| 13.5. Block Diagram Reduction (719) | |
| 13.6. Stability (722) | |
| 13.7. Steady-State Errors (727) | |
| 13.8. Transient Response on the z-Plane (731) | |
| 13.9. Gain Design on the z-Plane (733) | |
| Antenna Control: Transient Design via Gain (737) | |
| Summary (740) | |
| Review Questions (741) | |
| Problems (742) | |
| Design Problems (746) | |
| Bibliography (747) | |
| Appendix A. List of Symbols (748) | |
| Appendix B. matrices, Determinants, and Systems of Equations (752) | |
| Appendix C. MATLAB Tutorial (761) | |
| Appendix D. Microsoft QuickBASIC Programs (800) | |
| Appendix E. Derivation of a Schematic for a DC Motor (811) | |
| Appendix F. Solution of State Equations for t0 ≠ 0 (815) | |
| Appendix G. Root Locus Rules: Derivations (817) | |
| Glossary (821) | |
| Credits (830) | |
| Answers to Selected Problems (832) | |
| Index (839) | |
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