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First Course in Control System Design 2nd edition [Kõva köide]

  • Formaat: Hardback, 322 pages, kõrgus x laius: 234x156 mm, kaal: 585 g
  • Ilmumisaeg: 30-May-2020
  • Kirjastus: River Publishers
  • ISBN-10: 8770221529
  • ISBN-13: 9788770221528
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First Course in Control System Design 2nd editionSuurem pilt
  • Formaat: Hardback, 322 pages, kõrgus x laius: 234x156 mm, kaal: 585 g
  • Ilmumisaeg: 30-May-2020
  • Kirjastus: River Publishers
  • ISBN-10: 8770221529
  • ISBN-13: 9788770221528
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Märksõnad:
Control systems are pervasive in our lives. Our homes have environmental controls. The appliances we use, such as the washing machine, microwave, etc. carry embedded controllers in them. We fly in airplanes and drive automobiles that extensively use control systems. The industrial plants that produce consumer goods run on process control systems. The recent drive toward automation has increased our reliance on control systems technology.

This book discusses control systems design from a model-based perspective for dynamic system models of single-input single-output type. The emphasis in this book is on understanding and applying the techniques that enable the design of effective control systems in multiple engineering disciplines. The book covers both time-domain and the frequency-domain design methods, as well as controller design for both continuous-time and discrete-time systems. MATLAB© and its Control Systems Toolbox are extensively used for design. Technical topics discussed in the book include:

  • Mathematical models of physical systems
  • Analysis of transfer function and state variable models
  • Control systems design objectives
  • Control system design with root locus
  • Control system design in the state-space
  • Control system design of sampled-data systems
  • Compensator design with frequency response methods


This book discusses control systems design from a model-basedperspective for dynamic system models of single-input single-output type. Theemphasis in this book is on understanding and applying the techniques thatenable the design of effective control systems in multiple engineeringdisciplines. The book covers both time-domain and the frequency-domain designmethods, as well as controller design for both continuous-time anddiscrete-time systems. MATLAB© and its Control Systems Toolbox are extensivelyused for design.
Foreword xi
Preface xiii
Acknowledgement xxi
List of Figures
xxiii
List of Tables
xxix
List of Abbreviations
xxxi
1 Mathematical Models of Physical Systems
1(30)
1.1 Modeling of Physical Systems
2(13)
1.1.1 Model Variables and Element Types
3(1)
1.1.1 First-Order ODE Models
4(4)
1.1.1 Solving First-Order ODE Models with Step Input
8(2)
1.1.1 Second-Order ODE Models
10(2)
1.1.1 Solving Second-Order ODE Models
12(3)
1.2 Transfer Function Models
15(6)
1.2.2 DC Motor Model
16(4)
1.2.2 Industrial Process Models
20(1)
1.3 State Variable Models
21(3)
1.4 Linearization of Nonlinear Models
24(5)
1.4.4 Linearization About an Operating Point
25(2)
1.4.4 Linearization of a General Nonlinear Model
27(2)
Skill Assessment Questions
29(2)
2 Analysis of Transfer Function Models
31(32)
2.1 Characterization of Transfer Function Models
32(4)
2.1.1 System Poles and Zeros
32(2)
2.1.1 System Natural Response
34(2)
2.2 System Response to Inputs
36(13)
2.2.2 The Impulse Response
36(2)
2.2.2 The Step Response
38(6)
2.2.2 Characterizing the System Transient Response
44(2)
2.2.2 System Stability
46(3)
2.3 Sinusoidal Response of a System
49(10)
2.3.3 Sinusoidal Response of Low-Order Systems
50(2)
2.3.3 Visualizing the Frequency Response
52(7)
Skill Assessment Questions
59(4)
3 Analysis of State Variable Models
63(30)
3.1 State Variable Models
64(13)
3.1.1 Solution to the State Equations
65(1)
3.1.1 Laplace Transform Solution and Transfer Function
66(2)
3.1.1 The State-Transition Matrix
68(2)
3.1.1 Homogenous State Equation and Asymptotic Stability
70(4)
3.1.1 System Response for State Variable Models
74(3)
3.2 State Variable Realization of Transfer Function Models
77(9)
3.2.2 Simulation Diagrams
78(2)
3.2.2 Controller Form Realization
80(3)
3.2.2 Dual (Observer Form) Realization
83(1)
3.2.2 Modal Realization
83(2)
3.2.2 Diagonalization and Decoupling
85(1)
3.3 Linear Transformation of State Variables
86(4)
3.3.3 Transformation into Controller Form
86(2)
3.3.3 Transformation into Modal Form
88(2)
Skill Assessment Questions
90(3)
4 Feedback Control Systems
93(18)
4.1 Static Gain Controller
95(1)
4.2 Dynamic Controllers
96(12)
4.2.2 First-Order Phase-Lead and Phase-Lag Controllers
97(2)
4.2.2 The PID Controller
99(4)
4.2.2 Rate Feedback Controllers
103(5)
Skill Assessment Questions
108(3)
5 Control System Design Objectives
111(22)
5.1 Stability of the Closed-Loop System
112(5)
5.1.1 Closed-Loop Characteristic Polynomial
112(2)
5.1.1 Stability Determination by Algebraic Methods
114(2)
5.1.1 Stability Determination from the Bode Plot
116(1)
5.2 Transient Response Improvement
117(7)
5.2.2 System Design Specifications
119(2)
5.2.2 The Desired Characteristic Polynomial
121(2)
5.2.2 Optimal Performance Indices
123(1)
5.3 Steady-State Error Improvement
124(4)
5.3.3 The Steady-State Error
124(1)
5.3.3 System Error Constants
125(1)
5.3.3 Steady-State Error to Ramp Input
126(2)
5.4 Disturbance Rejection
128(2)
5.5 Sensitivity and Robustness
130(2)
Skill Assessment Questions
132(1)
6 Control System Design with Root Locus
133(34)
6.1 The Root Locus
135(8)
6.1.1 Roots of the Characteristic Polynomial
135(1)
6.1.1 Root Locus Rules
136(2)
6.1.1 Obtaining Root Locus Plot in MATLAB
138(1)
6.1.1 Stability from the Root Locus Plot
139(2)
6.1.1 Analytic Root Locus Conditions
141(2)
6.2 Static Controller Design
143(1)
6.3 Dynamic Controller Design
144(19)
6.3.3 Transient Response Improvement
145(6)
6.3.3 Steady-State Error Improvement
151(1)
6.3.3 Lead-Lag and PID Designs
152(4)
6.3.3 Rate Feedback Compensation
156(5)
6.3.3 Controller Designs Compared
161(2)
6.4 Controller Realization
163(2)
6.4.4 Phase-Lead/Phase-Lag Controllers
164(1)
6.4.4 PD, PI, PID Controllers
164(1)
Skill Assessment Questions
165(2)
7 Design of Sampled-Data Systems
167(44)
7.1 Models of Sampled-Data Systems
169(6)
7.1.1 Z-transform
169(2)
7.1.1 Zero-Order Hold
171(1)
7.1.1 Pulse Transfer Function
172(3)
7.2 Sampled-Data System Response
175(9)
7.2.2 Difference Equation Solution by Iteration
175(1)
7.2.2 Unit-Pulse Response
176(3)
7.2.2 Unit-Step Response
179(4)
7.2.2 Response to Arbitrary Inputs
183(1)
7.3 Stability in the Case of Sampled-Data Systems
184(2)
7.3.3 Jury's Stability Test
184(1)
7.3.3 Stability Through Bilinear Transform
185(1)
7.4 Closed-Loop Sampled-Data Systems
186(6)
7.4.4 Closed-Loop System Stability
186(1)
7.4.4 Unit-Step Response
187(3)
7.4.4 Steady-State Tracking Error
190(2)
7.5 Controllers for Sampled-Data Systems
192(14)
7.5.5 Root Locus Design of Digital Controllers
193(3)
7.5.5 Analog and Digital Controller Design Compared
196(4)
7.5.5 Digital Controller Design by Emulation
200(3)
7.5.5 Emulation of Analog PID Controller
203(3)
Skill Assessment Questions
206(5)
8 Controller Design for State Variable Models
211(36)
8.1 State Feedback Controller Design
212(10)
8.1.1 Pole Placement with State Feedback
213(2)
8.1.1 Pole Placement in the Controller Form
215(2)
8.1.1 Pole Placement using Bass-Gura Formula
217(1)
8.1.1 Pole Placement using Ackermann's Formula
218(2)
8.1.1 Pole Placement using Sylvester's Equation
220(2)
8.2 Tracking System Design
222(8)
8.2.2 Tracking System Design with Feedforward Gain
222(3)
8.2.2 Tracking PI Controller Design
225(5)
8.3 State Variable Models of Sampled-Data Systems
230(5)
8.3.3 Discretizing the State Equations
230(2)
8.3.3 Solution to the Discrete State Equations
232(2)
8.3.3 Pulse Transfer Function from State Equations
234(1)
8.4 Controllers for Discrete State Variable Models
235(9)
8.4.4 Emulating an Analog Controller
235(1)
8.4.4 Pole Placement Design of Digital Controller
236(2)
8.4.4 Deadbeat Controller Design
238(3)
8.4.4 Tracking PI Controller Design
241(3)
Skill Assessment Questions
244(3)
9 Frequency Response Design of Compensators
247(34)
9.1 Frequency Response Representation
248(6)
9.1.1 The Bode Plot
248(2)
9.1.1 The Nyquist Plot
250(4)
9.2 Measures of Performance
254(7)
9.2.2 Relative Stability
254(2)
9.2.2 Phase Margin and the Transient Response
256(3)
9.2.2 Error Constants and System Type
259(1)
9.2.2 System Sensitivity
260(1)
9.3 Frequency Response Design
261(15)
9.3.3 Gain Compensation
261(1)
9.3.3 Phase-Lag Compensation
262(2)
9.3.3 Phase-Lead Compensation
264(3)
9.3.3 Lead-Lag Compensation
267(2)
9.3.3 PI Compensator
269(2)
9.3.3 PD Compensator
271(2)
9.3.3 PID Compensator
273(2)
9.3.3 Compensator Designs Compared
275(1)
9.4 Closed-Loop Frequency Response
276(4)
Skill Assessment Questions
280(1)
Appendix 281(4)
Index 285(4)
About the Author 289
Kamran Iqbal, University of Arkansas at Little Rock, USA