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Chapter 1 An Overview and Brief History of Feedback Control
A Perspective on Feedback Control
Chapter Overview
1£®1 A Simple Feedback System
1£®2 A First Analysis of Feedback
1£®3 Feedback System Fundamentals
1£®4 A Brief History
1£®5 An Overview of the Book
Summary
Review Questions
Problems
Chapter 2 Dynamic Models
A Perspective on Dynamic Models
Chapter Overview
2£®1 Dynamics of Mechanical Systems
2£®1£®1 Translational Motion
2£®1£®2 Rotational Motion
2£®1£®3 Combined Rotation and Translation
2£®1£®4 Complex Mechanical Systems (W)¢Ù
2£®1£®5 Distributed Parameter Systems
2£®1£®6 Summary£º Developing Equations of Motion for Rigid Bodies
2£®2 Models of Electric Circuits
2£®3 Models of Electromechanical Systems
2£®3£®1 Loudspeakers
2£®3£®2 Motors
¡÷ 2£®3£®3 Gears
¡÷ 2£®4 Heat and Fluid-Flow Models
2£®4£®1 Heat Flow
2£®4£®2 Incompressible Fluid Flow
2£®5 Historical Perspective
Summary
Review Questions
Problems
Chapter 3 Dynamic Response
A Perspective on System Response
Chapter Overview
3£®1 Review of Laplace Transforms
3£®1£®1 Response by Convolution
3£®1£®2 Transfer Functions and Frequency Response
3£®1£®3 The ?_ Laplace Transform
3£®1£®4 Properties of Laplace Transforms
3£®1£®5 Inverse Laplace Transform by Partial-Fraction Expansion
3£®1£®6 The Final Value Theorem
3£®1£®7 Using Laplace Transforms to Solve Differential Equations
3£®1£®8 Poles and Zeros
3£®1£®9 Linear System Analysis Using Matlab
3£®2 System Modeling Diagrams
3£®2£®1 The Block Diagram
3£®2£®2 Block-Diagram Reduction Using Matlab
3£®2£®3 Mason¡¯s Rule and the Signal Flow Graph (W)
3£®3 Effect of Pole Locations
3£®4 Time-Domain Specifications
3£®4£®1 Rise Time
3£®4£®2 Overshoot and Peak Time
3£®4£®3 Settling Time
3£®5 Effects of Zeros and Additional Poles
3£®6 Stability
3£®6£®1 Bounded Input-Bounded Output Stability
3£®6£®2 Stability of LTI Systems
3£®6£®3 Routh¡¯s Stability Criterion
¡÷ 3£®7 Obtaining Models from Experimental Data£º System Identification (W)
¡÷ 3£®8 Amplitude and Time Scaling (W)
3£®9 Historical Perspective
Summary
Review Questions
Problems
Chapter 4 A First Analysis of Feedback
A Perspective on the Analysis of Feedback
Chapter Overview
4£®1 The Basic Equations of Control
4£®1£®1 Stability
4£®1£®2 Tracking
4£®1£®3 Regulation
4£®1£®4 Sensitivity
4£®2 Control of Steady-State Error to Polynomial Inputs£º System Type
4£®2£®1 System Type for Tracking
4£®2£®2 System Type for Regulation and Disturbance Rejection
4£®3 The Three-Term Controller£º PID Control
4£®3£®1 Proportional Control (P)
4£®3£®2 Integral Control (I)
4£®3£®3 Derivative Control (D)
4£®3£®4 Proportional Plus Integral Control (PI)
4£®3£®5 PID Control
4£®3£®6 Ziegler-Nichols Tuning of the PID Controller
4£®4 Feedforward Control by Plant Model Inversion
¡÷ 4£®5 Introduction to Digital Control (W)
¡÷ 4£®6 Sensitivity of Time Response to Parameter Change (W)
4£®7 Historical Perspective
Summary
Review Questions
Problems
Chapter 5 The Root-Locus Design Method
A Perspective on the Root-Locus Design Method
Chapter Overview
5£®1 Root Locus of a Basic Feedback System
5£®2 Guidelines for Determining a Root Locus
5£®2£®1 Rules for Determining a Positive (180°) Root Locus
5£®2£®2 Summary of the Rules for Determining a Root Locus
5£®2£®3 Selecting the Parameter Value
5£®3 Selected Illustrative Root Loci
5£®4 Design Using Dynamic Compensation
5£®4£®1 Design Using Lead Compensation
5£®4£®2 Design Using Lag Compensation
5£®4£®3 Design Using Notch Compensation
¡÷ 5£®4£®4 Analog and Digital Implementations (W)
5£®5 Design Examples Using the Root Locus
5£®6 Extensions of the Root-Locus Method
5£®6£®1 Rules for Plotting a Negative (0°) Root Locus
¡÷ 5£®6£®2 Successive Loop ClosureS
¡÷ 5£®6£®3 Time Delay (W)
5£®7 Historical Perspective
Summary
Review Questions
Problems
Chapter 6 The Frequency-Response Design Method
A Perspective on the Frequency-Response Design Method
Chapter Overview
6£®1 Frequency Response
6£®1£®1 Bode Plot Techniques
6£®1£®2 Steady-State Errors
6£®2 Neutral Stability
6£®3 The Nyquist Stability Criterion
6£®3£®1 The Argument Principle
6£®3£®2 Application of The Argument Principle to Control Design
6£®4 Stability Margins
6£®5 Bode¡¯s Gain-Phase Relationship
6£®6 Closed-Loop Frequency Response
6£®7 Compensation
6£®7£®1 PD Compensation
6£®7£®2 Lead Compensation (W)
6£®7£®3 PI Compensation
6£®7£®4 Lag Compensation
6£®7£®5 PID Compensation
6£®7£®6 Design Considerations
¡÷ 6£®7£®7 Specifications in Terms of the Sensitivity Function
¡÷ 6£®7£®8 Limitations on Design in Terms of the Sensitivity Function
¡÷ 6£®8 Time Delay
6£®8£®1 Time Delay via the Nyquist Diagram (W)
¡÷ 6£®9 Alternative Presentation of Data
6£®9£®1 Nichols Chart
6£®9£®2 The Inverse Nyquist Diagram (W)
6£®10?Historical Perspective
Summary
Review Questions
Problems
Chapter 7 State-Space Design
A Perspective on State-Space Design
Chapter Overview
7£®1 Advantages of State-Space
7£®2 System Description in State-Space
7£®3 Block Diagrams and State-Space
7£®4 Analysis of the State Equations
7£®4£®1 Block Diagrams and Canonical Forms
7£®4£®2 Dynamic Response from the State Equations
7£®5 Control-Law Design for Full-State Feedback
7£®5£®1 Finding the Control Law
7£®5£®2 Introducing the Reference Input with Full-State Feedback
7£®6 Selection of Pole Locations for Good Design
7£®6£®1 Dominant Second-Order Poles
7£®6£®2 Symmetric Root Locus (SRL)
7£®6£®3 Comments on the Methods
7£®7 Estimator Design
7£®7£®1 Full-Order Estimators
7£®7£®2 Reduced-Order Estimators
7£®7£®3 Estimator Pole Selection
7£®8 Compensator Design£º Combined Control Law and Estimator (W)
7£®9 Introduction of the Reference Input with the Estimator (W)
7£®9£®1 General Structure for the Reference Input
7£®9£®2 Selecting the Gain
7£®10?Integral Control and Robust Tracking
7£®10£®1?Integral Control
¡÷ 7£®10£®2?Robust Tracking Control£º The Error-Space Approach
¡÷ 7£®10£®3?Model-Following Design
¡÷ 7£®10£®4?The Extended Estimator
¡÷ 7£®11?Loop Transfer Recovery
¡÷ 7£®12?Direct Design with Rational Transfer Functions
¡÷ 7£®13?Design for Systems with Pure Time Delay
7£®14?Solution of State Equations (W)
7£®15?Historical Perspective
Summary
Review Questions
Problems
Chapter 8 Digital Control
A Perspective on Digital Control
Chapter Overview
8£®1 Digitization
8£®2 Dynamic Analysis of Discrete Systems
8£®2£®1 z-Transform
8£®2£®2 z-Transform Inversion
8£®2£®3 Relationship Between s and z
8£®2£®4 Final Value Theorem
8£®3 Design Using Discrete Equivalents
8£®3£®1 Tustin¡¯s Method
8£®3£®2 Zero-Order Hold (ZOH) Method
8£®3£®3 Matched Pole-Zero (MPZ) Method
8£®3£®4 Modified Matched Pole-Zero (MMPZ) Method
8£®3£®5 Comparison of Digital Approximation Methods
8£®3£®6 Applicability Limits of the Discrete Equivalent Design Method
8£®4 Hardware Characteristics
8£®4£®1 Analog-to-Digital (A/D) Converters
8£®4£®2 Digital-to-Analog Converters
8£®4£®3 Anti-Alias Prefilters
8£®4£®4 The Computer
8£®5 Sample-Rate Selection
8£®5£®1 Tracking Effectiveness
8£®5£®2 Disturbance Rejection
8£®5£®3 Effect of Anti-Alias Prefilter
8£®5£®4 Asynchronous Sampling
¡÷ 8£®6 Discrete Design
8£®6£®1 Analysis Tools
8£®6£®2 Feedback Properties
8£®6£®3 Discrete Design Example
8£®6£®4 Discrete Analysis of Designs
8£®7 Discrete State-Space Design Methods (W)
8£®8 Historical Perspective
Summary
Review Questions
Problems
Chapter 9 Nonlinear Systems
A Perspective on Nonlinear Systems
Chapter Overview
9£®1 Introduction and Motivation£º Why Study Nonlinear Systems?
9£®2 Analysis by Linearization
9£®2£®1 Linearization by Small-Signal Analysis
9£®2£®2 Linearization by Nonlinear Feedback
9£®2£®3 Linearization by Inverse Nonlinearity
9£®3 Equivalent Gain Analysis Using the Root Locus
9£®3£®1 Integrator Antiwindup
9£®4 Equivalent Gain Analysis Using Frequency Response£º Describing Functions
9£®4£®1 Stability Analysis Using Describing Functions
¡÷ 9£®5 Analysis and Design Based on Stability
9£®5£®1 The Phase Plane
9£®5£®2 Lyapunov Stability Analysis
9£®5£®3 The Circle Criterion
9£®6 Historical Perspective
Summary
Review Questions
Problems
Chapter 10 Control System Design£º Principles and Case Studies
A Perspective on Design Principles
Chapter Overview
10£®1 An Outline of Control Systems Design
10£®2 Design of a Satellite¡¯s Attitude Control
10£®3 Lateral and Longitudinal Control of a Boeing 747
? 10£®3£®1 Yaw Damper
? 10£®3£®2 Altitude-Hold Autopilot
10£®4 Control of the Fuel-Air Ratio in an Automotive Engine
10£®5 Control of a Quadrotor Drone
10£®6 Control of RTP Systems in Semiconductor Wafer Manufacturing
10£®7 Chemotaxis£¬ or How E£® Coli Swims Away from Trouble
10£®8 Historical Perspective
Summary
Review Questions
Problems
Appendix A Laplace Transforms
A£®1 The ?_ Laplace Transform
?A£®1£®1 Properties of Laplace Transforms
?A£®1£®2 Inverse Laplace Transform by Partial-Fraction Expansion
?A£®1£®3 The Initial Value Theorem
?A£®1£®4 Final Value Theorem
Appendix B Solutions to the Review Questions
Appendix C Matlab Commands
Bibliography

List of Appendices on the Web¢Ù
Appendix WA A Review of Complex Variables
Appendix WB Summary of Matrix Theory
Appendix WC Controllability and Observability
Appendix WD Ackermann¡¯s Formula for Pole Placement
Appendix W2£®1£®4 Complex Mechanical Systems
Appendix W3£®2£®3 Mason¡¯s Rule and the Signal-Flow Graph
Appendix W3£®6£®3£®1 Routh Special Cases
Appendix W3£®7 System Identification
Appendix W3£®8 Amplitude and Time Scaling
Appendix W4£®1£®4£®1 The Filtered Case
Appendix W4£®2£®2£®1 Truxal¡¯s Formula for the Error Constants
Appendix W4£®5 Introduction to Digital Control
Appendix W4£®6 Sensitivity of Time Response to Parameter Change
Appendix W5£®4£®4 Analog and Digital Implementations
Appendix W5£®6£®3 Root Locus with Time Delay
Appendix W6£®7£®2 Digital Implementation of Example 6£®15
Appendix W6£®8£®1 Time Delay via the Nyquist Diagram
Appendix W6£®9£®2 The Inverse Nyquist Diagram
Appendix W7£®8 Digital Implementation of Example 7£®31
Appendix W7£®9 Digital Implementation of Example 7£®33
Appendix W7£®14 Solution of State Equations
Appendix W8£®7 Discrete State-Space Design Methods