Feedback Control of Dynamic Systems,9780201527476

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Feedback Control of Dynamic Systems

by Franklin, Gene F.; Powell, J. David; Emami-Naeini, Abbas

ISBN13:

9780201527476

ISBN10:

0201527472

Format:

Hardcover

Pub. Date:

11/1/1993

Publisher(s):

Pearson College Div

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Summary

The third edition of this bestselling textbook on undergraduate controls continues to develop students insight into control problems and methods for solving them. Because of the importance of design problems and their motivational effect on students, the authors emphasize design in addition to analysis techniques throughout the text. The book demonstrates the unifying principles behind numerous individual design techniques to assist students in creating their own problem-solving toolbox. The latest edition of Feedback Control of Dynamic Systems reflects many of the recent advances in control system design including balanced coverage of frequency response and state space topics and an introduction to digital control.

Preface	p. xi
An Overview and Brief History of Feedback Control	p. 1
Chapter Overview	p. 1
A Perspective on Feedback Control	p. 1
A Simple Feedback System	p. 2
A First Analysis of Feedback	p. 6
A Brief History	p. 9
An Overview of the Book	p. 15
Summary	p. 17
Review Questions	p. 18
Problems	p. 18
Dynamic Models	p. 22
Chapter Overview	p. 22
A Perspective on Dynamic Models	p. 23
Dynamics of Mechanical Systems	p. 24
Differential Equations in State-Variable Form	p. 41
Models of Electric Circuits	p. 46
Models of Electromechanical Systems	p. 51
Heat- and Fluid-Flow Models	p. 57
Linearization and Scaling	p. 68
Summary	p. 77
Review Questions	p. 78
Problems	p. 78
Dynamic Response	p. 94
Chapter Overview	p. 94
A Perspective on System Response	p. 95
Review of Laplace Transforms	p. 96
System Modeling Diagrams	p. 123
Effect of Pole Locations	p. 135
Time-Domain Specifications	p. 144
Effects of Zeros and Additional Poles	p. 150
Stability	p. 157
Numerical Simulation	p. 167
Obtaining Models from Experimental Data	p. 173
Summary	p. 179
Review Questions	p. 181
Problems	p. 181
Basic Properties of Feedback	p. 200
Chapter Overview	p. 200
A Perspective on Properties of Feedback	p. 201
A Case Study of Speed Control	p. 202
The Classical Three-Term Controller	p. 215
Steady-State Tracking and System Type	p. 230
Digital Implementation of Controllers	p. 245
Summary	p. 251
Review Questions	p. 252
Problems	p. 253
The Root-Locus Design Method	p. 270
Chapter Overview	p. 270
A Perspective on the Root-locus Design Method	p. 271
Root Locus of a Basic Feedback System	p. 272
Guidelines for Sketching a Root Locus	p. 277
Selected Illustrative Root Loci	p. 293
Selecting the Parameter Value	p. 307
Dynamic Compensation	p. 310
A Design Example Using the Root Locus	p. 322
Extensions of the Root-Locus Method	p. 329
Summary	p. 341
Review Questions	p. 343
Problems	p. 344
The Frequency-Response Design Method	p. 364
Chapter Overview	p. 364
A Perspective on the Frequency-response Design Method	p. 365
Frequency Response	p. 366
Neutral Stability	p. 387
The Nyquist Stability Criterion	p. 390
Stability Margins	p. 403
Bode's Gain-Phase Relationship	p. 411
Closed-Loop Frequency Response	p. 415
Compensation	p. 417
Alternate Presentations of Data	p. 443
Specifications in Terms of the Sensitivity Function	p. 448
Time Delay	p. 457
Obtaining a Pole-Zero Model from Frequency-Response Data	p. 459
Summary	p. 462
Review Questions	p. 464
Problems	p. 465
State-Space Design	p. 492
Chapter Overview	p. 492
A Perspective on State-Space Design	p. 493
Advantages of State Space	p. 494
Analysis of the State Equations	p. 495
Control-Law Design for Full-State Feedback	p. 515
Selection of Pole Locations for Good Design	p. 529
Estimator Design	p. 541
Compensator Design: Combined Control Law and Estimator	p. 555
Loop Transfer Recovery (LTR)	p. 569
Introduction of the Reference Input with the Estimator	p. 574
Integral Control and Robust Tracking	p. 586
Direct Design with Rational Transfer Functions	p. 604
Design for Systems with Pure Time Delay	p. 608
Lyapunov Stability	p. 614
Summary	p. 618
Review Questions	p. 622
Problems	p. 622
Digital Control	p. 646
Chapter Overview	p. 646
A Perspective on Digital Control	p. 647
Digitization	p. 648
Dynamic Analysis of Discrete Systems	p. 650
Design by Emulation	p. 658
Discrete Design	p. 668
State-Space Design Methods	p. 676
Hardware Characteristics	p. 683
Word-Size Effects	p. 686
Sample-Rate Selection	p. 689
Summary	p. 692
Review Questions	p. 694
Problems	p. 694
Control-System Design: Principles and Case Studies	p. 706
Chapter Overview	p. 706
A Perspective on Design Principles	p. 707
An Outline of Control Systems Design	p. 708
Design of a Satellite's Attitude Control	p. 714
Lateral and Longitudinal Control of a Boeing 747	p. 733
Control of the Fuel-Air Ratio in an Automotive Engine	p. 752
Control of a Digital Tape Transport	p. 759
Control of the Read/Write Head Assembly of a Hard Disk	p. 770
Control of Rapid Thermal Processing (RTP) Systems in Semiconductor Wafer Manufacturing	p. 781
Summary	p. 795
Review Questions	p. 797
Problems	p. 797
Laplace Transforms	p. 811
The L_ Laplace Transform	p. 811
A Review of Complex Variables	p. 825
Definition of a Complex Number	p. 825
Algebraic Manipulations	p. 827
Graphical Evaluation of Magnitude and Phase	p. 829
Differentiation and Integration	p. 830
Euler's Relations	p. 831
Analytic Functions	p. 832
Cauchy's Theorem	p. 832
Singularities and Residues	p. 832
Residue Theorem	p. 833
The Argument Principle	p. 834
Summary of Matrix Theory	p. 837
Matrix Definitions	p. 837
Elementary Operations on Matrices	p. 838
Trace	p. 839
Transpose	p. 839
Determinant and Matrix Inverse	p. 839
Properties of the Determinant	p. 840
Inverse of Block Triangular Matrices	p. 841
Special Matrices	p. 841
Rank	p. 842
Characteristic Polynomial	p. 842
Cayley-Hamilton Theorem	p. 843
Eigenvalues and Eigenvectors	p. 843
Similarity Transformations	p. 844
Matrix Exponential	p. 845
Fundamental Subspaces	p. 845
Singular-Value Decomposition	p. 846
Positive Definite Matrices	p. 847
Matrix Identity	p. 847
Controllability and Observability	p. 849
Controllability	p. 850
Observability	p. 855
Ackermann's Formula for Pole Placement	p. 857
Matlab Commands	p. 861
Solutions to Review Questions	p. 863
References	p. 879
Index	p. 887
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Feedback Control of Dynamic Systems

9780201527476

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Table of Contents