Feedback Control Systems

by Phillips, Charles L.; Harbor, Royce D.

• ISBN13: 9780133716917
• ISBN10: 0133716910
• Edition: 3rd
• Format: Paperback
• Copyright: 2000-01-01
• Publisher: Prentice Hall

Summary

Organized into three principal areas (analog control systems, digital control systems, and nonlinear analog control systems), Feedback Control Systems has been significantly revised to provide more practical examples, more thorough design coverage, and increased emphasis on computer-aided analysis and design using MATLAB. Specifically, the Third Edition features: clearer, more detailed explanations of basic material; a new section (4.5) dealing with time-scaling differential equations designed to help readers better relate the transfer functions of the systems of the examples to those of practical systems; additional practical applications in the form of examples and end-of-chapter problems that better relate mathematical developments to physical systems; and completely new end-of-chapter problems, many using MATLAB programming for solution verification. In addition, this edition retains the emphasis on practical systems, develops transfer-function and state-variable analog models, reviews matrices, develops an analytical design procedure that applies both root-locus design and Bode design, and presents a table of Laplace transforms and z-transforms in the appendices.

Table of Contents

PREFACE
1 INTRODUCTION	1	(11)
1.1 The Control Problem	3	(2)
1.2 Examples of Control Systems	5	(4)
1.3 Short History of Control	9	(2)
References	11	(1)
2 MODELS OF PHYSICAL SYSTEMS	12	(57)
2.1 System Modeling	12	(2)
2.2 Electrical Circuits	14	(7)
2.3 Block Diagrams and Signal Flow Graphs	21	(3)
2.4 Mason's Gain formula	24	(5)
2.5 Mechanical Translational Systems	29	(5)
2.6 Mechanical Rotational Systems	34	(2)
2.7 Electromechanical Systems	36	(5)
2.8 Sensors	41	(5)
2.9 Temperature-Control System	46	(2)
2.10 Analogous Systems	48	(2)
2.11 Transformers and Gears	50	(2)
2.12 Robotic Control System	52	(3)
2.13 System Identification	55	(1)
2.14 Linearization	55	(1)
2.15 Summary	55	(2)
References	57	(1)
Problems	58	(11)
3 STATE-VARIABLE MODELS	69	(52)
3.1 State-Variable Modeling	70	(3)
3.2 Simulation Diagrams	73	(7)
3.3 Solution of State Equations	80	(7)
3.4 Transfer Functions	87	(2)
3.5 Similarity Transformations	89	(7)
3.6 Digital Simulation	96	(5)
3.7 Controls Software	101	(3)
3.8 Analog Simulation	104	(2)
3.9 Summary	106	(1)
References	107	(1)
Problems	107	(14)
4 SYSTEM RESPONSES	121	(36)
4.1 Time Response of First-Order Systems	122	(5)
4.2 Time Response of Second-Order Systems	127	(3)
4.3 Time Response Specifications in Design	130	(4)
4.4 Frequency Response of Systems	134	(7)
4.5 Time and Frequency Scaling	141	(2)
4.6 Response of Higher-Order Systems	143	(4)
4.7 Reduced-Order Models	147	(1)
4.8 Summary	148	(1)
References	148	(1)
Problems	148	(9)
5 CONTROL SYSTEM CHARACTERISTICS	157	(40)
5.1 Closed-Loop Control System	158	(4)
5.2 Stability	162	(4)
5.3 Sensitivity	166	(4)
5.4 Disturbance Rejection	170	(5)
5.5 Steady-State Accuracy	175	(8)
5.6 Transient Response	183	(2)
5.7 Closed-Loop Frequency Response	185	(1)
5.8 Summary	186	(1)
References	186	(1)
Problems	186	(11)
6 STABILITY ANALYSIS	197	(23)
6.1 Routh-Hurwitz Stability Criterion	199	(9)
6.2 Roots of the Characteristic Equation	208	(1)
6.3 Stability by Simulation	209	(1)
6.4 Summary	210	(1)
Problems	211	(9)
7 ROOT-LOCUS ANALYSIS AND DESIGN	220	(65)
7.1 Root-Locus Principles	220	(5)
7.2 Some Root-Locus Techniques	229	(14)
7.3 Additional Root-Locus Techniques	229	(14)
7.4 Additional Properties of the Root Locus	243	(3)
7.5 Other Configurations	246	(3)
7.6 Root-Locus Design	249	(3)
7.7 Phase-Lead Design	252	(1)
7.8 Analytical Phase-Lead Design	253	(4)
7.9 Phase-Lag Design	257	(5)
7.10 PID Design	262	(4)
7.11 Analytical PID Design	266	(3)
7.12 Complementary Root Locus	269	(3)
7.13 Compensator Realization	272	(3)
7.14 Summary	275	(1)
References	276	(1)
Problems	276	(9)
8 FREQUENCY-RESPONSE ANALYSIS	285	(76)
8.1 Frequency Responses	285	(6)
8.2 Bode Diagrams	291	(12)
8.3 Additional Terms	303	(6)
8.4 Nyquist Criterion	309	(8)
8.5 Application of the Nyquist Criterion	317	(11)
8.6 Relative Stability and the Bode Diagram	328	(14)
8.7 Closed-Loop Frequency Response	342	(7)
8.8 Frequency-Response Software	349	(1)
8.9 Summary	349	(1)
References	350	(1)
Problems	350	(11)
9 FREQUENCY-RESPONSE DESIGN	361	(57)
9.1 Control System Specifications	361	(5)
9.2 Compensation	366	(2)
9.3 Gain Compensation	368	(5)
9.4 Phase-Lag Compensation	373	(4)
9.5 Phase-Lead Compensation	377	(4)
9.6 Analytical Design	381	(9)
9.7 Lag-Lead Compensation	390	(2)
9.8 PID Controller Design	392	(6)
9.9 Analytical PID Controller Design	398	(4)
9.10 PID Controller Implementation	402	(2)
9.11 Frequency-Response Design Software	404	(2)
9.12 Summary	406	(1)
References	407	(1)
Problems	407	(11)
10 MODERN CONTROL DESIGN	418	(50)
10.1 Pole-Placement Design	419	(3)
10.2 Ackermann's Formula	422	(5)
10.3 State Estimation	427	(9)
10.4 Closed-Loop System Characteristics	436	(2)
10.5 Reduced-Order Estimators	438	(6)
10.6 Controllability and Observability	444	(6)
10.7 Systems with Inputs	450	(8)
10.8 Modern Control Software	458	(1)
10.9 Summary	459	(1)
References	459	(1)
Problems	460	(8)
11 DISCRETE-TIME SYSTEMS	468	(30)
11.1 Discrete-Time System	468	(3)
11.2 Transform Methods	471	(2)
11.3 Theorems of the z-transform	473	(3)
11.4 Solution of Difference Equations	476	(3)
11.5 Inverse z-Transform	479	(2)
11.6 Simulation Diagrams and Flow Graphs	481	(3)
11.7 State Variables	484	(2)
11.8 Solution of State Equations	486	(4)
11.9 Summary	490	(1)
References	490	(1)
Problems	491	(7)
12 SAMPLED-DATA SYSTEMS	498	(39)
12.1 Sampled Data	498	(2)
12.2 Ideal Sampler	500	(3)
12.3 Properties of the Starred Transform	503	(4)
12.4 Data Reconstruction	507	(2)
12.5 Pulse Transfer Function	509	(6)
12.6 Open-Loop Systems Containing Digital Filters	515	(2)
12.7 Closed-Loop Discrete-Time Systems	517	(1)
12.8 Transfer Functions for Closed-Loop Systems	518	(5)
12.9 State Variables for Sampled-Data Systems	523	(5)
12.10 Controls Software	528	(1)
12.11 Summary	529	(1)
References	530	(1)
Problems	530	(7)
13 ANALYSIS AND DESIGN OF DIGITAL CONTROL SYSTEMS	537	(56)
13.1 Two Examples	537	(5)
13.2 Discrete System Stability	542	(1)
13.3 Jury's Test	543	(2)
13.4 Mapping the s-Plane into the z-Plane	545	(4)
13.5 Root Locus	549	(2)
13.6 Nyquist Criterion	551	(6)
13.7 Bilinear Transformation	557	(3)
13.8 Routh-Hurwitz Criterion	560	(1)
13.9 Bode Diagram	561	(3)
13.10 Steady-State Accuracy	564	(2)
13.11 Design of Digital Control Systems	566	(4)
13.12 Phase-Lag Design	570	(5)
13.13 Phase-Lead Design	575	(3)
13.14 Digital PID Controllers	578	(4)
13.15 Root-Locus Design	582	(3)
13.16 Control Software	585	(1)
13.17 Summary	586	(1)
References	587	(1)
Problems	587	(6)
14 NONLINEAR SYSTEM ANALYSIS	593	(54)
14.1 Nonlinear System Definitions and Properties	594	(2)
14.2 Review of the Nyquist Criterion	596	(2)
14.3 Describing Function	598	(1)
14.4 Derivations of Describing Functions	599	(8)
14.5 Use of the Describing Function	607	(5)
14.6 Stability of Limit Cycles	612	(4)
14.7 Design	616	(2)
14.8 Application to Other Systems	618	(1)
14.9 Linearization	618	(5)
14.10 Equilibrium States and Lyapunov Stability	623	(4)
14.11 State Plane Analysis	627	(4)
14.12 Linear-System Response	631	(3)
14.13 Method of Isoclines	634	(6)
14.14 Summary	640	(1)
References	640	(1)
Problems	641	(6)
APPENDICES	647	(30)
A Matrices	647	(7)
B Design Equations	654	(6)
C Laplace Transform	660	(15)
D Laplace Transform and z-Transform Tables	675	(2)
INDEX	677