Preface 

ix  

Introduction to Control Systems 


1  (8) 


1  (2) 

Examples of Control Systems 


3  (3) 

ClosedLoop Control versus OpenLoop Control 


6  (2) 


8  (1) 


9  (44) 


9  (1) 

Review of Complex Variables and Complex Functions 


10  (3) 


13  (10) 

Laplace Transform Theorems 


23  (9) 

Inverse Laplace Transformation 


32  (4) 

PartialFraction Expansion with MATLAB 


36  (4) 

Solving Linear, TimeInvariant, Differential Equations 


40  (13) 

Example Problems and Solutions 


42  (9) 


51  (2) 

Mathematical Modeling of Dynamic Systems 


53  (99) 


53  (2) 

Transfer Function and ImpulseResponse Function 


55  (3) 

Automatic Control Systems 


58  (12) 


70  (6) 

StateSpace Representation of Dynamic Systems 


76  (7) 

Transformation of Mathematical Models with MATLAB 


83  (2) 


85  (5) 

Electrical and Electronic Systems 


90  (14) 


104  (8) 

Linearization of Nonlinear Mathematical Models 


112  (40) 

Example Problems and Solutions 


115  (31) 


146  (6) 

Mathematical Modeling of Fluid Systems and Thermal Systems 


152  (67) 


152  (1) 


153  (5) 


158  (17) 


175  (13) 


188  (31) 

Example Problems and Solutions 


192  (19) 


211  (8) 

Transient and SteadyState Response Analyses 


219  (118) 


219  (2) 


221  (3) 


224  (15) 


239  (4) 

TransientResponse Analysis with MATLAB 


243  (28) 

An Example Problem Solved with MATLAB 


271  (4) 

Routh's Stability Criterion 


275  (6) 

Effects of Integral and Derivative Control Actions on System Performance 


281  (7) 

SteadyState Errors in UnityFeedback Control Systems 


288  (49) 

Example Problems and Solutions 


294  (36) 


330  (7) 


337  (79) 


337  (2) 


339  (12) 

Summary of General Rules for Constructing Root Loci 


351  (7) 

RootLocus Plots with MATLAB 


358  (15) 

PositiveFeedback Systems 


373  (5) 

Conditionally Stable Systems 


378  (1) 

Root Loci for Systems with Transport Lag 


379  (37) 

Example Problems and Solutions 


384  (29) 


413  (3) 

Control Systems Design by the RootLocus Method 


416  (76) 


416  (3) 

Preliminary Design Considerations 


419  (2) 


421  (8) 


429  (10) 


439  (12) 


451  (41) 

Example Problems and Solutions 


456  (32) 


488  (4) 

FrequencyResponse Analysis 


492  (126) 


492  (5) 


497  (19) 

Plotting Bode Diagrams with MATLAB 


516  (7) 


523  (8) 

Drawing Nyquist Plots with MATLAB 


531  (8) 

LogMagnitudeversusPhase Plots 


539  (1) 

Nyquist Stability Criterion 


540  (10) 


550  (10) 


560  (15) 

ClosedLoop Frequency Response of UnityFeedback Systems 


575  (9) 

Experimental Determination of Transfer Functions 


584  (34) 

Example Problems and Solutions 


589  (23) 


612  (6) 

Control Systems Design by Frequency Response 


618  (134) 


618  (3) 


621  (9) 


630  (9) 


639  (6) 


645  (36) 

Example Problems and Solutions 


648  (31) 


679  (2) 

PID Controls and TwoDegreesofFreedom 




681  (1) 


681  (1) 

Tuning Rules for PID Controllers 


682  (10) 

Computational Approach to Obtain Optimal Sets of Parameter Values 


692  (8) 

Modifications of PID Control Schemes 


700  (3) 

TwoDegreesofFreedom Control 


703  (2) 

ZeroPlacement Approach to Improve Response Characteristics 


705  (47) 

Example Problems and Solutions 


724  (21) 


745  (7) 

Analysis of Control Systems in State Space 


752  (74) 


752  (1) 

StateSpace Representations of TransferFunction Systems 


753  (7) 

Transformation of System Models with MATLAB 


760  (4) 

Solving the TimeInvariant State Equation 


764  (8) 

Some Useful Results in VectorMatrix Analysis 


772  (7) 


779  (7) 


786  (40) 

Example Problems and Solutions 


792  (32) 


824  (2) 

Design of Control Systems in State Space 


826  (126) 


826  (1) 


827  (12) 

Solving PolePlacement Problems with MATLAB 


839  (4) 


843  (12) 


855  (27) 

Design of Regulator Systems with Observers 


882  (8) 

Design of Control Systems with Observers 


890  (7) 

Quadratic Optimal Regulator Systems 


897  (55) 

Example Problems and Solutions 


910  (38) 


948  (4) 
References 

952  (4) 
Index 

956  