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Modern Control Systems,9780130306609
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Modern Control Systems

by ;
Edition:
9th
ISBN13:

9780130306609

ISBN10:
0130306606
Format:
Hardcover
Pub. Date:
1/1/2001
Publisher(s):
Prentice Hall
List Price: $117.00
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Summary

Written to be equally useful for all engineering disciplines, this book is organized around the concept of control systems theory as it has been developed in the frequency and time domains. It provides coverage of classical control employing root locus design, frequency and response design using Bode and Nyquist plots. It also covers modern control methods based on state variable models including pole placement design techniques with full-state feedback controllers and full-state observers. The book covers several important topics including robust control systems and system sensitivity, state variable models, controllability and observability, computer control systems, internal model control, robust PID controllers, and computer-aided design and analysis. For all types of engineers who are interested in a solid introduction to control systems.

Author Biography

Richard C. Dorf is a Professor of Electrical and Computer Engineering at the University of California, Davis.

Table of Contents

Introduction to Control Systems
1(31)
Introduction
2(2)
History of Automatic Control
4(3)
Two Examples of the Use of Feedback
7(1)
Control Engineering Practice
8(1)
Examples of Modern Control Systems
9(7)
Automatic Assembly and Robots
16(1)
The Future Evolution of Control Systems
16(2)
Engineering Design
18(1)
Control System Design
19(2)
Design Example: Turntable Speed Control
21(1)
Design Example: Insulin Delivery Control System
22(1)
Sequential Design Example: Disk Drive Read System
23(9)
Exercises
24(1)
Problems
25(5)
Design Problems
30(1)
Terms and Concepts
31(1)
Mathematical Models of Systems
32(87)
Introduction
33(1)
Differential Equations of Physical Systems
33(5)
Linear Approximations of Physical Systems
38(3)
The Laplace Transform
41(6)
The Transfer Function of Linear Systems
47(15)
Block Diagram Models
62(4)
Signal-Flow Graph Models
66(5)
Computer Analysis of Control Systems
71(1)
Design Examples
72(8)
The Simulation of Systems Using Matlab
80(14)
Sequential Design Example: Disk Drive Read System
94(3)
Summary
97(22)
Exercises
98(6)
Problems
104(11)
Advanced Problems
115(1)
Design Problems
115(1)
Matlab Problems
116(2)
Terms and Concepts
118(1)
State Variable Models
119(54)
Introduction
120(1)
The State Variables of a Dynamic System
121(2)
The State Differential Equation
123(3)
Signal-Flow Graph State Models
126(6)
Alternative Signal-Flow Graph State Models
132(4)
The Transfer Function from the State Equation
136(2)
The Time Response and the State Transition Matrix
138(4)
A Discrete-Time Evaluation of the Time Response
142(5)
Design Example: Printer Belt Drive
147(5)
Analysis of State Variable Models Using Matlab
152(3)
Sequential Design Example: Disk Drive Read System
155(4)
Summary
159(14)
Exercises
159(2)
Problems
161(7)
Advanced Problems
168(2)
Design Problems
170(1)
Matlab Problems
171(1)
Terms and Concepts
172(1)
Feedback Control System Characteristics
173(50)
Open-and Closed-Loop Control Systems
174(2)
Sensitivity of Control Systems to Parameter Variations
176(3)
Control of the Transient Response of Control Systems
179(4)
Disturbance Signals in a Feedback Control System
183(4)
Steady-State Error
187(3)
The Cost of Feedback
190(1)
Design Example: English Channel Boring Machines
191(3)
Design Example: Mars Rover Vehicle
194(2)
Control System Characteristics Using Matlab
196(6)
Sequential Design Example: Disk Drive Read System
202(3)
Summary
205(18)
Exercises
207(2)
Problems
209(6)
Advanced Problems
215(3)
Design Problems
218(2)
Matlab Problems
220(2)
Terms and Concepts
222(1)
The Performance of Feedback Control Systems
223(67)
Introduction
224(1)
Test Input Signals
225(2)
Performance of a Second-Order System
227(6)
Effects of a Third Pole and a Zero on the Second-Order System Response
233(5)
Estimation of the Damping Ratio
238(1)
The s-Plane Root Location and the Transient Response
239(1)
The Steady-State Error of Feedback Control Systems
240(5)
The Steady-State Error of Nonunity Feedback Systems
245(2)
Performance Indices
247(9)
The Simplification of Linear Systems
256(3)
Design Example: Hubble Telescope Pointing Control
259(3)
System Performance Using Matlab
262(9)
Sequential Design Example: Disk Drive Read System
271(6)
Summary
277(13)
Exercises
275(4)
Problems
279(5)
Advanced Problems
284(1)
Design Problems
285(2)
Matlab Problems
287(2)
Terms and Concepts
289(1)
The Stability of Linear Feedback Systems
290(41)
The Concept of Stability
291(4)
The Routh-Hurwitz Stability Criterion
295(8)
The Relative Stability of Feedback Control Systems
303(1)
The Stability of State Variable Systems
304(3)
Design Example: Tracked Vehicle Turning Control
307(2)
System Stability Using Matlab
309(8)
Sequential Design Example: Disk Drive Read System
317(3)
Summary
320(11)
Exercises
321(1)
Problems
322(4)
Advanced Problems
326(2)
Design Problems
328(1)
Matlab Problems
329(1)
Terms and Concepts
330(1)
The Root Locus Method
331(75)
Introduction
332(1)
The Root Locus Concept
332(7)
The Root Locus Procedure
339(12)
An Example of a Control System Analysis and Design Utilizing the Root Locus Method
351(3)
Parameter Design by the Root Locus Method
354(5)
Sensitivity and the Root Locus
359(7)
Three-Term (PID) Controllers
366(2)
Design Example: Laser Manipulator Control System
368(3)
The Design of a Robot Control System
371(2)
The Root Locus Using Matlab
373(6)
Sequential Design Example: Disk Drive Read System
379(1)
Summary
380(26)
Exercises
384(2)
Problems
386(10)
Advanced Problems
396(2)
Design Problems
398(6)
Matlab Problems
404(1)
Terms and Concepts
405(1)
Frequency Response Methods
406(63)
Introduction
407(2)
Frequency Response Plots
409(17)
An Example of Drawing the Bode Diagram
426(4)
Frequency Response Measurements
430(2)
Performance Specifications in the Frequency Domain
432(3)
Log Magnitude and Phase Diagrams
435(1)
Design Example: Engraving Machine Control System
435(4)
Frequency Response Methods Using Matlab
439(5)
Sequential Design Example: Disk Drive Read System
444(2)
Summary
446(23)
Exercises
451(3)
Problems
454(8)
Advanced Problems
462(2)
Design Problems
464(2)
Matlab Problems
466(2)
Terms and Concepts
468(1)
Stability in the Frequency Domain
469(84)
Introduction
470(1)
Mapping Contours in the s-Plane
471(5)
The Nyquist Criterion
476(11)
Relative Stability and the Nyquist Criterion
487(6)
Time-Domain Performance Criteria Specified in the Frequency Domain
493(7)
System Bandwidth
500(1)
The Stability of Control Systems with Time Delays
501(4)
Design Example: Remotely Controlled Reconnaissance Vehicle
505(3)
PID Controllers in the Frequency Domain
508(1)
Stability in the Frequency Domain Using Matlab
509(10)
Sequential Design Example: Disk Drive Read System
519(2)
Summary
521(32)
Exercises
528(6)
Problems
534(10)
Advanced Problems
544(2)
Design Problems
546(5)
Matlab Problems
551(1)
Terms and Concepts
552(1)
The Design of Feedback Control Systems
553(78)
Introduction
554(1)
Approaches to System Design
555(2)
Cascade Compensation Networks
557(4)
Phase-Lead Design Using the Bode Diagram
561(6)
Phase-Lead Design Using the Root Locus
567(6)
System Design Using Integration Networks
573(3)
Phase-Lag Design Using the Root Locus
576(4)
Phase-Lag Design Using the Bode Diagram
580(5)
System Design on the Bode Diagram Using Analytical and Computer Methods
585(1)
Systems with a Prefilter
586(3)
Design for Deadbeat Response
589(3)
Design Example: Rotor Winder Control System
592(3)
Design Example: The X-Y Plotter
595(3)
System Design Using Matlab
598(7)
Sequential Design Example: Disk Drive Read System
605(1)
Summary
606(25)
Exercises
608(2)
Problems
610(11)
Advanced Problems
621(3)
Design Problems
624(4)
Matlab Problems
628(2)
Terms and Concepts
630(1)
The Design of State Variable Feedback Systems
631(49)
Introduction
631(1)
Controllability
632(2)
Observability
634(2)
Optimal Control Systems
636(9)
Pole Placement Using State Feedback
645(6)
Ackermann's Formula
651(1)
Limitations of State Variable Feedback
652(1)
Internal Model Design
652(3)
Design Example: Automatic Test System
655(3)
State Variable Design Using Matlab
658(8)
Sequential Design Example: Disk Drive Read System
666(2)
Summary
668(12)
Exercises
668(1)
Problems
669(3)
Advanced Problems
672(2)
Design Problems
674(3)
Matlab Problems
677(2)
Terms and Concepts
679(1)
Robust Control Systems
680(63)
Introduction
681(1)
Robust Control Systems and System Sensitivity
682(3)
Analysis of Robustness
685(3)
Systems with Uncertain Parameters
688(2)
The Design of Robust Control Systems
690(5)
PID Controllers
695(2)
The Design of Robust PID Controlled Systems
697(5)
Design Example: Aircraft Autopilot
702(1)
The Design of a Space Telescope Control System
703(2)
The Design of a Robust Bobbin Drive
705(3)
The Robust Internal Model Control System
708(2)
The Design of an Ultra-Precision Diamond Turning Machine
710(4)
The Pseudo-Quantitative Feedback System
714(2)
Robust Control Systems Using Matlab
716(3)
Sequential Design Example: Disk Drive Read System
719(2)
Summary
721(22)
Exercises
723(1)
Problems
724(6)
Advanced Problems
730(3)
Design Problems
733(8)
Matlab Problems
741(1)
Terms and Concepts
742(1)
Digital Control Systems
743(44)
Introduction
744(1)
Digital Computer Control System Applications
744(2)
Sampled-Data Systems
746(3)
The z-Transform
749(5)
Closed-Loop Feedback Sampled-Data Systems
754(2)
Stability Analysis in the z-Plane
756(1)
Performance of a Sampled-Data, Second-Order System
757(3)
Closed-Loop Systems with Digital Computer Compensation
760(2)
The Design of a Worktable Motion Control System
762(2)
The Root Locus of Digital Control Systems
764(4)
Implementation of Digital Controllers
768(1)
Digital Control Systems Using Matlab
769(5)
Sequential Design Example: Disk Drive Read System
774(2)
Summary
776(11)
Exercises
776(2)
Problems
778(2)
Advanced Problems
780(2)
Design Problems
782(1)
Matlab Problems
783(1)
Terms and Concepts
784(3)
Appendix A Matlab Basics 787(18)
Appendix B Simulink Basics 805(8)
Appendix C Symbols, Units, and Conversion Factors On WWW
Appendix D An Introduction to Matrix Algebra On WWW
Appendix E Decibel Conversion On WWW
Appendix F Complex Numbers On WWW
Appendix G z-Transfer Pairs On WWW
References 813(12)
Index 825


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