Control Systems Technology

by Johnson, Curtis D.; Malki, Heidar

• ISBN13: 9780130815309
• ISBN10: 0130815306
• Edition: 1st
• Format: Paperback
• Copyright: 2019-12-05
• Publisher: Pearson

Summary

This book presents All of the major topics in modern analog and digital control systems, along with the practical, applications oriented knowledge and skills needed by technicians. It contains user-friendly conceptual explanations and clearly written mathematical developments. Examples of both Mathcad and MATLAB illustrate computer problem solvingbut this book emphasizes the ability to useanysuitable software to achieve successful results in solving problems and performing design.Chapter topics include Measurement; Laplace Transforms; Control System Models; Static and Dynamic Response; Stability; Frequency Response Analysis; Root Locus; State Variable Analysis; Introduction to Discrete Control Systems; Z-Transforms and Discrete State-Space Analysis; Digital Signal Representations; Discrete Time Control Systems; Stability of Discrete Control Systems; and Advanced Topics in Control Systems.For engineers and technicians working for companies that integrate control systems with the use of programmable logic controllers.

Table of Contents

Introduction to Control Systems	1	(22)
Purpose	2	(1)
Introduction	2	(5)
Control System Strategy	3	(1)
Examples of Control Systems	4	(3)
Analytical Issues	7	(1)
Analytical Descriptions	7	(7)
Block Diagram	8	(2)
Transfer Functions	10	(3)
Computer Applications Software	13	(1)
Analog and Digital Control	14	(3)
System Design Objectives	17	(6)
Dynamic Response	17	(1)
Instability	17	(2)
Summary	19	(1)
Problems	20	(3)
Measurement	23	(28)
Purpose	24	(1)
Measurement Principles	24	(14)
Sensor	25	(6)
Signal Conditioning	31	(7)
Sensors	38	(13)
Temperature	38	(3)
Displacement	41	(4)
Motion	45	(2)
Summary	47	(1)
Problems	47	(4)
Laplace Transforms	51	(42)
Purpose	52	(1)
Introduction	52	(2)
Definition of the Laplace Transform	54	(5)
Computer Applications	58	(1)
Properties of Laplace Transforms	59	(6)
Inverse Laplace Transform	65	(12)
Partial-fraction Expansion	66	(9)
Convolution	75	(2)
Analog Simulation	77	(16)
The Operational Amplifier	77	(3)
Simulation of Physical Systems	80	(5)
Simulation of Control Systems	85	(2)
Summary	87	(2)
Problems	89	(4)
Control System Models	93	(46)
Purpose	94	(1)
Transfer Functions	94	(19)
Block Transfer Functions	95	(5)
Transfer Function Properties	100	(6)
Graphing	106	(7)
Block Diagrams	113	(13)
Canonical Form	114	(1)
Block Diagram Reduction	115	(8)
Multiple Inputs	123	(3)
Mason's Gain Formula	126	(2)
Controller/Compensator Transfer Functions	128	(11)
Proportional, Integral, and Derivative Controllers	129	(2)
Lead and Lag Compensation	131	(1)
Summary	132	(1)
Problems	133	(6)
Static and Dynamic Response	139	(34)
Purpose	140	(1)
Static Response	141	(9)
Steady-State Error	141	(7)
Disturbance Error	148	(2)
Dynamic Response of First-and Second-Order Plants	150	(8)
First-Order Plant	150	(3)
Second-Order Plant	153	(5)
Characteristics of Dynamic Response	158	(7)
Steady-State Error Versus Stability	165	(8)
Summary	167	(1)
Problems	168	(5)
Stability	173	(14)
Purpose	174	(1)
Definitions of Stability	174	(4)
Formal Definition of Stability	177	(1)
Routh-Hurwitz Stability Criterion	178	(9)
Special Cases	182	(2)
Summary	184	(1)
Problems	185	(2)
Frequency Response Analysis	187	(34)
Purpose	188	(1)
Basic Principles	188	(5)
Frequency Response Analysis	189	(1)
Exact Analysis	190	(1)
Bode Plot	191	(2)
Control System Bode Plots	193	(17)
Manual Construction	194	(13)
Computer Construction	207	(3)
Bode Plot Applications	210	(11)
Gain and Phase Margins	212	(2)
Transportation Delay	214	(2)
Summary	216	(1)
Problems	217	(4)
Root Locus	221	(32)
Purpose	222	(1)
Introduction to Root Locus	222	(6)
Closed-Loop Poles	222	(2)
Root Locus Graph	224	(4)
Root Locus Construction	228	(12)
Manual Construction	229	(11)
Computer Construction	240	(1)
Root Locus Applications	240	(13)
Gain and Phase Margin	240	(2)
Transient Response	242	(7)
Summary	249	(1)
Problems	249	(4)
State-Space Analysis	253	(32)
Purpose	254	(1)
State-Space Definition	255	(4)
Solving State-Space Equations	259	(10)
Laplace Transform Solutions	259	(5)
Series Expansion Solution	264	(2)
Computer Simulation Solution	266	(3)
Simulation Diagrams and State-Space Equations	269	(6)
Simulation Diagram Definition	270	(2)
Generalized Rules of Simulation Diagram Construction	272	(3)
Transfer Function in State Space	275	(2)
Controllability and Observability	277	(8)
Controllability	277	(2)
Observability	279	(2)
Summary	281	(1)
Problems	282	(3)
Introduction to Digital Control Systems	285	(22)
Purpose	286	(1)
Definition of a Digital Control System	286	(8)
Digital Control System Hardware	287	(4)
Digital Control System Software	291	(3)
Simulations Using Computers	294	(1)
The Difference Equation	294	(13)
Finding the Difference Equation	295	(3)
Solution of the Difference Equation	298	(4)
Summary	302	(1)
Problems	303	(4)
z-Transform and the Difference Equation	307	(30)
Purpose	308	(1)
Definition of the z-Transform	308	(8)
Properties of z-Transforms	316	(5)
Linearity	316	(1)
Advance Theorem (Shift Left)	316	(1)
Delay Theorem (Shift Right)	317	(1)
Final Value Theorem	318	(1)
Initial Value Theorem	319	(2)
Inverse z-Transform	321	(9)
Partial-Fraction Expansion for Real Poles	321	(4)
Partial-Fraction Expansion for Complex Poles	325	(2)
Partial-Fraction Expansion for Repeated Poles	327	(2)
Direct Method: Long Division	329	(1)
Inverse z-Transforms by Software	330	(1)
Difference Equation Solution	330	(7)
Summary	334	(1)
Problems	335	(2)
Discrete Control Systems	337	(34)
Purpose	338	(1)
Discrete Transfer Function	338	(9)
Open-Loop Transfer Functions	347	(2)
Closed-Loop Transfer Functions	349	(6)
Static and Dynamic Response	355	(16)
Static Response	355	(4)
Dynamic Response	359	(6)
Summary	365	(1)
Problems	366	(5)
Stability of Discrete Control Systems	371	(20)
Purpose	372	(1)
Conditions for Stability	372	(2)
Stability Tests	374	(7)
Routh-Hurwitz Test with the Bilinear Transformation	374	(2)
Jury's Stability Test	376	(5)
Discrete System Root Locus	381	(10)
Root Locus Construction Rules	381	(6)
Summary	387	(1)
Problems	388	(3)
Discrete State Space	391	(22)
Purpose	392	(1)
State-Space Equations in the Discrete Domain	392	(8)
Discrete State Equations	392	(4)
Solution by Recursion	396	(2)
Solution by z-Transforms	398	(2)
Discrete State-Space Transfer Function	400	(3)
Generation of State-Vector Equations	401	(2)
Observability and Controllability	403	(3)
Discrete Simulation Diagrams	406	(7)
Summary	410	(1)
Problems	410	(3)
Appendix A: Complex Numbers	413	(4)
Appendix B: Matrices	417	(6)
Glossary	423	(4)
Solutions to Selected Odd Problems	427	(32)
Index	459

Excerpts

This text was written to fill a very important educational niche in the broad spectrum of control systems knowledge. That niche lies between the hands-on electromechanical knowledge and skills needed by technicians and the highly abstract and theoretical knowledge required by scholars who research and develop new control strategies. This book focuses on the knowledge required by control systems practitioners to enable them to both understand and evaluate an existing control system and devise and design new control system applications.The text presents classical and digital control systems with an emphasis on careful explanations of the concepts. Many examples illustrate key topics and the operations required to solve problems.The text is an outgrowth of many years of teaching control systems to students in an engineering technology program. It is written for a two-semester course, nominally separated into analog and digital control. The difficulty with this approach is that much of digital control is a spinoff of analog concepts. Therefore, the analog material by itself is more extensive than the digital. In practice, we have found that some of the material on analog control must be delayed to the second course.Although patterned after the course sequence expected for a particular educational program, this text can be adapted to other approaches. For example, Chapter 2 (Measurement) can be omitted by those who prefer to cover sensors and measurement in other courses. Likewise, if Laplace transforms are covered in an independent course, that section in Chapter 3 can be omitted or assigned as review. It would be important to include, however, the last section of Chapter 3,Analog Simulation.The text emphasizes anunderstandingof control system concepts, but also requires the use of computers to implement practical solutions to problems. There are a number of control and mathematical software packages which are of great value in the study of control systems. Throughout the text; the use of these packages to facilitate solving problems is emphasized, and Mathcad or MATLAB is used to illustrate computer-based mathematical procedures. An attempt has been made to emphasize the use of computers as a tool to implement the mathematical and graphical operations required to solve a problem.A Web page ( www.uh.edu/~techl3v/ContSysTech ) will be set up for this text as a means for communication between users and authors, and also for sharing ideas and techniques related to teaching control systems. A solutions manual (ISBN: 0-13-090661-1) is available. It contains examples of physical and simulation experiments that can be conducted to enhance learning.Dr. Malki would like to thank his parents, his wife Layla, and his son Armeen for their support and patience during the long task of writing this book. Dr. Johnson would like to thank his wife Helene and his mother-in-law Lois for their continuing kindness while he undertook this task.