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Preface viii
1 Introduction to Dynamic Systems and Control 1
1.1 Introduction 1
1.2 Classification of Dynamic Systems 2
1.3 Modeling Dynamic Systems 3
1.4 Objectives and Textbook Outline 4
References 5
2 Modeling Mechanical Systems 6
2.1 Introduction 6
2.2 Mechanical Element Laws 6
2.3 Translational Mechanical Systems 11
2.4 Rotational Mechanical Systems 21
Summary 26
References 27
3 Modeling Electrical and Electromechanical Systems 28
3.1 Introduction 28
3.2 Electrical Element Laws 28
3.3 Electrical Systems 31
3.4 Operational-Amplifier Circuits 38
3.5 Electromechanical Systems 41
Summary 51
References 52
4 Modeling Fluid and Thermal Systems 53
4.1 Introduction 53
4.2 Hydraulic Systems 53
4.3 Pneumatic Systems 65
4.4 Thermal Systems 70
Summary 75
References 75
5 Standard Models for Dynamic Systems 76
5.1 Introduction 76
5.2 State-Variable Equations 76
5.3 State-Space Representation 79
5.4 Linearization 88
5.5 Input–Output Equations 93
5.6 Transfer Functions 95
5.7 Block Diagrams 98
5.8 Standard Input Functions 102
Summary 104
Reference 104
6 Numerical Simulation of Dynamic Systems 105
6.1 Introduction 105
6.2 System Response Using MATLAB Commands 105
6.3 Building Simulations Using Simulink 111
6.4 Simulating Linear Systems Using Simulink 113
6.5 Simulating Nonlinear Systems 117
6.6 Building Integrated Systems 124
Summary 129
References 129
7 Analytical Solution of Linear Dynamic Systems 131
7.1 Introduction 131
7.2 Analytical Solutions to Linear Differential Equations 131
7.3 First-Order System Response 138
7.4 Second-Order System Response 145
7.5 Higher-Order Systems 161
7.6 State-Space Representation and Eigenvalues 162
7.7 Approximate Models 165
Summary 167
Reference 168
8 System Analysis Using Laplace Transforms 169
8.1 Introduction 169
8.2 Laplace Transformation 169
8.3 Inverse Laplace Transformation 176
8.4 Analysis of Dynamic Systems Using Laplace Transforms 180
Summary 191
References 191
9 Frequency-Response Analysis 192
9.1 Introduction 192
9.2 Frequency Response 192
9.3 Bode Diagrams 203
9.4 Vibrations 218
Summary 223
References 224
10 Introduction to Control Systems 225
10.1 Introduction 225
10.2 Feedback Control Systems 225
10.3 Feedback Controllers 231
10.4 Steady-State Accuracy 245
10.5 Closed-Loop Stability 250
10.6 Root-Locus Method 252
10.7 Stability Margins 271
10.8 Implementing Control Systems 278
Summary 281
References 282
11 Case Studies in Dynamic Systems and Control 283
11.1 Introduction 283
11.2 Vibration Isolation System for a Commercial Vehicle 283
11.3 Solenoid Actuator–Valve System 294
11.4 Pneumatic Air-Brake System 301
11.5 Hydraulic Servomechanism Control 311
11.6 Feedback Control of a Magnetic Levitation System 326
Summary 335
References 336
Problems (Available in e-text for students) P-1
Appendix A Units A-1
Appendix B MATLAB Primer for Analyzing Dynamic Systems A-2
B.1 Introduction A-2
B.2 Basic MATLAB Computations A-2
B.3 Plotting with MATLAB A-5
B.4 Constructing Basic M-files A-6
B.5 Commands for Linear System Analysis A-7
B.6 Commands for Laplace Transform Analysis A-8
B.7 Commands for Control System Analysis A-9
Appendix C Simulink Primer A-11
C.1 Introduction A-11
C.2 Building Simulink Models of Linear Systems A-11
C.3 Building Simulink Models of Nonlinear Systems A-19
C.4 Summary of Useful Simulink Blocks A-22
Index I-1
