Feedback Control Of Dynamic Systems

by Franklin, Gene F.; Powell, J. David; Emami-Naeini, Abbas

• ISBN13: 9780131499300
• ISBN10: 0131499300
• Edition: 5th
• Format: Hardcover
• Copyright: 2010-01-01
• Publisher: Prentice Hall

Summary

"Featuring a brand new chapter on nonlinear systems, this revision of the best-selling textbook on feedback control has been reorganized for even greater instructor flexibility and student readability. Design is emphasized throughout as well as analysis techniques to provide motivation for the study of control. The authors include many carefully worked-out examples to illustrate the material, as well as review questions to assist students in verifying that they have learned the material. The use of MATLAB is introduced early on in recognition of the universal use of software tools in control analysis and design. Strong student pedagogic elements in this edition include bulleted chapter summaries, marginal notes, and chapter openers that offer perspective and an overview of the material about to be presented."--BOOK JACKET.

Table of Contents

Preface	xii
An Overview and Brief History of Feedback Control	xviii
A Perspective on Feedback Control	xviii
Chapter Overview	1	(1)
A Simple Feedback System	2	(3)
A First Analysis of Feedback	5	(4)
A Brief History	9	(6)
An Overview of the Book	15	(5)
Summary	16	(1)
End-of-Chapter Questions	17	(1)
Problems	18	(2)
Dynamic Models	20	(52)
A Perspective on Dynamic Models	20	(1)
Chapter Overview	21	(1)
Dynamics of Mechanical Systems	22	(12)
Models of Electric Circuits	34	(5)
Models of Electromechanical Systems	39	(5)
Heat and Fluid-Flow Models	44	(11)
Complex Mechanical Systems	55	(17)
Summary	61	(1)
End-of-Chapter Questions	61	(1)
Problems	62	(10)
Dynamic Response	72	(94)
A Perspective on System Response	72	(1)
Chapter Overview	73	(1)
Review of Laplace Transforms	74	(28)
System Modeling Diagrams	102	(5)
Effect of Pole Locations	107	(8)
Time-Domain Specifications	115	(6)
Effects of Zeros and Additional Poles	121	(6)
Amplitude and Time Scaling	127	(3)
Stability	130	(9)
Obtaining Models from Experimental Data	139	(2)
Mason's Rule and the Signal-Flow Graph	141	(25)
Summary	145	(2)
End-of-Chapter Questions	147	(1)
Problems	148	(18)
Basic Properties of Feedback	166	(64)
A Perspective on the Properties of Feedback	166	(1)
Chapter Overview	167	(1)
The Basic Equations of Control	168	(8)
Control of Steady-State Error: System Type	176	(10)
Control of Dynamic Error: PID Control	186	(5)
Extensions to the Basic Feedback Concepts	191	(39)
Summary	210	(1)
End-of-Chapter Questions	211	(1)
Problems	212	(18)
The Root-Locus Design Method	230	(84)
A Perspective on the Root-Locus Design Method	230	(1)
Chapter Overview	231	(1)
Root Locus of a Basic Feedback System	232	(5)
Guidelines for Sketching a Root Locus	237	(12)
Selected Illustrative Root Loci	249	(14)
Selecting the Parameter Value	263	(3)
Design Using Dynamic Compensation	266	(12)
A Design Example Using the Root Locus	278	(6)
Extensions of the Root-Locus Method	284	(30)
Summary	292	(2)
End-of-Chapter Questions	294	(1)
Problems	295	(19)
The Frequency-Response Design Method	314	(124)
A Perspective on the Frequency-Response Design Method	314	(1)
Chapter Overview	315	(1)
Frequency Response	316	(22)
Neutral Stability	338	(2)
The Nyquist Stability Criterion	340	(13)
Stability Margins	353	(8)
Bode's Gain--Phase Relationship	361	(4)
Closed-Loop Frequency Response	365	(1)
Compensation	366	(26)
Alternative Presentations of Data	392	(6)
Specifications in Terms of the Sensitivity Function	398	(9)
Time Delay	407	(31)
Summary	409	(3)
End-of-Chapter Questions	412	(1)
Problems	413	(25)
State-Space Design	438	(156)
A Perspective on State-Space Design	438	(1)
Chapter Overview	439	(1)
Advantages of State Space	440	(1)
System Description in State Space	441	(7)
Block Diagrams and State Space	448	(3)
Analysis of the State Equations	451	(20)
Control-Law Design for Full-State Feedback	471	(14)
Selection of Pole Locations for Good Design	485	(12)
Estimator Design	497	(14)
Compensator Design: Combined Control Law and Estimator	511	(13)
Introduction of the Reference Input with the Estimator	524	(12)
Integral Control and Robust Tracking	536	(18)
Loop Transfer Recovery (LTR)	554	(5)
Direct Design with Rational Transfer Functions	559	(4)
Design for Systems with Pure Time Delay	563	(31)
Summary	568	(1)
End-of-Chapter Questions	569	(3)
Problems	572	(22)
Digital Control	594	(58)
A Perspective on Digital Control	594	(1)
Chapter Overview	595	(1)
Digitization	596	(2)
Dynamic Analysis of Discrete Systems	598	(8)
Design Using Discrete Equivalents	606	(9)
Hardware Characteristics	615	(4)
Sample-Rate Selection	619	(3)
Discrete Design	622	(7)
State-Space Design Methods	629	(23)
Summary	637	(2)
End-of-Chapter Questions	639	(1)
Problems	639	(13)
Nonlinear Systems	652	(64)
Perspective on Nonlinear Systems	652	(1)
Chapter Overview	653	(1)
Introduction and Motivation: Why Study Nonlinear Systems?	654	(2)
Analysis by Linearization	656	(7)
Equivalent Gain Analysis Using the Root Locus	663	(10)
Equivalent Gain Analysis Using Frequency Response: Describing Functions	673	(11)
Analysis and Design Based on Stability	684	(32)
Summary	706	(1)
End-of-Chapter Questions	706	(1)
Problems	707	(9)
Control System Design: Principles and Case Studies	716	(91)
A Perspective on Design Principles	716	(1)
Chapter Overview	717	(1)
An Outline of Control Systems Design	718	(5)
Design of a Satellite's Attitude Control	723	(19)
Lateral and Longitudinal Control of a Boeing 747	742	(19)
Control of the Fuel--Air Ratio in an Automotive Engine	761	(8)
Control of the Read/Write Head Assembly of a Hard Disk	769	(8)
Control of Rapid Thermal Processing (RTP) Systems in Semiconductor Wafer Manufacturing	777	(30)
Summary	791	(2)
End-of-Chapter Questions	793	(1)
Problems	793	(14)
Appendix A Laplace Transforms	807	(16)
A.1. The L - Laplace Transform	807	(14)
A.2. Final Value Theorem	821	(2)
Appendix B A Review of Complex Variables	823	(12)
B.1. Definition of a Complex Number	823	(2)
B.2. Algebraic Manipulations	825	(2)
B.3. Graphical Evaluation of Magnitude and Phase	827	(1)
B.4. Differentiation and Integration	828	(1)
B.5. Euler's Relations	828	(1)
B.6. Analytic Functions	829	(1)
B.7. Cauchy's Theorem	829	(1)
B.8. Singularities and Residues	830	(1)
B.9. Residue Theorem	830	(1)
B.10. The Argument Principle	831	(2)
B.11. Bilinear Transformation	833	(2)
Appendix C Summary of Matrix Theory	835	(10)
C.1. Matrix Definitions	835	(1)
C.2. Elementary Operations on Matrices	835	(1)
C.3. Trace	836	(1)
C.4. Transpose	836	(1)
C.5. Determinant and Matrix Inverse	837	(1)
C.6. Properties of the Determinant	838	(1)
C.7. Inverse of Block Triangular Matrices	839	(1)
C.8. Special Matrices	839	(1)
C.9. Rank	840	(1)
C.10. Characteristic Polynomial	840	(1)
C.11. Cayley-Hamilton Theorem	840	(1)
C.12. Eigenvalues and Eigenvectors	840	(1)
C.13. Similarity Transformations	841	(1)
C.14. Matrix Exponential	842	(1)
C.15. Fundamental Subspaces	843	(1)
C.16. Singular-Value Decomposition	843	(1)
C.17. Positive Definite Matrices	844	(1)
C.18. Matrix Identity	844	(1)
Appendix D Controllability and Observability	845	(8)
D.1. Controllability	845	(6)
D.2. Observability	851	(2)
Appendix E Ackermann's Formula for Pole Placement	853	(4)
Appendix F MATLAB Commands	857	(2)
Appendix G Solutions to the End-of-Chapter Questions	859	(16)
References	875	(10)
Index	885