Feedback Systems : An Introduction for Scientists and Engineers

by Astrom, Karl Johan; Murray, Richard M.

• ISBN13: 9781400828739
• ISBN10: 1400828732
• Copyright: 2009-01-15
• Publisher: Princeton Univ Pr

Summary

This book provides an introduction to the mathematics needed to model, analyze, and design feedback systems. It is an ideal textbook for undergraduate and graduate students, and is indispensable for researchers seeking a self-contained reference on control theory. Unlike most books on the subject,Feedback Systemsdevelops transfer functions through the exponential response of a system, and is accessible across a range of disciplines that utilize feedback in physical, biological, information, and economic systems.Karl Aring;strouml;m and Richard Murray use techniques from physics, computer science, and operations research to introduce control-oriented modeling. They begin with state space tools for analysis and design, including stability of solutions, Lyapunov functions, reachability, state feedback observability, and estimators. The matrix exponential plays a central role in the analysis of linear control systems, allowing a concise development of many of the key concepts for this class of models. Aring;strouml;m and Murray then develop and explain tools in the frequency domain, including transfer functions, Nyquist analysis, PID control, frequency domain design, and robustness. They provide exercises at the end of every chapter, and an accompanying electronic solutions manual is available.Feedback Systemsis a complete one-volume resource for students and researchers in mathematics, engineering, and the sciences. Covers the mathematics needed to model, analyze, and design feedback systems Serves as an introductory textbook for students and a self-contained resource for researchers Includes exercises at the end of every chapter Features an electronic solutions manual Offers techniques applicable across a range of disciplines

Table of Contents

Preface	p. ix
Introduction	p. 1
What Is Feedback?	p. 1
What Is Control?	p. 3
Feedback Examples	p. 5
Feedback Properties	p. 17
Simple Forms of Feedback	p. 23
Further Reading	p. 25
Exercises	p. 25
System Modeling	p. 27
Modeling Concepts	p. 27
State Space Models	p. 34
Modeling Methodology	p. 44
Modeling Examples	p. 51
Further Reading	p. 61
Exercises	p. 61
Examples	p. 65
Cruise Control	p. 65
Bicycle Dynamics	p. 69
Operational Amplifier Circuits	p. 71
Computing Systems and Networks	p. 75
Atomic Force Microscopy	p. 81
Drug Administration	p. 84
Population Dynamics	p. 89
Exercises	p. 91
Dynamic Behavior	p. 95
Solving Differential Equations	p. 95
Qualitative Analysis	p. 98
Stability	p. 102
Lyapunov Stability Analysis	p. 110
Parametric and Nonlocal Behavior	p. 120
Further Reading	p. 126
Exercises	p. 126
Linear Systems	p. 131
Basic Definitions	p. 131
The Matrix Exponential	p. 136
Input/Output Response	p. 145
Linearization	p. 158
Further Reading	p. 163
Exercises	p. 164
State Feedback	p. 167
Reachability	p. 167
Stabilization by State Feedback	p. 175
State Feedback Design	p. 183
Integral Action	p. 195
Further Reading	p. 197
Exercises	p. 197
Output Feedback	p. 201
Observability	p. 201
State Estimation	p. 206
Control Using Estimated State	p. 211
Kalman Filtering	p. 215
A General Controller Structure	p. 219
Further Reading	p. 226
Exercises	p. 226
Transfer Functions	p. 229
Frequency Domain Modeling	p. 229
Derivation of the Transfer Function	p. 231
Block Diagrams and Transfer Functions	p. 242
The Bode Plot	p. 250
Laplace Transforms	p. 259
Further Reading	p. 262
Exercises	p. 262
Frequency Domain Analysis	p. 267
The Loop Transfer Function	p. 267
The Nyquist Criterion	p. 270
Stability Margins	p. 278
Bode's Relations and Minimum Phase Systems	p. 283
Generalized Notions of Gain and Phase	p. 285
Further Reading	p. 290
Exercises	p. 290
PID Control	p. 293
Basic Control Functions	p. 293
Simple Controllers for Complex Systems	p. 298
PID Tuning	p. 302
Integrator Windup	p. 306
Implementation	p. 308
Further Reading	p. 312
Exercises	p. 313
Frequency Domain Design	p. 315
Sensitivity Functions	p. 315
Feedforward Design	p. 319
Performance Specifications	p. 322
Feedback Design via Loop Shaping	p. 326
Fundamental Limitations	p. 331
Design Example	p. 340
Further Reading	p. 343
Exercises	p. 344
Robust Performance	p. 347
Modeling Uncertainty	p. 347
Stability in the Presence of Uncertainty	p. 352
Performance in the Presence of Uncertainty	p. 358
Robust Pole Placement	p. 361
Design for Robust Performance	p. 369
Further Reading	p. 374
Exercises	p. 374
Bibliography	p. 377
Index	p. 387
Table of Contents provided by Publisher. All Rights Reserved.