Modern Control Engineering

by Ogata, Katsuhiko

• ISBN13: 9780130609076
• ISBN10: 0130609072
• Edition: 4th
• Format: Hardcover
• Copyright: 2010-01-01
• Publisher: Prentice Hall

Summary

This comprehensive treatment of the analysis and design of continuous-time control systems provides agradualdevelopment of control theoryand shows how to solveallcomputational problems with MATLAB. It avoids highly mathematical arguments, and features an abundance of examples and worked problems throughout the book.Chapter topics include the Laplace transform; mathematical modeling of mechanical systems, electrical systems, fluid systems, and thermal systems; transient and steady-state-response analyses, root-locus analysis and control systems design by the root-locus method; frequency-response analysis and control systems design by the frequency-response; two-degrees-of-freedom control; state space analysis of control systems and design of control systems in state space.For control systems engineers.

Table of Contents

Preface	ix
Introduction to Control Systems	1	(8)
Introduction	1	(2)
Examples of Control Systems	3	(3)
Closed-Loop Control versus Open-Loop Control	6	(2)
Outline of the Book	8	(1)
The Laplace Transform	9	(44)
Introduction	9	(1)
Review of Complex Variables and Complex Functions	10	(3)
Laplace Transformation	13	(10)
Laplace Transform Theorems	23	(9)
Inverse Laplace Transformation	32	(4)
Partial-Fraction Expansion with MATLAB	36	(4)
Solving Linear, Time-Invariant, Differential Equations	40	(13)
Example Problems and Solutions	42	(9)
Problems	51	(2)
Mathematical Modeling of Dynamic Systems	53	(99)
Introduction	53	(2)
Transfer Function and Impulse-Response Function	55	(3)
Automatic Control Systems	58	(12)
Modeling in State Space	70	(6)
State-Space Representation of Dynamic Systems	76	(7)
Transformation of Mathematical Models with MATLAB	83	(2)
Mechanical Systems	85	(5)
Electrical and Electronic Systems	90	(14)
Signal Flow Graphs	104	(8)
Linearization of Nonlinear Mathematical Models	112	(40)
Example Problems and Solutions	115	(31)
Problems	146	(6)
Mathematical Modeling of Fluid Systems and Thermal Systems	152	(67)
Introduction	152	(1)
Liquid-Level Systems	153	(5)
Pneumatic Systems	158	(17)
Hydraulic Systems	175	(13)
Thermal Systems	188	(31)
Example Problems and Solutions	192	(19)
Problems	211	(8)
Transient and Steady-State Response Analyses	219	(118)
Introduction	219	(2)
First-Order Systems	221	(3)
Second-Order Systems	224	(15)
Higher Order Systems	239	(4)
Transient-Response Analysis with MATLAB	243	(28)
An Example Problem Solved with MATLAB	271	(4)
Routh's Stability Criterion	275	(6)
Effects of Integral and Derivative Control Actions on System Performance	281	(7)
Steady-State Errors in Unity-Feedback Control Systems	288	(49)
Example Problems and Solutions	294	(36)
Problems	330	(7)
Root-Locus Analysis	337	(79)
Introduction	337	(2)
Root-Locus Plots	339	(12)
Summary of General Rules for Constructing Root Loci	351	(7)
Root-Locus Plots with MATLAB	358	(15)
Positive-Feedback Systems	373	(5)
Conditionally Stable Systems	378	(1)
Root Loci for Systems with Transport Lag	379	(37)
Example Problems and Solutions	384	(29)
Problems	413	(3)
Control Systems Design by the Root-Locus Method	416	(76)
Introduction	416	(3)
Preliminary Design Considerations	419	(2)
Lead Compensation	421	(8)
Lag Compensation	429	(10)
Lag-Lead Compensation	439	(12)
Parallel Compensation	451	(41)
Example Problems and Solutions	456	(32)
Problems	488	(4)
Frequency-Response Analysis	492	(126)
Introduction	492	(5)
Bode Diagrams	497	(19)
Plotting Bode Diagrams with MATLAB	516	(7)
Polar Plots	523	(8)
Drawing Nyquist Plots with MATLAB	531	(8)
Log-Magnitude-versus-Phase Plots	539	(1)
Nyquist Stability Criterion	540	(10)
Stability Analysis	550	(10)
Relative Stability	560	(15)
Closed-Loop Frequency Response of Unity-Feedback Systems	575	(9)
Experimental Determination of Transfer Functions	584	(34)
Example Problems and Solutions	589	(23)
Problems	612	(6)
Control Systems Design by Frequency Response	618	(134)
Introduction	618	(3)
Lead Compensation	621	(9)
Lag Compensation	630	(9)
Lag-Lead Compensation	639	(6)
Concluding Comments	645	(36)
Example Problems and Solutions	648	(31)
Problems	679	(2)
PID Controls and Two-Degrees-of-Freedom
Control Systems	681	(1)
Introduction	681	(1)
Tuning Rules for PID Controllers	682	(10)
Computational Approach to Obtain Optimal Sets of Parameter Values	692	(8)
Modifications of PID Control Schemes	700	(3)
Two-Degrees-of-Freedom Control	703	(2)
Zero-Placement Approach to Improve Response Characteristics	705	(47)
Example Problems and Solutions	724	(21)
Problems	745	(7)
Analysis of Control Systems in State Space	752	(74)
Introduction	752	(1)
State-Space Representations of Transfer-Function Systems	753	(7)
Transformation of System Models with MATLAB	760	(4)
Solving the Time-Invariant State Equation	764	(8)
Some Useful Results in Vector-Matrix Analysis	772	(7)
Controllability	779	(7)
Observability	786	(40)
Example Problems and Solutions	792	(32)
Problems	824	(2)
Design of Control Systems in State Space	826	(126)
Introduction	826	(1)
Pole Placement	827	(12)
Solving Pole-Placement Problems with MATLAB	839	(4)
Design of Servo Systems	843	(12)
State Observers	855	(27)
Design of Regulator Systems with Observers	882	(8)
Design of Control Systems with Observers	890	(7)
Quadratic Optimal Regulator Systems	897	(55)
Example Problems and Solutions	910	(38)
Problems	948	(4)
References	952	(4)
Index	956

Excerpts

This book presents a comprehensive treatment of the analysis and design of control systems. It is written at the level of the senior engineering (mechanical, electrical, aerospace, and chemical) student and is intended to be used as a text for the first course in control systems. The prerequisite on the part of the reader is that he or she has had introductory courses on differential equations, vector-matrix analysis, circuit analysis, and mechanics. The main revision made in the fourth edition of the text is to present two-degrees-of-freedom control systems to design high performance control systems such that steady-state errors in following step, ramp, and acceleration inputs become zero. Also, newly presented is the computational (MATLAB) approach to determine the pole-zero locations of the controller to obtain the desired transient response characteristics such that the maximum overshoot and settling time in the step response be within the specified values. These subjects are discussed in Chapter 10. Also, Chapter 5 (primarily transient response analysis) and Chapter 12 (primarily pole placement and observer design) are expanded using MATLAB. Many new solved problems are added to these chapters so that the reader will have a good understanding of the MATLAB approach to the analysis and design of control systems. Throughout the book computational problems are solved with MATLAB. This text is organized into 12 chapters. The outline of the book is as follows. Chapter 1 presents an introduction to control systems. Chapter 2 deals with Laplace transforms of commonly encountered time functions and some of the useful theorems on Laplace transforms. (If the students have an adequate background on Laplace transforms, this chapter may be skipped.) Chapter 3 treats mathematical modeling of dynamic systems (mostly mechanical, electrical, and electronic systems) and develops transfer function models and state-space models. This chapter also introduces signal flow graphs. Discussions of a linearization technique for nonlinear mathematical models are included in this chapter. Chapter 4 presents mathematical modeling of fluid systems (such as liquid-level systems, pneumatic systems, and hydraulic systems) and thermal systems. Chapter 5 treats transient response analyses of dynamic systems to step, ramp, and impulse inputs. MATLAB is extensively used for transient response analysis. Routh's stability criterion is presented in this chapter for the stability analysis of higher order systems. Steady-state error analysis of unity-feedback control systems is also presented in this chapter. Chapter 6 treats the root-locus analysis of control systems. Plotting root loci with MATLAB is discussed in detail. In this chapter root-locus analyses of positive-feedback systems, conditionally stable systems, and systems with transport lag are included. Chapter 7 presents the design of lead, lag, and lag-lead compensators with the root-locus method. Both series and parallel compensation techniques are discussed. Chapter 8 presents basic materials on frequency-response analysis. Bode diagrams, polar plots, the Nyquist stability criterion, and closed-loop frequency response are discussed including the MATLAB approach to obtain frequency response plots. Chapter 9 treats the design and compensation techniques using frequency-response methods. Specifically, the Bode diagram approach to the design of lead, lag, and lag-lead compensators is discussed in detail. Chapter 10 first deals with the basic and modified PID controls and then presents computational (MATLAB) approach to obtain optimal choices of parameter values of controllers to satisfy requirements on step response characteristics. Next, it presents two-degrees-of-freedom control systems. The chapter concludes with the design of high performance control systems that will follow a step, ramp, or acceleration input without steady-state error. The zero-placement method