Control systems engineering / Norman S. Nise

Includes index

Preface ix
1 Introduction
1 (32)
1.1 Introduction
2 (2)
1.2 A History of Control Systems
4 (3)
1.3 System Configurations
7 (3)
1.4 Analysis and Design Objectives
10 (5)
Case Study
12 (3)
1.5 The Design Process
15 (5)
1.6 Computer-Aided Design
20 (1)
1.7 The Control Systems Engineer
21 (12)
Summary
23 (1)
Review Questions
23 (1)
Problems
24 (6)
Cyber Exploration Laboratory
30 (1)
Bibliography
31 (2)
2 Modeling in the Frequency Domain
33 (84)
2.1 Introduction
34 (1)
2.2 Laplace Transform Review
35 (9)
2.3 The Transfer Function
44 (3)
2.4 Electrical Network Transfer Functions
47 (14)
2.5 Translational Mechanical System Transfer Functions
61 (8)
2.6 Rotational Mechanical System Transfer Functions
69 (5)
2.7 Transfer Functions for Systems with Gears
74 (5)
2.8 Electromechanical System Transfer Functions
79 (5)
2.9 Electric Circuit Analogs
84 (4)
2.10 Nonlinearities
88 (1)
2.11 Linearization
89 (28)
Case Studies
94 (3)
Summary
97 (1)
Review Questions
97 (1)
Problems
98 (14)
Cyber Exploration Laboratory
112 (3)
Bibliography
115 (2)
3 Modeling in the Time Domain
117 (44)
3.1 Introduction
118 (1)
3.2 Some Observations
119 (4)
3.3 The General State-Space Representation
123 (1)
3.4 Applying the State-Space Representation
124 (8)
3.5 Converting a Transfer Function to State Space
132 (7)
3.6 Converting from State Space to a Transfer Function
139 (2)
3.7 Linearization
141 (20)
Case Studies
144 (4)
Summary
148 (1)
Review Questions
149 (1)
Problems
149 (8)
Cyber Exploration Laboratory
157 (2)
Bibliography
159 (2)
4 Time Response
161 (74)
4.1 Introduction
162 (1)
4.2 Poles, Zeros, and System Response
162 (4)
4.3 First-Order Systems
166 (2)
4.4 Second-Order Systems: Introduction
168 (5)
4.5 The General Second-Order System
173 (4)
4.6 Underdamped Second-Order Systems
177 (9)
4.7 System Response with Additional Poles
186 (5)
4.8 System Response With Zeros
191 (5)
4.9 Effects of Nonlinearities Upon Time Response
196 (3)
4.10 Laplace Transform Solution of State Equations
199 (4)
4.11 Time Domain Solution of State Equations
203 (32)
Case Studies
207 (6)
Summary
213 (1)
Review Questions
214 (1)
Problems
215 (13)
Cyber Exploration Laboratory
228 (4)
Bibliography
232 (3)
5 Reduction of Multiple Subsystems
235 (66)
5.1 Introduction
236 (1)
5.2 Block Diagrams
236 (9)
5.3 Analysis and Design of Feedback Systems
245 (3)
5.4 Signal-Flow Graphs
248 (3)
5.5 Mason's Rule
251 (3)
5.6 Signal-Flow Graphs of State Equations
254 (2)
5.7 Alternative Representations in State Space
256 (10)
5.8 Similarity Transformations
266 (35)
Case Studies
272 (6)
Summary
278 (1)
Review Questions
279 (1)
Problems
280 (17)
Cyber Exploration Laboratory
297 (2)
Bibliography
299 (2)
6 Stability
301 (38)
6.1 Introduction
302 (3)
6.2 Routh-Hurwitz Criterion
305 (3)
6.3 Routh-Hurwitz Criterion: Special Cases
308 (6)
6.4 Routh-Hurwitz Criterion: Additional Examples
314 (6)
6.5 Stability in State Space
320 (19)
Case Studies
323 (2)
Summary
325 (1)
Review Questions
325 (1)
Problems
326 (9)
Cyber Exploration Laboratory
335 (1)
Bibliography
336 (3)
7 Steady-State Errors
339 (48)
7.1 Introduction
340 (3)
7.2 Steady-State Error for Unity Feedback Systems
343 (6)
7.3 Static Error Constants and System Type
349 (4)
7.4 Steady-State Error Specifications
353 (3)
7.5 Steady-State Error for Disturbances
356 (2)
7.6 Steady-State Error for Nonunity Feedback Systems
358 (4)
7.7 Sensitivity
362 (2)
7.8 Steady-State Error for Systems in State Space
364 (23)
Case Studies
368 (3)
Summary
371 (1)
Review Questions
372 (1)
Problems
373 (11)
Cyber Exploration Laboratory
384 (2)
Bibliography
386 (1)
8 ROOT LOCUS TECHNIQUES
387 (68)
8.1 Introduction
388 (4)
8.2 Defining the Root Locus
392 (2)
8.3 Properties of the Root Locus
394 (3)
8.4 Sketching the Root Locus
397 (5)
8.5 Refining the Sketch
402 (9)
8.6 An Example
411 (4)
8.7 Transient Response Design via Gain Adjustment
415 (4)
8.8 Generalized Root Locus
419 (2)
8.9 Root Locus for Positive-Feedback Systems
421 (3)
8.10 Pole Sensitivity
424 (31)
Case Studies
426 (5)
Summary
431 (1)
Review Questions
432 (1)
Problems
432 (18)
Cyber Exploration Laboratory
450 (2)
Bibliography
452 (3)
9 Design Via Root Locus
455 (78)
9.1 Introduction
456 (3)
9.2 Improving Steady-State Error via Cascade Compensation
459 (10)
9.3 Improving Transient Response via Cascade Compensation
469 (13)
9.4 Improving Steady-State Error and Transient Response
482 (13)
9.5 Feedback Compensation
495 (8)
9.6 Physical Realization of Compensation
503 (30)
Case Studies
508 (5)
Summary
513 (1)
Review Questions
514 (1)
Problems
515 (15)
Cyber Exploration Laboratory
530 (1)
Bibliography
531 (2)
10 Frequency Response Techniques
533 (92)
10.1 Introduction
534 (6)
10.2 Asymptotic Approximations: Bode Plots
540 (19)
10.3 Introduction to the Nyquist Criterion
559 (5)
10.4 Sketching the Nyquist Diagram
564 (5)
10.5 Stability via the Nyquist Diagram
569 (5)
10.6 Gain Margin and Phase Margin via the Nyquist Diagram
574 (2)
10.7 Stability, Gain Margin, and Phase Margin via Bode Plots
576 (4)
10.8 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses
580 (3)
10.9 Relation Between Closed- and Open-Loop Frequency Responses
583 (6)
10.10 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses
589 (4)
10.11 Steady-State Error Characteristics from Frequency Response
593 (4)
10.12 Systems with Time Delay
597 (5)
10.13 Obtaining Transfer Functions Experimentally
602 (23)
Case Study
606 (1)
Summary
607 (2)
Review Questions
609 (1)
Problems
610 (11)
Cyber Exploration Laboratory
621 (2)
Bibliography
623 (2)
11 Design Via Frequency Response
625 (38)
11.1 Introduction
626 (1)
11.2 Transient Response via Gain Adjustment
627 (3)
11.3 Lag Compensation
630 (5)
11.4 Lead Compensation
635 (6)
11.5 Lag-Lead Compensation
641 (22)
Case Studies
650 (2)
Summary
652 (1)
Review Questions
653 (1)
Problems
653 (7)
Cyber Exploration Laboratory
660 (1)
Bibliography
661 (2)
12 Design Via State Space
663 (60)
12.1 Introduction
664 (1)
12.2 Controller Design
665 (7)
12.3 Controllability
672 (4)
12.4 Alternative Approaches to Controller Design
676 (6)
12.5 Observer Design
682 (7)
12.6 Observability
689 (4)
12.7 Alternative Approaches to Observer Design
693 (7)
12.8 Steady-State Error Design Via Integral Control
700 (23)
Case Study
704 (5)
Summary
709 (1)
Review Questions
710 (1)
Problems
711 (8)
Cyber Exploration Laboratory
719 (2)
Bibliography
721 (2)
13 Digital Control Systems
723 (60)
13.1 Introduction
724 (3)
13.2 Modeling the Digital Computer
727 (3)
13.3 The z-Transform
730 (5)
13.4 Transfer Functions
735 (4)
13.5 Block Diagram Reduction
739 (3)
13.6 Stability
742 (7)
13.7 Steady-State Errors
749 (4)
13.8 Transient Response on the z-Plane
753 (2)
13.9 Gain Design on the z-Plane
755 (3)
13.10 Cascade Compensation via the s-Plane
758 (4)
13.11 Implementing the Digital Compensator
762 (21)
Case Studies
765 (4)
Summary
769 (1)
Review Questions
770 (1)
Problems
771 (7)
Cyber Exploration Laboratory
778 (2)
Bibliography
780 (3)
Appendix A List of Symbols
783 (4)
Appendix B MATLAB Tutorial
787 (49)
B.1 Introduction
787 (1)
B.2 MATLAB Examples
788 (45)
B.3 Command Summary
833 (3)
Bibliography
835 (1)
Appendix C MATLAB's Simulink Tutorial
836 (21)
C.1 Introduction
836 (1)
C.2 Using Simulink
836 (5)
C.3 Examples
841 (16)
Summary
855 (1)
Bibliography
856 (1)
Appendix D LabVIEW Tutorial
857 (30)
D.1 Introduction
857 (1)
D.2 Control Systems Analysis, Design, and Simulation
858 (1)
D.3 Using LabVIEW
859 (3)
D.4 Analysis and Design Examples
862 (14)
D.5 Simulation Examples
876 (11)
Summary
885 (1)
Bibliography
886 (1)
Appendix E MATLAB's GUI Tools Tutorial (Online)
Appendix F MATLAB's Symbolic Math Toolbox Tutorial (Online)
Appendix G Matrices, Determinants, and Systems of Equations (Online)
Appendix H Control System Computational Aids (Online)
Appendix I Derivation of a Schematic for a DC Motor (Online)
Appendix J Derivation of the Time Domain Solution of State Equations (Online)
Appendix K Solution of State Equations for to ≠ 0 (Online)
Appendix L Derivation of Similarity Transformations (Online)
Appendix M Root Locus Rules: Derivations (Online)
Glossary 887 (10)
Answers to Selected Problems 897 (6)
Credits 903 (4)
Index 907

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