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Control systems engineering di Nise, Norman S.

Sommario: “...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...”