Control Systems Engineering

Preface vii 1. Introduction 1 1.1 Introduction 2 1.2 A History of Control Systems 4 1.3 System Configurations 6 1.4 Analysis and Design Objectives 9 Case Study 11 1.5 The Design Process 14 1.6 Computer-Aided Design 19 1.7 The Control Systems Engineer 20 Summary 21 Review Questions 22 Cyber Exploration Laboratory 22 Bibliography 23 2. Modeling In The Frequency Domain 25 2.1 Introduction 26 2.2 Laplace Transform Review 27 2.3 The Transfer Function 36 2.4 Electrical Network Transfer Functions 39 2.5 Translational Mechanical System Transfer Functions 53 2.6 Rotational Mechanical System Transfer Functions 61 2.7 Transfer Functions for Systems with Gears 65 2.8 Electromechanical System Transfer Functions 69 2.9 Electric Circuit Analogs 75 2.10 Nonlinearities 78 2.11 Linearization 79 Case Studies 84 Summary 87 Review Questions 87 Cyber Exploration Laboratory 88 Hardware Interface Laboratory 91 Bibliography 93 3. Modeling In The Time Domain 95 3.1 Introduction 96 3.2 Some Observations 96 3.3 The General State-Space Representation 100 3.4 Applying the State-Space Representation 102 3.5 Converting a Transfer Function to State Space 110 3.6 Converting from State Space to a Transfer Function 116 3.7 Linearization 118 Case Studies 121 Summary 125 Review Questions 126 Cyber Exploration Laboratory 126 Bibliography 128 4. Time Response 130 4.1 Introduction 131 4.2 Poles, Zeros, and System Response 131 4.3 First-Order Systems 135 4.4 Second-Order Systems: Introduction 137 4.5 The General Second-Order System 142 4.6 Underdamped Second-Order Systems 146 4.7 System Response with Additional Poles 155 4.8 System Response with Zeros 159 4.9 Effects of Nonlinearities upon Time Response 165 4.10 Laplace Transform Solution of State Equations 167 4.11 Time Domain Solution of State Equations 171 Case Studies 175 Summary 181 Review Questions 182 Cyber Exploration Laboratory 183 Hardware Interface Laboratory 186 Bibliography 192 5. Reduction of Multiple Subsystems 194 5.1 Introduction 195 5.2 Block Diagrams 195 5.3 Analysis and Design of Feedback Systems 204 5.4 Signal-Flow Graphs 207 5.5 Mason's Rule 210 5.6 Signal-Flow Graphs of State Equations 213 5.7 Alternative Representations in State Space 215 5.8 Similarity Transformations 224 Case Studies 231 Summary 237 Review Questions 237 Cyber Exploration Laboratory 238 Bibliography 240 6. Stability 242 6.1 Introduction 243 6.2 Routh-Hurwitz Criterion 246 6.3 Routh-Hurwitz Criterion: Special Cases 248 6.4 Routh-Hurwitz Criterion: Additional Examples 254 6.5 Stability in State Space 261 Case Studies 264 Summary 266 Review Questions 266 Cyber Exploration Laboratory 267 Bibliography 268 7. Steady-State Errors 270 7.1 Introduction 271 7.2 Steady-State Error for Unity Feedback Systems 274 7.3 Static Error Constants and System Type 280 7.4 Steady-State Error Specifications 283 7.5 Steady-State Error for Disturbances 286 7.6 Steady-State Error for Nonunity-Feedback Systems 288 7.7 Sensitivity 291 7.8 Steady-State Error for Systems in 0State Space 294 Case Studies 297 Summary 300 Review Questions 301 Cyber Exploration Laboratory 302 Bibliography 303 8. Root Locus Techniques 305 8.1 Introduction 306 8.2 Defining the Root Locus 310 8.3 Properties of the Root Locus 312 8.4 Sketching the Root Locus 314 8.5 Refining the Sketch 319 8.6 An Example 328 8.7 Transient Response Design via Gain Adjustment 331 8.8 Generalized Root Locus 335 8.9 Root Locus for Positive-Feedback Systems 337 8.10 Pole Sensitivity 339 Case Studies 341 Summary 346 Review Questions 347 Cyber Exploration Laboratory 347 Hardware Interface Laboratory 349 Bibliography 356 9. Design Via Root Locus 358 9.1 Introduction 359 9.2 Improving Steady-State Error via Cascade Compensation 362 9.3 Improving Transient Response via Cascade Compensation 371 9.4 Improving Steady-State Error and Transient Response 383 9.5 Feedback Compensation 396 9.6 Physical Realization of Compensation 404 Case Studies 409 Summary 413 Review Questions 414 Cyber Exploration Laboratory 415 Hardware Interface Laboratory 417 Bibliography 419 10. Frequency Response Techniques 421 10.1 Introduction 422 10.2 Asymptotic Approximations: Bode Plots 427 10.3 Introduction to the Nyquist Criterion 446 10.4 Sketching the Nyquist Diagram 451 10.5 Stability via the Nyquist Diagram 456 10.6 Gain Margin and Phase Margin via the Nyquist Diagram 460 10.7 Stability, Gain Margin, and Phase Margin via Bode Plots 462 10.8 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses 466 10.9 Relation Between Closed- and Open-Loop Frequency Responses 469 10.10 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses 474 10.11 Steady-State Error Characteristics from Frequency Response 478 10.12 Systems with Time Delay 482 10.13 Obtaining Transfer Functions Experimentally 487 Case Study 491 Summary 492 Review Questions 493 Cyber Exploration Laboratory 494 Bibliography 496 11. Design Via Frequency Response 498 11.1 Introduction 499 11.2 Transient Response via Gain Adjustment 500 11.3 Lag Compensation 503 11.4 Lead Compensation 508 11.5 Lag-Lead Compensation 514 Case Studies 523 Summary 525 Review Questions 525 Cyber Exploration Laboratory 526 Bibliography 527 12. Design Via State Space 528 12.1 Introduction 529 12.2 Controller Design 530 12.3 Controllability 537 12.4 Alternative Approaches to Controller Design 540 12.5 Observer Design 546 12.6 Observability 553 12.7 Alternative Approaches to Observer Design 556 12.8 Steady-State Error Design via Integral Control 563 Case Study 567 Summary 572 Review Questions 573 Cyber Exploration Laboratory 574 Bibliography 575 13. Digital Control Systems 577 13.1 Introduction 578 13.2 Modeling the Digital Computer 581 13.3 The z-Transform 584 13.4 Transfer Functions 589 13.5 Block Diagram Reduction 593 13.6 Stability 596 13.7 Steady-State Errors 603 13.8 Transient Response on the z-Plane 607 13.9 Gain Design on the z-Plane 609 13.10 Cascade Compensation via the s-Plane 612 13.11 Implementing the Digital Compensator 616 Case Studies 619 Summary 623 Review Questions 624 Cyber Exploration Laboratory 625 Bibliography 627 Problems P-1 Appendix A1 List of Symbols A-1 Appendix A2 Antenna Azimuth Position Control System A-5 Appendix A3 Unmanned Free-Swimming Submersible Vehicle A-7 Appendix A4 Key Equations A-8 Glossary G-1 Answers To Selected Problems ANS-1 Index I-1 Appendix B Matlab Tutorial (Available in e-text for students) Appendix C Simulink Tutorial (Available in e-text for students) Appendix D LabVIEW Tutorial (Available in e-text for students) Appendix E MATLAB's GUI Tools Tutorial (Available in e-text for students) Appendix F MATLAB's Symbolic Math Toolbox Tutorial (Available in e-text for students) Appendix G Matrices, Determinants, and Systems of Equations (Available in e-text for students) Appendix H Control System Computational Aids (Available in e-text for students) Appendix I Derivation of a Schematic for a DC Motor (Available in e-text for students) Appendix J Derivation of the Time Domain Solution of State Equations (Available in e-text for students) Appendix K Solution of State Equations for t0 0 (Available in e-text for students) Appendix L Derivation of Similarity Transformations (Available in e-text for students) Appendix M Root Locus Rules: Derivations (Available in e-text for students)

Este título pertence ao(s) assunto(s) indicados(s). Para ver outros títulos clique no assunto desejado.

• Electrónica e engenharia das comunicações

engineering; mechanical engineering; biomedical engineering; aerospace engineering; chemical engineering; MATLAB; LabVIEW; Simulink; progressive analysis; myDAQ; Control System Toolbox; Symbolic Math Toolbox; Hardware Interface Library; State-Space Methods; control systems; engineering textbook; control systems labs; control system components; control system functions; understanding control systems; engineering MATLAB; engineering problems; engineering exercises; engineering software; control system design; feedback system design; root locus techniques; frequency response; digital control systems; control system experiments; control system simulations; Control Systems Engineering, Eighth Edition; Norman S. Nise