Linear Control System Analysis and Design with MATLAB®

Thoroughly classroom-tested and proven to be a valuable self-study companion, Linear Control System Analysis and Design: Sixth Edition provides an intensive overview of modern control theory and conventional control system design using in-depth explanations, diagrams, calculations, and tables. Keeping mathematics to a minimum, the book is designed with the undergraduate in mind, first building a foundation, then bridging the gap between control theory and its real-world application. Computer-aided design accuracy checks (CADAC) are used throughout the text to enhance computer literacy. Each CADAC uses fundamental concepts to ensure the viability of a computer solution. Completely updated and packed with student-friendly features, the sixth edition presents a range of updated examples using MATLAB®, as well as an appendix listing MATLAB functions for optimizing control system analysis and design. Over 75 percent of the problems presented in the previous edition have been revised or replaced.

Part I: Introductory MaterialIntroductionIntroductionIntroduction to Control SystemsDefinitionsHistorical BackgroundControl System: A Human BeingDigital Control DevelopmentMathematical BackgroundEngineering Control ProblemComputer LiteracyOutline of TextUnmanned Aircraft VehiclesIntroductionTwentieth-Century UAV R&DPredatorGrim Reaper (US Air Force Fact Sheet MQ-9 Reaper, Posted on January 5, 2012)RQ-4 Global Hawk (US Air Force Fact Sheet RQ-4 Global Hawk, Posted on January 19, 2012)Wind Energy Control SystemsIntroductionConcurrent Engineering: A Road Map for Systems Design: Energy ExampleQFT Controller Design CAD ToolboxFrequency Domain AnalysisIntroductionSteel Mill IngotElectrocardiographic MonitoringControl Theory: Analysis and Design of Control SystemsPart II: Analog Control SystemsWriting System EquationsIntroductionElectric Circuits and ComponentsState ConceptsTransfer Function and Block DiagramMechanical Translation SystemsAnalogous CircuitsMechanical Rotational SystemsEffective Moment of Inertia and Damping of a Gear TrainThermal SystemsHydraulic Linear ActuatorLiquid-Level SystemRotating Power AmplifiersDC ServomotorAC ServomotorLagrange’s EquationSolution of Differential EquationsIntroductionStandard Inputs to Control SystemsSteady-State Response: Sinusoidal InputSteady-State Response: Polynomial InputTransient Response: Classical MethodDefinition of Time ConstantExample: Second-Order System (Mechanical)Example: Second-Order System (Electrical)Second-Order TransientsTime-Response SpecificationsCAD Accuracy ChecksState-Variable EquationsCharacteristic ValuesEvaluating the State Transition MatrixComplete Solution of the State EquationLaplace TransformIntroductionDefinition of the Laplace TransformDerivation of Laplace Transforms of Simple FunctionsLaplace Transform TheoremsCAD Accuracy ChecksApplication of the Laplace Transform to Differential EquationsInverse TransformationHeaviside Partial-Fraction Expansion TheoremsMATLAB® Partial-Fraction ExamplePartial-Fraction ShortcutsGraphical Interpretation of Partial-Fraction CoefficientsFrequency Response from the Pole–Zero DiagramLocation of Poles and StabilityLaplace Transform of the Impulse FunctionSecond-Order System with Impulse ExcitationSolution of State EquationEvaluation of the Transfer-Function MatrixMATLAB® Script For MIMO SystemsSystem RepresentationIntroductionBlock DiagramsDetermination of the Overall Transfer FunctionStandard Block-Diagram TerminologyPosition-Control SystemSimulation DiagramsSignal Flow GraphsState Transition Signal Flow GraphParallel State Diagrams from Transfer FunctionsDiagonalizing the A MatrixUse of State Transformation for the State-Equation SolutionTransforming A Matrix with Complex EigenvaluesTransforming an A Matrix into Companion FormUsing MATLAB® to Obtain the Companion A MatrixControl-System CharacteristicsIntroductionRouth’s Stability CriterionMathematical and Physical FormsFeedback System TypesAnalysis of System TypesExample: Type 2 SystemSteady-State Error CoefficientsCAD Accuracy Checks: CADACUse of Steady-State Error CoefficientsNonunity-Feedback SystemRoot LocusIntroductionPlotting Roots of a Characteristic EquationQualitative Analysis of the Root LocusProcedure OutlineOpen-Loop Transfer FunctionPoles of the Control Ratio C(s)/R(s)Application of the Magnitude and Angle ConditionsGeometrical Properties (Construction Rules)CAD Accuracy ChecksRoot Locus ExampleExample of Section 10.10: MATLAB® Root LocusRoot Locus Example with an RH Plane ZeroPerformance CharacteristicsTransport LagSynthesisSummary of Root-Locus Construction Rules for Negative FeedbackFrequency ResponseIntroductionCorrelation of the Sinusoidal and Time ResponseFrequency-Response CurvesBode Plots (Logarithmic Plots)General Frequency–Transfer–Function RelationshipsDrawing the Bode PlotsExample of Drawing a Bode PlotGeneration of MATLAB® Bode PlotsSystem Type and Gain as Related to Log Magnitude CurvesCAD Accuracy CheckExperimental Determination of Transfer FunctionDirect Polar PlotsSummary: Direct Polar PlotsNyquist Stability CriterionExamples of the Nyquist Criterion Using Direct Polar PlotsNyquist Stability Criterion Applied to a System Having Dead TimeDefinitions of Phase Margin and Gain Margin and Their Relation to StabilityStability Characteristics of the Log Magnitude and Phase DiagramStability from the Nichols Plot (Log Magnitude–Angle Diagram)Closed-Loop Tracking Performance Based on Frequency ResponseIntroductionDirect Polar PlotDetermination of Mm and ?m for a Simple Second-Order SystemCorrelation of Sinusoidal and Time ResponsesConstant M(?) and a(?) Contours of C(J?)/R(J?) on the Complex Plane (Direct Plot) Constant 1/M and a Contours (Unity Feedback) in the Inverse Polar PlaneGain Adjustment of a Unity-Feedback System for a Desired Mm: Direct Polar PlotConstant M and a Curves on the Log Magnitude–Angle Diagram (Nichols Chart) Generation of MATLAB® Bode and Nyquist PlotsAdjustment of Gain by Use of the Log Magnitude–Angle Diagram (Nichols Chart)Correlation of the Pole–Zero Diagram with Frequency and Time ResponsesPart III: Compensation: Analog SystemsRoot-Locus Compensation: DesignIntroduction to DesignTransient Response: Dominant Complex PolesAdditional Significant PolesRoot-Locus Design ConsiderationsReshaping the Root LocusCAD Accuracy ChecksIdeal Integral Cascade Compensation (PI Controller)Cascade Lag Compensation Design Using Passive Elements SystemIdeal Derivative Cascade Compensation (PD Controller)Lead Compensation Design Using Passive ElementsGeneral Lead-Compensator DesignLag–Lead Cascade Compensation Design SystemComparison of Cascade CompensatorsPID ControllerIntroduction to Feedback CompensationFeedback Compensation: Design ProceduresSimplified Rate Feedback Compensation: A Design ApproachDesign of Rate FeedbackDesign: Feedback of Second Derivative of OutputResults of Feedback-Compensation DesignRate Feedback: Plants with Dominant Complex PolesFrequency-Response Compensation DesignIntroduction to Feedback Compensation DesignSelection of a Cascade CompensatorCascade Lag CompensatorDesign Example: Cascade Lag CompensationCascade Lead CompensatorDesign Example: Cascade Lead CompensationCascade Lag–Lead CompensatorDesign Example: Cascade Lag–Lead Compensation Feedback Compensation Design Using Log PlotsDesign Example: Feedback Compensation (Log Plots)Application Guidelines: Basic Minor-Loop Feedback CompensatorsPart IV: Advanced TopicsControl-Ratio ModelingIntroductionModeling a Desired Tracking Control RatioGuillemin – Truxal Design ProcedureIntroduction to Disturbance RejectionSecond-Order Disturbance-Rejection ModelDisturbance-Rejection Design Principles for SISO SystemsDisturbance-Rejection Design ExampleDisturbance-Rejection ModelsDesign: Closed-Loop Pole–Zero Assignment (State-Variable Feedback)IntroductionControllability and ObservabilityState Feedback for SISO SystemsState-Feedback Design for SISO Systems Using the Control Canonical (Phase-Variable) FormState-Variable Feedback (Physical Variables)General Properties of State Feedback (Using Phase Variables)State-Variable Feedback: Steady-State Error AnalysisUse of Steady-State Error CoefficientsState-Variable Feedback: All-Pole PlantPlants with Complex PolesCompensator Containing a ZeroState-Variable Feedback: Pole–Zero PlantObserversControl Systems Containing ObserversParameter Sensitivity and State-Space TrajectoriesIntroductionSensitivitySensitivity AnalysisSensitivity Analysis ExamplesParameter Sensitivity ExamplesInaccessible StatesState-Space TrajectoriesLinearization (Jacobian Matrix)Part V: Digital Control SystemsSampled-Data Control SystemsIntroductionSamplingIdeal SamplingZ Transform TheoremsDifferentiation ProcessSynthesis in the z Domain (Direct Method)Inverse Z TransformZero-Order HoldLimitationsSteady-State Error Analysis for Stable SystemsRoot-Locus Analysis for Sampled-Data Control SystemsDigital Control SystemsIntroductionComplementary SpectraTustin Transformation: s- to z-Plane Transf