Control Systems Engineering

Norman S. Nise?teaches in the Electrical and Computer Engineering Department at California State Polytechnic University, Pomona. In addition to being the author of?Control Systems Engineering, ?Professor Nise has contributed to the CRC publications?The Engineering Handbook, The Control Handbook, ?and?The Electrical Engineering Handbook.

PREFACE, ix 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 1.5 The Design Process, 14 1.6 Computer-Aided Design, 19 1.7 The Control Systems Engineer, 20 Summary, 21 Review Questions, 22 Problems, 22 Cyber Exploration Laboratory, 29 Bibliography, 30 2. MODELING IN THE FREQUENCY DOMAIN, 33 2.1 Introduction, 34 2.2 Laplace Transform Review, 35 2.3 The Transfer Function, 44 2.4 Electrical Network Transfer Functions, 47 2.5 Translational Mechanical System Transfer Functions, 61 2.6 Rotational Mechanical System Transfer Functions, 69 2.7 Transfer Functions for Systems with Gears, 73 2.8 Electromechanical System Transfer Functions, 77 2.9 Electric Circuit Analogs, 83 2.10 Nonlinearities, 86 2.11 Linearization, 87 Case Studies, 92 Summary, 95 Review Questions, 95 Problems, 96 Cyber Exploration Laboratory, 107 Hardware Interface Laboratory, 110 Bibliography, 112 3. MODELING IN THE TIME DOMAIN, 115 3.1 Introduction, 116 3.2 Some Observations, 116 3.3 The General State-Space Representation, 120 3.4 Applying the State-Space Representation, 122 3.5 Converting a Transfer Function to State Space, 130 3.6 Converting from State Space to a Transfer Function, 136 3.7 Linearization, 138 Case Studies, 141 Summary, 145 Review Questions, 146 Problems, 146 Cyber Exploration Laboratory, 153 Bibliography, 155 4. TIME RESPONSE, 157 4.1 Introduction, 158 4.2 Poles, Zeros, and System Response, 158 4.3 First-Order Systems, 162 4.4 Second-Order Systems: Introduction, 164 4.5 The General Second-Order System, 169 4.6 Underdamped Second-Order Systems, 173 4.7 System Response with Additional Poles, 182 4.8 System Response With Zeros, 186 4.9 Effects of Nonlinearities Upon Time Response, 192 4.10 Laplace Transform Solution of State Equations, 194 4.11 Time Domain Solution of State Equations, 198 Case Studies, 202 Summary, 208 Review Questions, 209 Problems, 210 Cyber Exploration Laboratory, 223 Hardware Interface Laboratory, 227 Bibliography, 232 5. REDUCTION OF MULTIPLE SUBSYSTEMS, 235 5.1 Introduction, 236 5.2 Block Diagrams, 236 5.3 Analysis and Design of Feedback Systems, 245 5.4 Signal-Flow Graphs, 248 5.5 Mason?s Rule, 251 5.6 Signal-Flow Graphs of State Equations, 252 5.7 Alternative Representations in State Space, 256 5.8 Similarity Transformations, 264 Case Studies, 272 Summary, 278 Review Questions, 278 Problems, 279 Cyber Exploration Laboratory, 295 Bibliography, 297 6. STABILITY, 299 6.1 Introduction, 300 6.2 Routh-Hurwitz Criterion, 303 6.3 Routh-Hurwitz Criterion: Special Cases, 305 6.4 Routh-Hurwitz Criterion: Additional Examples, 311 6.5 Stability in State Space, 318 Case Studies, 321 Summary, 323 Review Questions, 323 Problems, 324 Cyber Exploration Laboratory, 332 Bibliography, 333 7. STEADY-STATE ERRORS, 335 7.1 Introduction, 336 7.2 Steady-State Error for Unity Feedback Systems, 339 7.3 Static Error Constants and System Type, 345 7.4 Steady-State Error Specifications, 348 7.5 Steady-State Error for Disturbances, 351 7.6 Steady-State Error for Nonunity Feedback Systems, 353 7.7 Sensitivity, 356 7.8 Steady-State Error for Systems in State Space, 359 Case Studies, 362 Summary, 365 Review Questions, 366 Problems, 367 Cyber Exploration Laboratory, 377 Bibliography, 379 8. ROOT LOCUS TECHNIQUES, 381 8.1 Introduction, 382 8.2 Defining the Root Locus, 386 8.3 Properties of the Root Locus, 388 8.4 Sketching the Root Locus, 390 8.5 Refining the Sketch, 395 8.6 An Example, 404 8.7 Transient Response Design via Gain Adjustment, 407 8.8 Generalized Root Locus, 411 8.9 Root Locus for Positive-Feedback Systems, 413 8.10 Pole Sensitivity, 415 Case Studies, 417 Summary, 422 Review Questions, 423 Problems, 423 Cyber Exploration Laboratory, 439 Hardware Interface Laboratory, 441 Bibliography, 447 9. DESIGN VIA ROOT LOCUS, 449 9.1 Introduction, 450 9.2 Improving Steady-State Error via Cascade Compensation, 453 9.3 Improving Transient Response via Cascade Compensation, 462 9.4 Improving Steady-State Error and Transient Response, 474 9.5 Feedback Compensation, 487 9.6 Physical Realization of Compensation, 495 Case Studies, 500 Summary, 504 Review Questions, 505 Problems, 506 Cyber Exploration Laboratory, 519 Hardware Interface Laboratory, 520 Bibliography, 523 10. FREQUENCY RESPONSE TECHNIQUES, 525 10.1 Introduction, 526 10.2 Asymptotic Approximations: Bode Plots, 531 10.3 Introduction to the Nyquist Criterion, 549 10.4 Sketching the Nyquist Diagram, 554 10.5 Stability via the Nyquist Diagram, 559 10.6 Gain Margin and Phase Margin via the Nyquist Diagram, 563 10.7 Stability, Gain Margin, and Phase Margin via Bode Plots, 565 10.8 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses, 569 10.9 Relation Between Closed- and Open-Loop Frequency Responses, 572 10.10 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses, 577 10.11 Steady-State Error Characteristics from Frequency Response, 581 10.12 Systems with Time Delay, 585 10.13 Obtaining Transfer Functions Experimentally, 590 Case Study, 594 Summary, 595 Review Questions, 596 Problems, 597 Cyber Exploration Laboratory, 608 Bibliography, 609 11. DESIGN VIA FREQUENCY RESPONSE, 611 11.1 Introduction, 612 11.2 Transient Response via Gain Adjustment, 613 11.3 Lag Compensation, 616 11.4 Lead Compensation, 621 11.5 Lag-Lead Compensation, 627 Case Studies, 636 Summary, 638 Review Questions, 639 Problems, 639 Cyber Exploration Laboratory, 645 Bibliography, 646 12. DESIGN VIA STATE SPACE, 649 12.1 Introduction, 650 12.2 Controller Design, 651 12.3 Controllability, 658 12.4 Alternative Approaches to Controller Design, 661 12.5 Observer Design, 667 12.6 Observability, 674 12.7 Alternative Approaches to Observer Design, 677 12.8 Steady-State Error Design via Integral Control, 684 Case Study, 688 Summary, 693 Review Questions, 694 Problems, 695 Cyber Exploration Laboratory, 703 Bibliography, 704 13. DIGITAL CONTROL SYSTEMS, 707 13.1 Introduction, 707 13.2 Modeling the Digital Computer, 711 13.3 The z-Transform, 714 13.4 Transfer Functions, 719 13.5 Block Diagram Reduction, 723 13.6 Stability, 726 13.7 Steady-State Errors, 733 13.8 Transient Response on the z-Plane, 737 13.9 Gain Design on the z-Plane, 739 13.10 Cascade Compensation via the s-Plane, 742 13.11 Implementing the Digital Compensator, 746 Case Studies, 749 Summary, 753 Review Questions, 754 Problems, 755 Cyber Exploration Laboratory, 762 Bibliography, 764 APPENDIX A List of Symbols, 767 APPENDIX B MATLAB Tutorial, 771 B.1 Introduction, 771 B.2 MATLAB Examples, 772 B.3 Command Summary, 814 Bibliography, 817 APPENDIX C MATLAB?s Simulink Tutorial, 819 C.1 Introduction, 819 C.2 Using Simulink, 819 C.3 Examples, 824 C.4 Using Simulink for Control System Design, 837 Summary, 846 Bibliography, 847 APPENDIX D LabVIEWTM Tutorial, 849 D.1 Introduction, 849 D.2 Control Systems Analysis, Design, and Simulation, 850 D.3 Using LabVIEW, 851 D.4 Analysis and Design Examples, 853 D.5 Simulation Examples, 865 D.6 Interfacing with External Hardware, 875 Summary, 879 Bibliography, 879 Online location is www.wiley.com/college/nise GLOSSARY, 881 ANSWERS TO SELECTED PROBLEMS, 889 CREDITS, 895 INDEX 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 t0?0 (Online) APPENDIX L Derivation of Similarity Transformations (Online) APPENDIX M Root Locus Rules: Derivations (Online) Control Systems Engineering Toolbox (Online) Cyber Exploration Laboratory Experiments Covers Sheets (Online) Lecture Graphics (Online) Solutions to Assessment Exercises (Online)