| Preface | p. xi |
| Feedback Control | p. 1 |
| The Mechanism of Feedback | p. 1 |
| Feedback Control Engineering | p. 6 |
| Control Theory Background | p. 8 |
| Scope and Organization of This Book | p. 10 |
| Notes | p. 12 |
| References | p. 13 |
| State-Space Representation of Dynamic Systems | p. 14 |
| Mathematical Models | p. 14 |
| Physical Notion of System State | p. 16 |
| Block-Diagram Representations | p. 25 |
| Lagrange's Equations | p. 29 |
| Rigid Body Dynamics | p. 33 |
| Aerodynamics | p. 40 |
| Chemical and Energy Processes | p. 45 |
| Problems | p. 52 |
| Notes | p. 55 |
| References | p. 56 |
| Dynamics of Linear Systems | p. 58 |
| Differential Equations Revisited | p. 58 |
| Solution of Linear Differential Equations in State-Space Form | p. 59 |
| Interpretation and Properties of the State-Transition Matrix | p. 65 |
| Solution by the Laplace Transform: The Resolvent | p. 68 |
| Input-Output Relations: Transfer Functions | p. 75 |
| Transformation of State Variables | p. 84 |
| State-Space Representation of Transfer Functions: Canonical Forms | p. 88 |
| Problems | p. 107 |
| Notes | p. 109 |
| References | p. 111 |
| Frequency-Domain Analysis | p. 112 |
| Status of Frequency-Domain Methods | p. 112 |
| Frequency-Domain Characterization of Dynamic Behavior | p. 113 |
| Block-Diagram Algebra | p. 116 |
| Stability | p. 124 |
| Routh-Hurwitz Stability Algorithms | p. 128 |
| Graphical Methods | p. 133 |
| Steady State Responses: System Type | p. 156 |
| Dynamic Response: Bandwidth | p. 161 |
| Robustness and Stability (Gain and Phase) Margins | p. 169 |
| Multivariable Systems: Nyquist Diagram and Singular Values | p. 174 |
| Problems | p. 184 |
| Notes | p. 187 |
| References | p. 189 |
| Controllability and Observability | p. 190 |
| Introduction | p. 190 |
| Where Do Uncontrollable or Unobservable Systems Arise? | p. 194 |
| Definitions and Conditions for Controllability and Observability | p. 203 |
| Algebraic Conditions for Controllability and Observability | p. 209 |
| Disturbances and Tracking Systems: Exogenous Variables | p. 216 |
| Problems | p. 218 |
| Notes | p. 219 |
| References | p. 221 |
| Shaping the Dynamic Response | p. 222 |
| Introduction | p. 222 |
| Design of Regulators for Single-Input, Single-Output Systems | p. 224 |
| Multiple-Input Systems | p. 234 |
| Disturbances and Tracking Systems: Exogenous Variables | p. 236 |
| Where Should the Closed-Loop Poles Be Placed? | p. 243 |
| Problems | p. 254 |
| Notes | p. 257 |
| References | p. 258 |
| Linear Observers | p. 259 |
| The Need for Observers | p. 259 |
| Structure and Properties of Observers | p. 260 |
| Pole-Placement for Single-Output Systems | p. 263 |
| Disturbances and Tracking Systems: Exogenous Variables | p. 267 |
| Reduced-Order Observers | p. 276 |
| Problems | p. 287 |
| Notes | p. 288 |
| References | p. 289 |
| Compensator Design by the Separation Principle | p. 290 |
| The Separation Principle | p. 290 |
| Compensators Designed Using Full-Order Observers | p. 291 |
| Reduced-Order Observers | p. 298 |
| Robustness: Effects of Modeling Errors | p. 301 |
| Disturbances and Tracking Systems: Exogenous Variables | p. 310 |
| Selecting Observer Dynamics: Robust Observers | p. 314 |
| Summary of Design Process | p. 326 |
| Problems | p. 332 |
| Notes | p. 335 |
| References | p. 336 |
| Linear, Quadratic Optimum Control | p. 337 |
| Why Optimum Control? | p. 337 |
| Formulation of the Optimum Control Problem | p. 338 |
| Quadratic Integrals and Matrix Differential Equations | p. 341 |
| The Optimum Gain Matrix | p. 343 |
| The Steady State Solution | p. 345 |
| Disturbances and Reference Inputs: Exogenous Variables | p. 350 |
| General Performance Integral | p. 364 |
| Weighting of Performance at Terminal Time | p. 365 |
| Problems | p. 369 |
| Notes | p. 375 |
| References | p. 377 |
| Random Processes | p. 378 |
| Introduction | p. 378 |
| Conceptual Models for Random Processes | p. 379 |
| Statistical Characteristics of Random Processes | p. 381 |
| Power Spectral Density Function | p. 384 |
| White Noise and Linear System Response | p. 386 |
| Spectral Factorization | p. 393 |
| Systems with State-Space Representation | p. 396 |
| The Wiener Process and Other Integrals of Stationary Processes | p. 404 |
| Problems | p. 407 |
| Notes | p. 408 |
| References | p. 409 |
| Kalman Filters: Optimum Observers | p. 411 |
| Background | p. 411 |
| The Kalman Filter is an Observer | p. 412 |
| Kalman Filter Gain and Variance Equations | p. 414 |
| Steady State Kalman Filter | p. 417 |
| The "Innovations" Process | p. 425 |
| Reduced-Order Filters and Correlated Noise | p. 427 |
| Stochastic Control: The Separation Theorem | p. 442 |
| Choosing Noise for Robust Control | p. 455 |
| Problems | p. 461 |
| Notes | p. 468 |
| References | p. 469 |
| Matrix Algebra and Analysis | p. 471 |
| Bibliography | p. 498 |
| Index of Applications | p. 503 |
| Index | p. 506 |
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