Modern Control Engineering

Contents Preface Chapter 1 Introduction to Control Systems 1--1 Introduction 1--2 Examples of Control Systems 1--3 Closed-Loop Control versus Open-Loop Control 1--4 Outline of the Book Chapter 2 Mathematical Modeling of Control Systems 2--1 Introduction 2--2 Transfer Function and impulse Response Function 2--3 Atomatic Control Systems 2--4 Modeling in state space 2--5 State-Space Representation of Scalar Differential Equation System 2--6 Transformation of Mathematical models with MATLAB 2--7 Linearization of Nonlinear Mathematical Models Example Problems and Solutions Problems Chapter 3 Mathematical Modeling of Mechanical Systems and Electrical Systems 3--1 Introduction 3--2 Mathematical Modeling of Mechanical Systems 3--3 Mathematical Modeling of Electrical Systems Example Problems and Solutions Problems Chapter 4 Mathematical Modeling of Fluid Systems and Thermal Systems 4--1 Introduction 152 4--2 Liquid-Level Systems 4--3 Pneumatic Systems 4--4 Hydraulic Systems 4--5 Thermal Systems Example Problems and Solutions Problems Chapter 5 Transient and Steady-State Response Analyses 5--1 Introduction 5--2 First-Order Systems 5--3 Second-Order Systems 5--4 Higher Order Systems 5--5 Transient-Response Analysis with MATLAB 5--6 Routh's Stability Criterion 5--7 Effects of Integral and Derivative Control Actions on System Performance 5--8 Steady-State Errors in Unity-Feedback Control Systems Example Problems and Solutions Problems Chapter 6 Control Systems Analysis and design by the Root-Locus Method 6--1 Introduction 6--2 Root-Locus Plots 6--3 plotting Root Loci with MATLAB 6--4 Root-Locus Plots of Positive Feedback Systems 6--5 Root-Locus Approach to control Systems Design 6--6 Lead Compensation 6--7 Lag Compensation 6-8 Lag-Lead Compensation Example Problems and Solutions Problems Chapter 7 Control Systems Analysis and Design by the Frequency Response Method 7--1 Introduction 7--2 Bode Digrams 7--3 Polar Plots 7--4 Log-Magnitude-versus-Phase plots 7--5 Nyquist Stability Criterion 7--6 Stability Analysis 7-7 Relative Stability Analysis 7-8 Closed-Loop Frequency Response of Unity-feedback Systems 7-9 Experimental Determination of Transfer functions 7-10 Control Systems design by Frequency Response Approach 7-11 Lead Compensation 7-12 Lag Compensation 7-13 Lag-Lead Compensation Example Problems and Solutions Problems Chapter 8 PID Controllers and Modified PID Controllers 8--1 Introduction 8--2 Ziegler- Nichols Rules for tuning PID controllers 8--3 Design of PID Controllers with Frequency Response Approach 8--4 Design of PID Controllers with Computational Optimization Approach 8--5 Modification of PID Control Schemes 8--6 Two-Degrees-of-freedom PID Control Schemes 8--7 Zero Placement Approach to Improve Response Example Problems and Solutions Problems Chapter 9 Control Systems Analysis in State Space 9--1 Introduction 9--2 State-space Representations of Transfer-Function Systems 9--3 Transformation of System Models with MATLAB 9--4 Solving the Time-Invariant State Equation 9--5 Some Useful Results in vector-Matrix Analysis 9-6 Controllability 9-7 Observability Example Problems and Solutions Problems Chapter 10 Control Systems Design of in State Space 10--1 Introduction 10--2 Pole Placement 10--3 Solving Pole-Placement Problems with MATLAB 10--4 Design of Servo Systems 10--5 State Observers 10--6 Design of Regulator Systems with Observers 10--7 Design of Control Systems with Observers 10--8 Quadratic Optimal Regulator Systems 10-9 Robust Control Solutions Example Problems and Solutions Problems Appendix A Appendix B Appendix C References Index