CONTENIDO
Chapter 1: Introduction 1
1.1 Introduction 1
1.2 What Is Feedback, and What Are Its Effects? 8
1.3 Types of Feedback Control Systems 11
1.4 Summary 14
Chapter 2: Mathematical Foundation 16
2.1 Complex-Variable Concept 16
2.2 Frequency-Domain Plots 26
2.3 Introduction to Differential Equations 49
2.4 Laplace Transform 52
2.5 Inverse Laplace Transform by Partial-Fraction Expansion 57
2.6 Application of the Laplace Transform to the Solution of Linear Ordinary Differential Equations 62
2.7 Impulse Response and Transfer Functions of Linear Systems 67
2.8 Stability of Linear Control Systems 72
2.9 Bounded-Input, Bounded-Output 73
2.10 Relationship between Characteristic Equation Roots and Stability 74
2.11 Zero-Input and Asymptotic Stability of Continuous-Data Systems 74
2.12 Methods of Determining Stability 77
2.13. Routh-Hurwitz Criterion 78
2.14 MATLAB Tools and Case Studies 84
2.15 Summary 90
Chapter 3: Block Diagrams and Signal-Flow Graphs 104
3.1 Block Diagrams 104
3.2 Signal-Flow Graphs (SFGs) 119
3.3 MATLAB Tools and Case Studies 129
3.4 Summary 133
Chapter 4: Theoretical Foundation and Background Material: Modeling of Dynamic Systems 147
4.1 Introduction to Modeling of Mechanical Systems 148
4.2 Introduction to Modeling of Simple Electrical Systems 165
4.3 Modeling of Active Electrical Elements: Operational Amplifiers 172
4.4 Introduction of Modeling of Thermal Systems 177
4.5 Introduction of Modeling of Fluid Systems 180
4.6 Sensors and Encoders in Control Systems 189
4.7 DC Motors in Control Systems 198
4.8 Systems with Transportation Lags 205
4.9 Linearization of Nonlinear Systems 206
4.10 Analogies 213
4.11 Case Studies 216
4.12 MATLAB Tools 222
4.13 Summary 223
Chapter 5: Time-Domain Analysis of Control Systems 253
5.1 Time Response of Continuous-Data Systems: Introduction 253
5.2 Typical Test Signals for the Time Response of Control Systems 254
5.3 The Unit-Step Response and Time-Domain Specification 256
5.4 Steady-State Error 258
5.5 Time Response of a Prototype First-Order System 274
5.6 Transient Response of a Prototype Second-Order System 275
5.7 Speed and Position Control of a DC Moto 289
5.8 Time-Domain Analysis of a Position-Control System 293
5.9 Basic Control Systems and Effects of Adding Poles and Zeros to Transfer Functions 304
5.10 Dominant Poles and Zeros of Transfer Functions 311
5.11 Basic Control Systems Utilizing Addition of Poles and Zeros 314
5.12. MATLAB Tools 319
5.13 Summary 320
Chapter 6: The Control Lab 337
6.1 Introduction 337
6.2 Description of the Virtual Experimental System 338
6.3 Description of SIMLab and Virtual Lab Software 340
6.4 Simulation and Virtual Experiments 345
6.5 Design Project 1-Robotic Arm 354
6.6 Design Project 2-Quarter-Car Model 357
6.7 Summary 367
Chapter 7: Root Locus Analysis 372
7.1 Introduction 372
7.2 Basic Properties of the Root Loci (RL) 373
7.3 Properties of the Root Loci 377
7.4 Design Aspects of the Root Loci 385
7.5 Root Contours (RC): Multiple-Parameter Variation 393
7.6 MATLAB Tools and Case Studies 400
7.7 Summary 400
Chapter 8: Frequency-Domain Análisis 409
8.1 Introduction 409
8.2 Mr, wr, and Bandwidth of the Prototype Second-Order System 413
8.3 Effects of adding a Zero to the Forward-Path Transfer Function 418
8.4 Effects of adding a Pole to the Forward-Path Transfer Function 424
8.5 Nyquist Stability Criterion: Fundamentals 426
8.6 Nyquist Criterion for Systems with Minimum-Phase Transfer Functions 435
8.7 Relation between the Root Loci and the Nyquist Plot 437
8.8 Illustrative Examples: Nyquist Criterion for Minimum-Phase Transfer 440
8.9 Effects of Adding Poles and Zeros to L(s) on the Shape of the Nyquist Plot 444
8.10 Relative Stability: Gain Margin (GM) 449
8.11 Stability Analysis with the Bode Plot 455
8.12 Relative Stability Related to the Slope of the Magnitude Curve of the Bode Plot 459
8.13 Stability Analysis with the Magnitude-Phase Plot 462
8.14 Constant-M Loci in the Magnitude-Phase Plane: The Nichols Chart Applied to Nonunity-Feedback Systems 463
8.15 Nichols Chart Applied to Nonunity-Feedback Systems 469
8.16 Sensitivity Studies in the Frequency Domain 470
8.17 MATLAB Tools and Case Studies 472
8.18 Summary 472
Chapter 9: Design of Control Systems 487
9.1 Introduction 487
9.2 Design with the PD Controller 492
9.3 Design with the PI Controller 511
9.4 Design with the PID Controller 528
9.5 Design with Phase-Lead Controller 532
9.6 Design with Phase-Lag Controller 561
9.7 Design with Lead-Lag Controller 574
9.8 Pole-Zero-Cancellation Design: Notch Filter 576
9.9 Forward and Feedforward Controllers 588
9.10 Design of Robust Control Systems 590
9.11 Minor-Loop Feedback Control 601
9.12 A Hydraulic Control System 605
9.13 Controller Design 617
9.14 MATLAB Tools and Case Studies 631
9.15 Plotting Tutorial 647
9.16 Summary 649
Chapter 10: State Variable Análisis 673
10.1 Introduction 673
10.2 Block Diagrams, Transfer Functions, and State Diagrams 673
10.3 Vector-Matrix Representation of State Equations 682
10.4 State-Transition Matrix 684
10.5 State-Transition Equation 687
10.6 Relationship between State Equations and High-Order Differential Equations 691
10.7 Relationship between State Equations and Transfer Functions 693
10.8 Characteristic Equations, Eigenvalues, and Eigenvectors 695
10.9 Similarity Transformation 699
10.10 Decompositions of Transfer Functions 707
10.11 Controllability of Control Systems 714
10.12 Observability of Linear Systems 719
10.13 Relationship among Controllability, Observability, and Transfer Functions 721
10.14 Invariant Theorems on Controllability and Observability 723
10.15 Case Study: Magnetic-Ball Suspension System 725
10.16 State-Feedback Control 728
10.17 Pole-Placement Design Through State Feedback 730
10.18 State Feedback with Integral Control 735
10.19 MATLAB Tools and Case Studies 741
10.20 Summary 751
Index 773
Appendix A: Elementary Matrix Theory and Algebra
Appendix B: Difference Equations
Appendix C: Laplace Transform Table
Appendix D: z-Transform Table
Appendix E: Properties and Construction of the Root Loci
Appendix F: General Nyquist Criterion
Appendix G: ACSYS 2008: Description of the Software
Appendix H: Discrete-Data Control Systems