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Feedback control of dynamic systems /

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Bibliographic Details
Main Authors: Franklin, Gene F. (Author), Powell, J. David, 1938- (Author), Emami-Naeini, Abbas (Author)
Format: Book
Language:English
Published: New York : Pearson, [2019].
Edition:Eighth edition.
Subjects:
Feedback control systems.
Table of Contents:
  • Machine generated contents note: A Perspective on Feedback Control
  • Chapter Overview
  • 1.1.A Simple Feedback System
  • 1.2.A First Analysis of Feedback
  • 1.3. Feedback System Fundamentals
  • 1.4.A Brief History
  • 1.5. An Overview of the Book
  • Summary
  • Review Questions
  • Problems
  • A Perspective on Dynamic Models
  • Chapter Overview
  • 2.1. Dynamics of Mechanical Systems
  • 2.1.1. Translational Motion
  • 2.1.2. Rotational Motion
  • 2.1.3.Combined Rotation and Translation
  • 2.1.4.Complex Mechanical Systems (W)**
  • 2.1.5. Distributed Parameter Systems
  • 2.1.6. Summary: Developing Equations of Motion for Rigid Bodies
  • 2.2. Models of Electric Circuits
  • 2.3. Models of Electromechanical Systems
  • 2.3.1. Loudspeakers
  • 2.3.2. Motors
  • 2.3.3. Gears
  • 2.4. Heat and Fluid-Flow Models
  • 2.4.1. Heat Flow
  • 2.4.2. Incompressible Fluid Flow
  • 2.5. Historical Perspective
  • Summary
  • Review Questions
  • Problems
  • A Perspective on System Response
  • Chapter Overview
  • 3.1. Review of Laplace Transforms
  • 3.1.1. Response by Convolution
  • 3.1.2. Transfer Functions and Frequency Response
  • 3.1.3. The L_ Laplace Transform
  • 3.1.4. Properties of Laplace Transforms
  • 3.1.5. Inverse Laplace Transform by Partial-Fraction Expansion
  • 3.1.6. The Final Value Theorem
  • 3.1.7. Using Laplace Transforms to Solve Differential Equations
  • 3.1.8. Poles and Zeros
  • 3.1.9. Linear System Analysis Using Matlab
  • 3.2. System Modeling Diagrams
  • 3.2.1. The Block Diagram
  • 3.2.2. Block-Diagram Reduction Using Matlab
  • 3.2.3. Mason's Rule and the Signal Flow Graph (W)
  • 3.3. Effect of Pole Locations
  • 3.4. Time-Domain Specifications
  • 3.4.1. Rise Time
  • 3.4.2. Overshoot and Peak Time
  • 3.4.3. Settling Time
  • 3.5. Effects of Zeros and Additional Poles
  • 3.6. Stability
  • 3.6.1. Bounded Input-Bounded Output Stability
  • 3.6.2. Stability of LTI Systems
  • 3.6.3. Routh's Stability Criterion
  • 3.7. Obtaining Models from Experimental Data: System Identification (W)
  • 3.8. Amplitude and Time Scaling (W)
  • 3.9. Historical Perspective
  • Summary
  • Review Questions
  • Problems
  • A Perspective on the Analysis of Feedback
  • Chapter Overview
  • 4.1. The Basic Equations of Control
  • 4.1.1. Stability
  • 4.1.2. Tracking
  • 4.1.3. Regulation
  • 4.1.4. Sensitivity
  • 4.2. Control of Steady-State Error to Polynomial Inputs: System Type
  • 4.2.1. System Type for Tracking
  • 4.2.2. System Type for Regulation and Disturbance Rejection
  • 4.3. The Three-Term Controller: PID Control
  • 4.3.1. Proportional Control (P)
  • 4.3.2. Integral Control (I)
  • 4.3.3. Derivative Control (D)
  • 4.3.4. Proportional Plus Integral Control (PI)
  • 4.3.5. PID Control
  • 4.3.6. Ziegler-Nichols Tuning of the PID Controller
  • 4.4. Feedforward Control by Plant Model Inversion
  • 4.5. Introduction to Digital Control (W)
  • 4.6. Sensitivity of Time Response to Parameter Change (W)
  • 4.7. Historical Perspective
  • Summary
  • Review Questions
  • Problems
  • A Perspective on the Root-Locus Design Method
  • Chapter Overview
  • 5.1. Root Locus of a Basic Feedback System
  • 5.2. Guidelines for Determining a Root Locus
  • 5.2.1. Rules for Determining a Positive (180°) Root Locus
  • 5.2.2. Summary of the Rules for Determining a Root Locus
  • 5.2.3. Selecting the Parameter Value
  • 5.3. Selected Illustrative Root Loci
  • 5.4. Design Using Dynamic Compensation
  • 5.4.1. Design Using Lead Compensation
  • 5.4.2. Design Using Lag Compensation
  • 5.4.3. Design Using Notch Compensation
  • 5.4.4. Analog and Digital Implementations (W)
  • 5.5. Design Examples Using the Root Locus
  • 5.6. Extensions of the Root-Locus Method
  • 5.6.1. Rules for Plotting a Negative (0°) Root Locus
  • 5.6.2. Successive Loop Closure
  • 5.6.3. Time Delay (W)
  • 5.7. Historical Perspective
  • Summary
  • Review Questions
  • Problems
  • A Perspective on the Frequency-Response Design Method
  • Chapter Overview
  • 6.1. Frequency Response
  • 6.1.1. Bode Plot Techniques
  • 6.1.2. Steady-State Errors
  • 6.2. Neutral Stability
  • 6.3. The Nyquist Stability Criterion
  • 6.3.1. The Argument Principle
  • 6.3.2. Application of The Argument Principle to Control Design
  • 6.4. Stability Margins
  • 6.5. Bode's Gain-Phase Relationship
  • 6.6. Closed-Loop Frequency Response
  • 6.7.Compensation
  • 6.7.1. PD Compensation
  • 6.7.2. Lead Compensation (W)
  • 6.7.3. PI Compensation
  • 6.7.4. Lag Compensation
  • 6.7.5. PID Compensation
  • 6.7.6. Design Considerations
  • 6.7.7. Specifications in Terms of the Sensitivity Function
  • 6.7.8. Limitations on Design in Terms of the Sensitivity Function
  • 6.8. Time Delay
  • 6.8.1. Time Delay via the Nyquist Diagram (W)
  • 6.9. Alternative Presentation of Data
  • 6.9.1. Nichols Chart
  • 6.9.2. The Inverse Nyquist Diagram (W)
  • 6.10. Historical Perspective
  • Summary
  • Review Questions
  • Problems
  • A Perspective on State-Space Design
  • Chapter Overview
  • 7.1. Advantages of State-Space
  • 7.2. System Description in State-Space
  • 7.3. Block Diagrams and State-Space
  • 7.4. Analysis of the State Equations
  • 7.4.1. Block Diagrams and Canonical Forms
  • 7.4.2. Dynamic Response from the State Equations
  • 7.5. Control-Law Design for Full-State Feedback
  • 7.5.1. Finding the Control Law
  • 7.5.2. Introducing the Reference Input with Full-State Feedback
  • 7.6. Selection of Pole Locations for Good Design
  • 7.6.1. Dominant Second-Order Poles
  • 7.6.2. Symmetric Root Locus (SRL)
  • 7.6.3.Comments on the Methods
  • 7.7. Estimator Design
  • 7.7.1. Full-Order Estimators
  • 7.7.2. Reduced-Order Estimators
  • 7.7.3. Estimator Pole Selection
  • 7.8.Compensator Design: Combined Control Law and Estimator (W)
  • 7.9. Introduction of the Reference Input with the Estimator (W)
  • 7.9.1. General Structure for the Reference Input
  • 7.9.2. Selecting the Gain
  • 7.10. Integral Control and Robust Tracking
  • 7.10.1. Integral Control
  • 7.10.2. Robust Tracking Control: The Error-Space Approach
  • 7.10.3. Model-Following Design
  • 7.10.4. The Extended Estimator
  • 7.11. Loop Transfer Recovery
  • 7.12. Direct Design with Rational Transfer Functions
  • 7.13. Design for Systems with Pure Time Delay
  • 7.14. Solution of State Equations (W)
  • 7.15. Historical Perspective
  • Summary
  • Review Questions
  • Problems
  • A Perspective on Digital Control
  • Chapter Overview
  • 8.1. Digitization
  • 8.2. Dynamic Analysis of Discrete Systems
  • 8.2.1.z-Transform
  • 8.2.2.z-Transform Inversion
  • 8.2.3. Relationship Between s and z
  • 8.2.4. Final Value Theorem
  • 8.3. Design Using Discrete Equivalents
  • 8.3.1. Tustin's Method
  • 8.3.2. Zero-Order Hold (ZOH) Method
  • 8.3.3. Matched Pole-Zero (MPZ) Method
  • 8.3.4. Modified Matched Pole-Zero (MMPZ) Method
  • 8.3.5.Comparison of Digital Approximation Methods
  • 8.3.6. Applicability Limits of the Discrete Equivalent Design Method
  • 8.4. Hardware Characteristics
  • 8.4.1. Analog-to-Digital (A/D) Converters
  • 8.4.2. Digital-to-Analog Converters
  • 8.4.3. Anti-Alias Prefilters
  • 8.4.4. The Computer
  • 8.5. Sample-Rate Selection
  • 8.5.1. Tracking Effectiveness
  • 8.5.2. Disturbance Rejection
  • 8.5.3. Effect of Anti-Alias Prefilter
  • 8.5.4. Asynchronous Sampling
  • 8.6. Discrete Design
  • 8.6.1. Analysis Tools
  • 8.6.2. Feedback Properties
  • 8.6.3. Discrete Design Example
  • 8.6.4. Discrete Analysis of Designs
  • 8.7. Discrete State-Space Design Methods (W)
  • 8.8. Historical Perspective
  • Summary
  • Review Questions
  • Problems
  • A Perspective on Nonlinear Systems
  • Chapter Overview
  • 9.1. Introduction and Motivation: Why Study Nonlinear Systems?
  • 9.2. Analysis by Linearization
  • 9.2.1. Linearization by Small-Signal Analysis
  • 9.2.2. Linearization by Nonlinear Feedback
  • 9.2.3. Linearization by Inverse Nonlinearity
  • 9.3. Equivalent Gain Analysis Using the Root Locus
  • 9.3.1. Integrator Antiwindup
  • 9.4. Equivalent Gain Analysis Using Frequency Response: Describing Functions
  • 9.4.1. Stability Analysis Using Describing Functions
  • 9.5. Analysis and Design Based on Stability
  • 9.5.1. The Phase Plane
  • 9.5.2. Lyapunov Stability Analysis
  • 9.5.3. The Circle Criterion
  • 9.6. Historical Perspective
  • Summary
  • Review.
  • Questions
  • Problems
  • A Perspective on Design Principles
  • Chapter Overview
  • 10.1. An Outline of Control Systems Design
  • 10.2. Design of a Satellite's Attitude Control
  • 10.3. Lateral and Longitudinal Control of a Boeing 747
  • 10.3.1. Yaw Damper
  • 10.3.2. Altitude-Hold Autopilot
  • 10.4. Control of the Fuel-Air Ratio in an Automotive Engine
  • 10.5. Control of a Quadrotor Drone
  • 10.6. Control of RTP Systems in Semiconductor Wafer Manufacturing
  • 10.7. Chemotaxis, or How E. Coli Swims Away from Trouble
  • 10.8. Historical Perspective
  • Summary
  • Review Questions
  • Problems
  • A.1. The L- Laplace Transform
  • A.1.1. Properties of Laplace Transforms
  • A.1.2. Inverse Laplace Transform by Partial-Fraction Expansion
  • A.1.3. The Initial Value Theorem
  • A.1.4. Final Value Theorem.