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Automatic Control Systems, Tenth Edition /

Bibliographic Details
Main Authors: Golnaraghi, M. F. (Author), Kuo, Benjamin C., 1930- (Author)
Corporate Author: McGraw-Hill Companies
Format: eBook
Language:English
Language Notes:In English.
Published: New York, N.Y. : McGraw-Hill Education, [2017].
Edition:10th edition.
Subjects:
Automatic control.
Control theory.
Electronic books.
Online Access:Connect to the full text of this electronic book
Table of Contents:
  • A. Dedication
  • B. About the Authors
  • C. In Memory of Professor Benjamin C. Kuo-A Visionary Pioneer and a Brilliant Teacher
  • D. LEGO and MINDSTORMS are registered trademarks of the LEGO Group.
  • E. Preface
  • 1. Introduction to Control Systems
  • CHAPTER PRELIMINARIES
  • BASIC COMPONENTS OF A CONTROL SYSTEM
  • EXAMPLES OF CONTROL-SYSTEM APPLICATIONS
  • OPEN-LOOP CONTROL SYSTEMS (NONFEEDBACK SYSTEMS)
  • CLOSED-LOOP CONTROL SYSTEMS (FEEDBACK CONTROL SYSTEMS)
  • WHAT IS FEEDBACK, AND WHAT ARE ITS EFFECTS?
  • TYPES OF FEEDBACK CONTROL SYSTEMS
  • LINEAR VERSUS NONLINEAR CONTROL SYSTEMS
  • TIME-INVARIANT VERSUS TIME-VARYING SYSTEMS
  • CONTINUOUS-DATA CONTROL SYSTEMS
  • DISCRETE-DATA CONTROL SYSTEMS
  • CASE STUDY: INTELLIGENT VEHICLE OBSTACLE AVOIDANCE-LEGO MINDSTORMS
  • SUMMARY
  • 2. Modeling of Dynamic Systems
  • CHAPTER PRELIMINARIES
  • MODELING OF SIMPLE MECHANICAL SYSTEMS
  • INTRODUCTION TO MODELING OF SIMPLE ELECTRICAL SYSTEMS
  • INTRODUCTION TO MODELING OF THERMAL AND FLUID SYSTEMS
  • LINEARIZATION OF NONLINEAR SYSTEMS
  • ANALOGIES
  • PROJECT: INTRODUCTION TO LEGO MINDSTORMS NXT MOTOR-MECHANICAL MODELING
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 3. Solution of Differential Equations of Dynamic Systems
  • CHAPTER PRELIMINARIES
  • INTRODUCTION TO DIFFERENTIAL EQUATIONS
  • LAPLACE TRANSFORM
  • INVERSE LAPLACE TRANSFORM BY PARTIAL-FRACTION EXPANSION
  • APPLICATION OF THE LAPLACE TRANSFORM TO THE SOLUTION OF LINEAR ORDINARY DIFFERENTIAL EQUATIONS
  • IMPULSE RESPONSE AND TRANSFER FUNCTIONS OF LINEAR SYSTEMS
  • SYSTEMS OF FIRST-ORDER DIFFERENTIAL EQUATIONS: STATE EQUATIONS
  • SOLUTION OF THE LINEAR HOMOGENEOUS STATE EQUATION
  • CASE STUDIES WITH MATLAB
  • LINEARIZATION REVISITED-THE STATE-SPACE APPROACH
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 4. Block Diagrams and Signal-Flow Graphs
  • CHAPTER PRELIMINARIES
  • BLOCK DIAGRAMS
  • SIGNAL-FLOW GRAPHS
  • STATE DIAGRAM
  • CASE STUDIES
  • MATLAB TOOLS
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 5. Stability of Linear Control Systems
  • CHAPTER PRELIMINARIES
  • INTRODUCTION TO STABILITY
  • METHODS OF DETERMINING STABILITY
  • ROUTH-HURWITZ CRITERION
  • MATLAB TOOLS AND CASE STUDIES
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 6. Important Components of Feedback Control Systems
  • CHAPTER PRELIMINARIES
  • MODELING OF ACTIVE ELECTRICAL ELEMENTS: OPERATIONAL AMPLIFIERS
  • SENSORS AND ENCODERS IN CONTROL SYSTEMS
  • DC MOTORS IN CONTROL SYSTEMS
  • SPEED AND POSITION CONTROL OF A DC MOTOR
  • CASE STUDIES: PRACTICAL EXAMPLES
  • THE CONTROL LAB: INTRODUCTION TO LEGO MINDSTORMS NXT MOTOR-MODELING AND CHARACTERIZATION
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 7. Time-Domain Performance of Control Systems
  • CHAPTER PRELIMINARIES
  • TIME RESPONSE OF CONTINUOUS-DATA SYSTEMS: INTRODUCTION
  • TYPICAL TEST SIGNALS TO EVALUATE TIME-RESPONSE PERFORMANCE OF CONTROL SYSTEMS
  • THE UNIT-STEP RESPONSE AND TIME-DOMAIN SPECIFICATIONS
  • TIME RESPONSE OF A PROTOTYPE FIRST-ORDER SYSTEM
  • TRANSIENT RESPONSE OF A PROTOTYPE SECOND-ORDER SYSTEM
  • STEADY-STATE ERROR
  • BASIC CONTROL SYSTEMS AND EFFECTS OF ADDING POLES AND ZEROS TO TRANSFER FUNCTIONS.
  • DOMINANT POLES AND ZEROS OF TRANSFER FUNCTIONS
  • CASE STUDY: TIME-DOMAIN ANALYSIS OF A POSITION-CONTROL SYSTEM
  • THE CONTROL LAB: INTRODUCTION TO LEGO MINDSTORMS NXT MOTOR-POSITION CONTROL
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 8. State-Space Analysis and Controller Design
  • CHAPTER PRELIMINARIES
  • STATE-VARIABLE ANALYSIS
  • BLOCK DIAGRAMS, TRANSFER FUNCTIONS, AND STATE DIAGRAMS
  • SYSTEMS OF FIRST-ORDER DIFFERENTIAL EQUATIONS: STATE EQUATIONS
  • VECTOR-MATRIX REPRESENTATION OF STATE EQUATIONS
  • STATE-TRANSITION MATRIX
  • STATE-TRANSITION EQUATION
  • RELATIONSHIP BETWEEN STATE EQUATIONS AND HIGH-ORDER DIFFERENTIAL EQUATIONS
  • RELATIONSHIP BETWEEN STATE EQUATIONS AND TRANSFER FUNCTIONS
  • CHARACTERISTIC EQUATIONS, EIGENVALUES, AND EIGENVECTORS
  • SIMILARITY TRANSFORMATION
  • DECOMPOSITIONS OF TRANSFER FUNCTIONS
  • CONTROLLABILITY OF CONTROL SYSTEMS
  • OBSERVABILITY OF LINEAR SYSTEMS
  • RELATIONSHIP AMONG CONTROLLABILITY, OBSERVABILITY, AND TRANSFER FUNCTIONS
  • INVARIANT THEOREMS ON CONTROLLABILITY AND OBSERVABILITY
  • CASE STUDY: MAGNETIC-BALL SUSPENSION SYSTEM
  • STATE-FEEDBACK CONTROL
  • POLE-PLACEMENT DESIGN THROUGH STATE FEEDBACK
  • STATE FEEDBACK WITH INTEGRAL CONTROL
  • MATLAB TOOLS AND CASE STUDIES
  • CASE STUDY: POSITION CONTROL OF THE LEGO MINDSTORMS ROBOTIC ARM SYSTEM
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 9. Root-Locus Analysis
  • CHAPTER PRELIMINARIES
  • BASIC PROPERTIES OF THE ROOT LOCI
  • PROPERTIES OF THE ROOT LOCI
  • THE ROOT SENSITIVITY
  • DESIGN ASPECTS OF THE ROOT LOCI
  • ROOT CONTOURS: MULTIPLE-PARAMETER VARIATION
  • MATLAB TOOLS
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 10. Frequency-Domain Analysis
  • CHAPTER PRELIMINARIES
  • INTRODUCTION TO FREQUENCY RESPONSE
  • Mr, ?r, AND BANDWIDTH OF THE PROTOTYPE SECOND-ORDER SYSTEM
  • EFFECTS OF ADDING POLES AND ZEROS TO THE FORWARD-PATH TRANSFER FUNCTION
  • NYQUIST STABILITY CRITERION: FUNDAMENTALS
  • NYQUIST CRITERION FOR SYSTEMS WITH MINIMUM-PHASE TRANSFER FUNCTIONS
  • RELATION BETWEEN THE ROOT LOCI AND THE NYQUIST PLOT
  • ILLUSTRATIVE EXAMPLES: NYQUIST CRITERION FOR MINIMUM-PHASE TRANSFER FUNCTIONS
  • EFFECTS OF ADDING POLES AND ZEROS TO L(s) ON THE SHAPE OF THE NYQUIST PLOT
  • RELATIVE STABILITY: GAIN MARGIN AND PHASE MARGIN
  • STABILITY ANALYSIS WITH THE BODE PLOT
  • RELATIVE STABILITY RELATED TO THE SLOPE OF THE MAGNITUDE CURVE OF THE BODE PLOT
  • STABILITY ANALYSIS WITH THE MAGNITUDE-PHASE PLOT
  • CONSTANT-M LOCI IN THE MAGNITUDE-PHASE PLANE: THE NICHOLS CHART
  • NICHOLS CHART APPLIED TO NONUNITY-FEEDBACK SYSTEMS
  • SENSITIVITY STUDIES IN THE FREQUENCY DOMAIN
  • MATLAB TOOLS AND CASE STUDIES
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 11. Design of Control Systems
  • CHAPTER PRELIMINARIES
  • INTRODUCTION
  • DESIGN WITH THE PD CONTROLLER
  • DESIGN WITH THE PI CONTROLLER
  • DESIGN WITH THE PID CONTROLLER
  • DESIGN WITH PHASE-LEAD AND PHASE-LAG CONTROLLERS
  • POLE-ZERO-CANCELLATION DESIGN: NOTCH FILTER
  • FORWARD AND FEEDFORWARD CONTROLLERS.
  • DESIGN OF ROBUST CONTROL SYSTEMS
  • MINOR-LOOP FEEDBACK CONTROL
  • MATLAB TOOLS AND CASE STUDIES
  • THE CONTROL LAB
  • REFERENCES
  • PROBLEMS
  • A. APPENDIX A: Elementary Matrix Theory and Algebra
  • APPENDIX PRELIMINARIES
  • ELEMENTARY MATRIX THEORY
  • MATRIX ALGEBRA
  • COMPUTER-AIDED SOLUTIONS OF MATRICES
  • REFERENCES
  • B. APPENDIX B: Mathematical Foundations
  • APPENDIX PRELIMINARIES
  • COMPLEX-VARIABLE CONCEPT
  • FREQUENCY-DOMAIN PLOTS
  • STABILITY OF LINEAR CONTROL SYSTEMS
  • BOUNDED-INPUT, BOUNDED-OUTPUT (BIBO) STABILITY-CONTINUOUS-DATA SYSTEMS
  • RELATIONSHIP BETWEEN CHARACTERISTIC EQUATION ROOTS AND STABILITY
  • ZERO-INPUT AND ASYMPTOTIC STABILITY OF CONTINUOUS-DATA SYSTEMS
  • REFERENCES
  • C. APPENDIX C: Laplace Transform Table
  • APPENDIX PRELIMINARIES
  • D. APPENDIX D: Control Lab
  • APPENDIX PRELIMINARIES
  • PROJECT 1: INTRODUCTION TO LEGO MINDSTORMS NXT MOTOR-CHARACTERIZATION AND CONTROL
  • PROJECT 2: ELEVATOR POSITION CONTROL
  • DESCRIPTION OF ACSYS SIMLAB AND LEGOLAB SOFTWARE
  • SIMULATION AND LEGO EXPERIMENTS
  • DESIGN PROJECT: ROBOTIC ARM
  • SUMMARY
  • REFERENCE
  • PROBLEMS
  • E. APPENDIX E: ACSYS 2013: Description of the Software
  • APPENDIX PRELIMINARIES
  • INSTALLATION OF ACSYS
  • DESCRIPTION OF THE SOFTWARE
  • FINAL COMMENTS
  • REFERENCES
  • F. APPENDIX F: Properties and Construction of the Root Loci
  • APPENDIX PRELIMINARIES
  • K = 0 AND K = ?? POINTS
  • NUMBER OF BRANCHES ON THE ROOT LOCI
  • SYMMETRY OF THE ROOT LOCI
  • ANGLES OF ASYMPTOTES OF THE ROOT LOCI AND BEHAVIOR OF THE ROOT LOCI AT |S| ? ?
  • INTERSECT OF THE ASYMPTOTES (CENTROID)
  • ROOT LOCI ON THE REAL AXIS
  • ANGLES OF DEPARTURE AND ANGLES OF ARRIVAL OF THE ROOT LOCI
  • INTERSECTION OF THE ROOT LOCI WITH THE IMAGINARY AXIS
  • BREAKAWAY POINTS (SADDLE POINTS)
  • CALCULATION OF K ON THE ROOT LOCI
  • G. APPENDIX G: General Nyquist Criterion
  • APPENDIX PRELIMINARIES
  • FORMULATION OF NYQUIST CRITERION
  • ILLUSTRATIVE EXAMPLES: GENERAL NYQUIST CRITERION MINIMUM AND NONMINIMUM TRANSFER FUNCTIONS
  • STABILITY ANALYSIS OF MULTILOOP SYSTEMS
  • REFERENCE
  • PROBLEMS
  • H. APPENDIX H: Discrete-Data Control Systems
  • APPENDIX PRELIMINARIES
  • INTRODUCTION
  • THE Z-TRANSFORM
  • TRANSFER FUNCTIONS OF DISCRETE-DATA SYSTEMS
  • STATE EQUATIONS OF LINEAR DISCRETE-DATA SYSTEMS
  • STABILITY OF DISCRETE-DATA SYSTEMS
  • TIME-DOMAIN PROPERTIES OF DISCRETE-DATA SYSTEMS
  • STEADY-STATE ERROR ANALYSIS OF DISCRETE-DATA CONTROL SYSTEMS
  • ROOT LOCI OF DISCRETE-DATA SYSTEMS
  • FREQUENCY-DOMAIN ANALYSIS OF DISCRETE-DATA CONTROL SYSTEMS
  • DESIGN OF DISCRETE-DATA CONTROL SYSTEMS
  • DIGITAL CONTROLLERS
  • DESIGN OF DISCRETE-DATA CONTROL SYSTEMS IN THE FREQUENCY DOMAIN AND THE Z-PLANE
  • DESIGN OF DISCRETE-DATA CONTROL SYSTEMS WITH DEADBEAT RESPONSE
  • POLE-PLACEMENT DESIGN WITH STATE FEEDBACK
  • REFERENCES
  • PROBLEMS
  • I. APPENDIX I: Difference Equations
  • APPENDIX PRELIMINARIES
  • REFERENCES
  • J. APPENDIX J: z-Transform Table
  • APPENDIX PRELIMINARIES.