Feedback control of dynamic systems

목차 (Table of Contents)

• CONTENTS
• 1 An Overview and Brief History of Feedback Control = 1
• 1.1 Introduction = 1
• 1.2 A First Analysis of Feedback = 3
• 1.3 A Brief History = 6
• 1.4 An Overview of the Book = 12
• Problems = 13
• 2 Dynamic Models and Dynamic Response = 17
• 2.1 Introduction = 17
• 2.2 Dynamics of Mechanical Systems = 19
• 2.3 Models of Electric Circuits = 29
• 2.4 Models of Electromechanical Systems = 34
• 2.5 Elemantary Aspects of Other Dynamic Systems = 41
• 2.5.1 Heat Flow = 41
• 2.5.2 Incompressible Fluid Flow = 42
• 2.6 Linearization, Amplitude Scaling, and Time Scaling = 47
• 2.6.1 Small-Signal Linearization = 48
• 2.6.2 Linearization by Feedback = 51
• 2.6.3 General Formulas for Linearization and Scaling = 51
• 2.7 A Review of Dynamic Response = 52
• 2.7.1 Introduction to the Laplace Transform = 53
• 2.7.2 The Block Diagram = 60
• 2.7.3 Poles and Zeros = 69
• 2.7.4 Time-Domain Specifications in Terms of Poles and Zeros = 73
• 2.7.5 Effects of an Additional Zero and an Additional Pole = 78
• 2.8 Obtaining Models from Experimental Data = 85
• 2.8.1 Models from Transient Response Data = 86
• Summary = 90
• Problems = 91
• 3 Basic Principles of Feedback = 107
• 3.1 A Case Study of Speed-Control = 108
• 3.1.1 Disturbance Rejection = 109
• 3.1.2 Effects of Gain Changes = 111
• 3.1.3 Dynamic Tracking = 113
• 3.2 Types of Feedback = 116
• 3.2.1 Proportional Feedback = 116
• 3.2.2 Integral Feedback = 118
• 3.2.3 Derivative Feedback = 119
• 3.2.4 PID Controllers = 119
• 3.3 Steady-State Tracking and System Type = 125
• 3.4 Stability = 136
• 3.4.1 Bounded-Input-Bounded-Output Stability = 137
• 3.4.2 Routh'S Stability Criterion = 138
• Summary = 143
• Problems = 144
• 4 The Root-Locus Design Method = 155
• 4.1 Introduction = 155
• 4.2 Guidelines for Sketching a Root Locus = 160
• 4.3 Selected Illustrative Root Loci = 172
• 4.4 Selecting Gain from the Root Locus = 196
• 4.5 Dynamic Compensation : The Lead and Lag Networks = 199
• 4.6 Extensions of the Root Locus = 206
• 4.6.1 Time Delay = 207
• 4.6.2 Loci versus Other Parameters = 211
• 4.6.3 Zero-Degree Loci for Negative Parameters = 214
• 4.6.4 Use of the Root Locus in the Analysis of Nonlinear Systems = 217
• 4.7 Computer-Aided Graphing of the Root Locus = 224
• Summary = 226
• Problems = 226
• 5 The Frequency-Response Design Method = 243
• 5.1 Introduction = 243
• 5.2 Frequency Response = 244
• 5.2.1 Bode Plot Techniques = 247
• 5.2.2 Steady-State Errors = 259
• 5.3 Specifications = 260
• 5.4 Stability = 261
• 5.5 The Nyquist Stability Criterion = 265
• 5.6 Stability Margins = 280
• 5.6.1 Multivariable Systems = 289
• 5.7 Bode's Gain-Phase Relationship = 291
• 5.8 Closed-Loop Frequency Response = 295
• 5.9 Compensation = 296
• 5.9.1 PD Compensation = 297
• 5.9.2 Lead Compensation = 299
• 5.9.3 PI Compensation = 303
• 5.9.4 Lag Compensation = 303
• 5.9.5 PID Compensation = 309
• 5.9.6 Summary of Compensation Characteristics = 312
• 5.10 Alternative Presentation of Data = 312
• 5.11 Sensitivity = 318
• 5.11.1 Sensitivity Function = 321
• 5.11.2 Stability Robustness = 327
• 5.12 Time Delay = 332
• 5.13 Obtaining a Pole-Zero Model from Frequency-Response Data = 333
• Summary = 336
• Problems = 337
• 6 State-Space Design = 361
• 6.1 Introduction = 361
• 6.2 System Description = 362
• 6.2.1 Block Diagrams and State-Space = 369
• 6.2.2 State Transformations = 371
• 6.2.3 System Transfer Functions = 372
• 6.2.4 Poles, Zeros, and Eigenvalues from the State-Space Description = 374
• 6.3 Control Law Design for Pole Placement = 377
• 6.4 Selection of Pole Locations for Good Design = 387
• 6.4.1 Comments on the Methods = 396
• 6.5 Estimator Design = 397
• 6.5.1 Full-Order Estimators = 397
• 6.5.2 Reduced-Order Estimators = 405
• 6.5.3 Estimator-Pole Selection = 409
• 6.6 Compensator Design : Combined Control Law and Estimator = 412
• 6.7 Introduction of the Reference Input = 424
• 6.7.1 Servodesign = 426
• 6.8 Polynomial Solution = 433
• 6.9 Integral Control = 439
• 6.9.1 Internal Model Control = 441
• 6.10 Design for Systems with Pure Time Delay = 448
• 6.11 Lyapunov Stability = 451
• Summary = 457
• Appendix 6A : Solution of State Equations = 459
• Appendix 6B : Controllability and Observability = 463
• Appendix 6C : Ackermann'S Formula for Pole Placement = 470
• Problems = 473
• 7 Control-System Design : Principles and Case Studies = 491
• 7.1 Introduction = 491
• 7.1.1 An Outline of Control-System Design = 491
• 7.2 Design of a Satellite'S Attitude Control = 497
• 7.3 Lateral and Longitudinal Control of a Boeing 747 = 523
• 7.3.1 Yaw Damper = 525
• 7.3.2 Altitude-Hold Autopilot = 538
• 7.4 Control of the Fuel-Air Ratio in an Automotive Engine = 546
• 7.5 Control of a Digital Tape Transport = 555
• Summary = 574
• Problems = 574
• 8 Digital Control = 585
• 8.1 Introduction = 585
• 8.2 Theoretical Background = 586
• 8.2.1 z Transform = 586
• 8.2.2 z Transform Inversion = 587
• 8.2.3 Relationship between s and z = 591
• 8.2.4 Final-Value Theorem = 593
• 8.3 Continuous Design = 594
• 8.3.1 Digitization Procedures = 594
• 8.3.2 Design Example = 599
• 8.3.3 Applicability Limits of Method = 601
• 8.4 Discrete Design = 601
• 8.4.1 Analysis Tools = 601
• 8.4.2 Feedback Properties = 605
• 8.4.3 Design Example = 605
• 8.4.4 Design Comparison = 607
• 8.5 State-Space Design Methods = 608
• 8.6 Hardware Characteristics = 612
• 8.6.1 Analog-to-Digital (A／D) Converters = 612
• 8.6.2 Digital-to-Analog (D／A) Converters = 613
• 8.6.3 Analog Prefilters = 613
• 8.6.4 The Computer = 615
• 8.7 Word-Size Effects = 616
• 8.7.1 Random Effects = 616
• 8.7.2 Systematic Effects = 618
• 8.8 Sample-Rate Selection = 618
• 8.8.1 Tracking Effectiveness = 619
• 8.8.2 Disturbance Rejection = 620
• 8.8.3 Plant Resonances = 620
• 8.8.4 Parameter Sensitivity = 621
• 8.8.5 Control-System Design Methodology = 621
• Summary = 622
• Problems = 622
• Appendix A : Laplace Transforms = 633
• Appendix B : A Review of Complex Variables = 636
• B.1 The Definition of a Complex Number = 636
• B.2 Algebraic Manipulations = 638
• B.3 Graphical Evaluation of Magnitude And Phase = 639
• B.4 Differentiation and Integration = 641
• B.5 Euler's Relations = 641
• B.6 Analytic Functions = 642
• B.7 Cauchy's Theorem = 642
• B.8 Singularities and Residues = 642
• B.9 Residue Theorem = 644
• B.10 The Argument Principle = 644
• Appendix C : Summary of Matrix Theory = 647
• C.1 Matrix = 647
• C.2 Elementary Operations on Matrices = 647
• C.3 Trace = 648
• C.4 Transpose = 648
• C.5 Matrix Inverse and Determinant = 649
• C.6 Properties of the Determinant = 650
• C.7 Inverse of Block Triangular Matrices = 651
• C.8 Special Matrices = 651
• C.9 Rank = 652
• C.10 Characteristic Polynomial = 652
• C.11 The Cayley-Hamilton Theorem = 653
• C.12 Eigenvalues and Eigenvectors = 653
• C.13 Similarity Transformations = 653
• C.14 Matrix Exponential = 654
• C.15 Fundamental Subspaces = 655
• C.16 Singular Value Decomposition = 655
• C.17 Positive Definite Matrices = 656
• References = 657
• Index = 663