1    INTRODUCTION 1.1  The Control Problem  1.2  Examples of Control Systems 1.3  Short History of Control   References    2    MODELS OF PHYSICAL SYSTEMS   2.1  System Modeling    2.2  Electrical Circuits    2.3  Block Diagrams and Signal Flow Graphs   2.4  Masonís Gain Formula    2.5  Mechanical Translational Systems   2.6  Mechanical Rotational Systems   2.7  Electromechanical Systems   2.8  Sensors   2.9  Temperature-control System   2.10 Analogous Systems   2.11 Transformers and Gears   2.12 Robotic Control System    2.13 System Identification    2.14 Linearization    2.15 Summary   References   Problems   3    STATE-VARIABLE MODELS   3.1  State-Variable Modeling   3.2  Simulation Diagrams   3.3  Solution of State Equations   3.4  Transfer Functions   3.5  Similarity Transformations   3.6  Digital Simulation    3.7  Controls Software    3.8  Analog Simulation    3.9  Summary    References    Problems      4    SYSTEM RESPONSES   4.1  Time Response of First-Order Systems    4.2  Time Response of Second-order Systems    4.3  Time Response Specifications in Design    4.4  Frequency Response of Systems    4.5  Time and Frequency Scaling    4.6  Response of Higher-order Systems    4.7  Reduced-order Models    4.8  Summary    References    Problems      5    CONTROL SYSTEM CHARACTERISTICS    5.1  Closed-loop Control System    5.2  Stability    5.3  Sensitivity    5.4  Disturbance Rejection    5.5  Steady-state Accuracy    5.6  Transient Response    5.7  Closed-loop Frequency Response   5.8  Summary    References   Problems      6    STABILITY ANALYSIS 6.1  Routh-Hurwitz Stability Criterion    6.2  Roots of the Characteristic Equation    6.3  Stability by Simulation    6.4  Summary   Problems     7    ROOT-LOCUS ANALYSIS AND DESIGN    7.1  Root-Locus Principles   7.2  Some Root-Locus Techniques   7.3  Additional Root-Locus Techniques   7.4  Additional Properties of the Root Locus    7.5  Other Configurations   7.6  Root-Locus Design    7.7  Phase-lead Design    7.8  Analytical Phase-Lead Design    7.9  Phase-Lag Design    7.10 PID Design    7.11 Analytical PID Design    7.12 Complementary Root Locus   7.13 Compensator Realization    7.14 Summary   References   Problems    8    FREQUENCY-RESPONSE ANALYSIS  8.1  Frequency Responses   8.2  Bode Diagrams   8.3  Additional Terms   8.4  Nyquist Criterion    8.5  Application of the Nyquist Criterion    8.6  Relative Stability and the Bode Diagram   8.7  Closed-Loop Frequency Response   8.8  Summary   References   Problems    9    FREQUENCY-RESPONSE DESIGN    9.1  Control System Specifications   9.2  Compensation    9.3  Gain Compensation    9.4  Phase-Lag Compensation    9.5  Phase-Lead Compensation     9.6  Analytical Design   9.7  Lag-Lead Compensation   9.8  PID Controller Design    9.9  Analytical PID Controller Design    9.10 PID Controller Implementation    9.11 Frequency-Response Software   9.12 Summary   References   Problems    10   MODERN CONTROL DESIGN   10.1 Pole-Placement Design   10.2 Ackermannís Formula   10.3 State Estimation   10.4 Closed-Loop System Characteristics   10.5 Reduced-Order Estimators   10.6 Controllability and Observability   10.7 Systems with Inputs   10.8 Summary   References   Problems     11   DISCRETE-TIME SYSTEMS   11.1 Discrete-Time System   11.2 Transform Methods   11.3 Theorems of the z-Transform   11.4 Solution of Difference Equations   11.5 Inverse z-Transform   11.6 Simulation Diagrams and Flow Graphs  11.7 State Variables   11.8 Solution of State Equations   11.9 Summary   References   Problems    12   SAMPLED-DATA SYSTEMS    12.1 Sampled Data   12.2 Ideal Sampler   12.3 Properties of the Starred Transform   12.4 Data Reconstruction   12.5 Pulse Transfer Function   12.6 Open-Loop Systems Containing Digital Filters   12.7 Closed-Loop Discrete-Time Systems   12.8 Transfer Functions for Closed-Loop Systems   12.9 State Variables for Sampled-Data Systems   12.10     Summary   References   Problems     13   ANALYSIS AND DESIGN OF DIGITAL CONTROL SYSTEMS  13.1 Two Examples 13.2 Discrete System Stability  13.3 Juryís Test   13.4 Mapping the s-Plane into the z-Plane 13.5 Root Locus    13.6 Nyquist Criterion    13.7 Bilinear Transformation    13.8 RouthñHurwitz Criterion    13.9 Bode Diagram    13.10     Steady-State Accuracy  13.11     Design of Digital Control Systems  13.12     Phase-Lag Design   13.13     Phase-Lead Design  13.14     Digital PID Controllers  13.15     Root-Locus Design  13.16     Summary   References   Problems     14 DISCRETE-TIME POLE-ASSIGNMENT AND STATE ESTIMATION 14.1 Introduction 14.2 Pole Assignment 14.3 State Estimtion 14.4 Reduced-Order Observers 14.5 Current Observers 14.6 Controllability and Observability 14.7 Systems and Inputs 14.8 Summary      References      Problems     15   NONLINEAR SYSTEM ANALYSIS    15.1 Nonlinear System Definitions and Properties   15.2 Review of the Nyquist Criterion    15.3 Describing Function    15.4 Derivations of Describing Functions   15.5 Use of the Describing Function    15.6 Stability of Limit Cycles   15.7 Design    15.8 Application to Other Systems   15.9 Linearization   15.10     Equilibrium States and Lyapunov Stability   15.11     State Plane Analysis   15.12     Linear-System Response   15.13     Summary     References   Problems  APPENDICES      A    Matrices  B    Laplace Transform  C    Laplace Transform and z-Transform Tables  D    MATLAB Commands Used in This Text E    Answers to Selected Problems   INDEX    

This book presents mathematically oriented classical control theory in a concise manner such that undergraduate students are not overwhelmed by the complexity of the materials. In each chapter, it is organized such that the more advanced material is placed toward the end of the chapter.

New introduction to modern control analysis and design for digital systems. (Chapter 14)   Addition of emulation methods of design for digital control. (Chapter 13)   Additional system modeling example added, providing additional exposure to practical problems in developing mathematical models for physical system. (Chapter 2)   New Appendix E features answers to selected problems. Appendix E contains answers (not solutions) to selected end-of-chapter problems, providing students with immediate feedback on their work. End-of-chapter problems are arranged into sets that correspond to sections within the chapter; Appendix E features answers to at least one problem in each set.   Written with introductory students in mind. The authors have written this text for students and practicing engineers who are studying control systems for the first time. They provide many examples of system analysis and controller design that focus on one key concept to give readers the chance to absorb the material without being overwhelmed by unnecessary complexity. The end-of-chapter problems have been developed with the same philosophy.   Maximum text and course flexibility. More advanced material appears toward the end of each chapter, and topics can be easily omitted, enabling instructors to tailor the book to meet their course needs.   The SIMULINK simulation program illustrates feedback effects, which aids in student comprehension by helping to demonstrate design examples and problems.   Computer verification of results exposes students to a short MATLAB program when working almost all examples and problems.    Design procedures implemented in MATLAB m-files.   Practical application examples allow students to better relate the mathematical developments to physical systems.    Chapter-end problems lead students through a second method of the solution so they can verify results.    Transfer-function and state-variable models familiarize students with both models for the analysis and design of linear analog systems.    System stability discussion included, along with the Routh-Hurwitz stability criterion.   Coverage of nonlinear system analysis methods emphasizes describing-function analysis, linearization, and the state-plane analysis.    Early coverage of expanded frequency-response design criteria helps explain closed-loop systems to students.    Digital Control Systems provide students with the basic principles of digital control.    The Time-scaling differential equations section prepares students to relate the transfer functions of systems examples to those of practical problems.  

More than 70% of the end-of-chapter problem sets are new or revised Additional examples Additional explanation of some concepts and procedures More extensive use of MATLAB in examples and problem sets. Companion Website contains M-files A new Appendix that introduces control system applications of MATLAB. A new Appendix with answers for selected end-of-chapter problems. The end-of-chapter problems are grouped into sets so that each set corresponds to a section of the chapter. In each set at least one problem has its answer provided in Appendix E. Other problems in the set are based on the same concepts as the one with its answer given. This can provide immediate feedback to students in cases where the problems do not provide a second method of verification. A new chapter (14) on Discrete -Time Pole-Assignment and State Estimation has been added.