Control Systems Engineering, International Adaptation

Norman S. Nise teaches in the Electrical and Computer Engineering Department at California State Polytechnic University, Pomona. In addition to being the author of Control Systems Engineering, Professor Nise has contributed to the CRC publications The Engineering Handbook, The Control Handbook, and The Electrical Engineering Handbook.

• Preface v1. Introduction 11.1 Introduction 11.2 System Configurations 41.3 Servomechanism 61.4 A History of Control Systems 71.5 Analysis and Design Objectives 111.6 The Design Process 161.7 Multivariable Systems 211.8 Computer-Aided Design 221.9 The Control Systems Engineer 24Summary 25Review Questions 26Problems 26Cyber Exploration Laboratory 34Bibliography 342. Modeling in the Frequency Domain 372.1 Introduction 372.2 Laplace Transform Review 382.3 The Transfer Function 482.4 Electrical Network Transfer Functions 512.5 Translational Mechanical System Transfer Functions 652.6 Rotational Mechanical System Transfer Functions 732.7 Transfer Functions for Systems with Gears 772.8 Electromechanical System Transfer Functions 812.9 Electric Circuit Analogs 872.10 Nonlinearities 902.11 Linearization 91Summary 99Review Questions 99Problems 100Cyber Exploration Laboratory 114Hardware Interface Laboratory 117Bibliography 1203. Modeling in the Time Domain 1233.1 Introduction 1233.2 Some Observations 1243.3 The General State-Space Representation 1293.4 Applying the State-Space Representation 1313.5 Converting a Transfer Function to State Space 1393.6 Converting from State Space to a Transfer Function 1463.7 Linearization 148Summary 156Review Questions 157Problems 157Cyber Exploration Laboratory 169Bibliography 1714. Time Response Analysis 1734.1 Introduction 1744.2 Poles Zeros and System Response 1744.3 First-Order Systems 1774.4 Second-Order Systems: Introduction 1804.5 The General Second-Order System 1854.6 Underdamped Second-Order Systems 1894.7 System Response with Additional Poles 1984.8 System Response with Zeros 2024.9 Effects of Nonlinearities upon Time Response 2084.10 Laplace Transform Solution of State Equations 2104.11 Time Domain Solution of State Equations 214Summary 224Review Questions 225Problems 226Cyber Exploration Laboratory 243Hardware Interface Laboratory 246Bibliography 2525. Reduction of Multiple Subsystems 2555.1 Introduction 2555.2 Block Diagrams 2565.3 Analysis and Design of Feedback Systems 2655.4 Signal-Flow Graphs 2685.5 Mason’s Rule 2715.6 Signal-Flow Graphs of State Equations 2745.7 Alternative Representations in State Space 2765.8 Similarity Transformations 285Summary 298Review Questions 298Problems 299Cyber Exploration Laboratory 319Bibliography 3216. Stability 3236.1 Introduction 3236.2 Routh–Hurwitz Criterion 3276.3 Routh–Hurwitz Criterion: Special Cases 3296.4 Routh–Hurwitz Criterion: Additional Examples 3356.5 Stability in State Space 342Summary 347Review Questions 347Problems 348Cyber Exploration Laboratory 361Bibliography 3627. Steady-state Errors 3657.1 Introduction 3657.2 Steady-State Error for Unity-Feedback Systems 3697.3 Static Error Constants and System Type 3757.4 Steady-State Error Specifications 3787.5 Steady-State Error for Disturbances 3817.6 Steady-State Error for Nonunity-Feedback Systems 3837.7 Sensitivity 3867.8 Steady-State Error for Systems in State Space 389Summary 395Review Questions 396Problems 397Cyber Exploration Laboratory 411Bibliography 4128. Root Locus Techniques 4158.1 Introduction 4158.2 Defining the Root Locus 4208.3 Properties of the Root Locus 4228.4 Sketching the Root Locus 4248.5 Refining the Sketch 4298.6 An Example 4388.7 Transient Response Design via Gain Adjustment 4418.8 Generalized Root Locus 4458.9 Root Locus for Positive-Feedback Systems 4478.10 Pole Sensitivity 449Summary 456Review Questions 457Problems 457Cyber Exploration Laboratory 479Hardware Interface Laboratory 481Bibliography 4879. Design Via Root Locus 4899.1 Introduction 4899.2 Improving Steady-State Error via Cascade Compensation 4939.3 Improving Transient Response via Cascade Compensation 5029.4 Improving Steady-State Error and Transient Response 5159.5 Feedback Compensation 5289.6 Physical Realization of Compensation 5369.7 Tuning of PID Controllers 541Summary 560Review Questions 561Problems 561Cyber Exploration Laboratory 578Hardware Interface Laboratory 580Bibliography 58210. Frequency Response Techniques 58510.1 Introduction 58510.2 Asymptotic Approximations: Bode Plots 59110.3 All-Pass and Nonminimum-PhaseSystems 61010.4 Introduction to the Nyquist Criterion 61510.5 Sketching the Nyquist Diagram 61910.6 Stability via the Nyquist Diagram 62510.7 Gain Margin and Phase Margin via the Nyquist Diagram 62910.8 Stability Gain Margin and Phase Margin via Bode Plots 63210.9 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses 63510.10 Relation Between Closed- and Open-Loop Frequency Responses 63810.11 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses 64410.12 Steady-State Error Characteristics from Frequency Response 64810.13 Systems with Time Delay 65210.14 Obtaining Transfer Functions Experimentally 657Summary 662Review Questions 664Problems 665Cyber Exploration Laboratory 676Bibliography 67811. Design Via Frequency Response 68111.1 Introduction 68111.2 Transient Response via Gain Adjustment 68311.3 Lag Compensation 68611.4 Lead Compensation 69111.5 Lag–Lead Compensation 697Summary 708Review Questions 708Problems 709Cyber Exploration Laboratory 718Bibliography 71912. Design Via State Space 72112.1 Introduction 72112.2 Controller Design 72312.3 Controllability 73012.4 Alternative Approaches to Controller Design 73312.5 Observer Design 73912.6 Observability 74612.7 Alternative Approaches to Observer Design 74912.8 Steady-State Error Design via Integral Control 756Summary 765Review Questions 766Problems 767Cyber Exploration Laboratory 776Bibliography 77813. Digital Control Systems 77913.1 Introduction 77913.2 Modeling the Digital Computer 78313.3 The z-Transform 78613.4 Transfer Functions 79113.5 Block Diagram Reduction 79513.6 Stability 79813.7 Steady-State Errors 80513.8 Transient Response on the z-Plane 80913.9 Gain Design on the z-Plane 81113.10 Cascade Compensation via the s-Plane 81513.11 Implementing the Digital Compensator 818Summary 825Review Questions 826Problems 827Cyber Exploration Laboratory 836Bibliography 83814. Optimal Control Systems 839(Available Online)14.1 Introduction 83914.2 Performance Indices 84114.3 Optimal Control Problem 84614.4 Regulator Problem 84914.5 State Regulator 85114.6 Output Regulator 85914.7 Tracking Problem 861Summary 869Review Questions 870Problems 870Cyber Exploration Laboratory 873Bibliography 875Appendix A1 List of Symbols A- 1Appendix A2 Antenna Azimuth Position Control System A- 5Appendix A3 Unmanned Free-Swimming Submersible Vehicle A- 7Appendix A4 Key Equations A- 8Glossary G-1Answers to Selected Problems Ans-1Index I- 1Online AppendicesAppendix B MATLAB TutorialAppendix C Simulink TutorialAppendix D LabVIEW TutorialAppendix E MATLAB’s GUI Tools TutorialAppendix F MATLAB’s Symbolic Math Toolbox TutorialAppendix G Matrices Determinants and Systems of EquationsAppendix H Control System Computational AidsAppendix I Derivation of a Schematic for a DC MotorAppendix J Derivation of the Time Domain Solution of State EquationsAppendix K Solution of State Equations for t 0 ≠ 0Appendix L Derivation of Similarity TransformationsAppendix M Root Locus Rules: Derivations