Control Systems Engineering 7th Edition by Norman S. Nise

Contents

PREFACE, ix

1. INTRODUCTION, 1

1.1 Introduction, 2

1.2 A History of Control Systems, 4

1.3 System Configurations, 6

1.4 Analysis and Design Objectives, 9

Case Study, 11

1.5 The Design Process, 14

1.6 Computer-Aided Design, 19

1.7 The Control Systems Engineer, 20

Summary, 21

Review Questions, 22

Problems, 22

Cyber Exploration Laboratory, 29

Bibliography, 30

2. MODELING IN THE FREQUENCY DOMAIN, 33

2.1 Introduction, 34

2.2 Laplace Transform Review, 35

2.3 The Transfer Function, 44

2.4 Electrical Network Transfer Functions, 47

2.5 Translational Mechanical System Transfer Functions, 61

2.6 Rotational Mechanical System Transfer Functions, 69

2.7 Transfer Functions for Systems with Gears, 73

2.8 Electromechanical System Transfer Functions, 77

2.9 Electric Circuit Analogs, 83

2.10 Nonlinearities, 86

2.11 Linearization, 87

Case Studies, 92

Summary, 95

Review Questions, 95

Problems, 96

Cyber Exploration Laboratory, 107

Hardware Interface Laboratory, 110

Bibliography, 112

3. MODELING IN THE TIME DOMAIN, 115

3.1 Introduction, 116

3.2 Some Observations, 116

3.3 The General State-Space Representation, 120

3.4 Applying the State-Space Representation, 122

3.5 Converting a Transfer Function to State Space, 130

3.6 Converting from State Space to a Transfer Function, 136

3.7 Linearization, 138

Case Studies, 141

Summary, 145

Review Questions, 146

Problems, 146

Cyber Exploration Laboratory, 153

Bibliography, 155

4. TIME RESPONSE, 157

4.1 Introduction, 158

4.2 Poles, Zeros, and System Response, 158

4.3 First-Order Systems, 162

4.4 Second-Order Systems: Introduction, 164

4.5 The General Second-Order System, 169

4.6 Underdamped Second-Order Systems, 173

4.7 System Response with Additional Poles, 182

4.8 System Response with Zeros, 186

4.9 Effects of Nonlinearities upon Time Response, 192

4.10 Laplace Transform Solution of State Equations, 194

4.11 Time Domain Solution of State Equations, 198

Case Studies, 202

Summary, 208

Review Questions, 209

Problems, 210

Cyber Exploration Laboratory, 223

Hardware Interface Laboratory, 226

Bibliography, 231

5. REDUCTION OF MULTIPLE SUBSYSTEMS, 235

5.1 Introduction, 236

5.2 Block Diagrams, 236

5.3 Analysis and Design of Feedback Systems, 245

5.4 Signal-Flow Graphs, 248

5.5 Mason’s Rule, 251

5.6 Signal-Flow Graphs of State Equations, 254

5.7 Alternative Representations in State Space, 256

5.8 Similarity Transformations, 265

Case Studies, 272

Summary, 278

Review Questions, 278

Problems, 279

Cyber Exploration Laboratory, 295

Bibliography, 296

6. STABILITY, 299

6.1 Introduction, 300

6.2 Routh-Hurwitz Criterion, 303

6.3 Routh-Hurwitz Criterion: Special Cases, 305

6.4 Routh-Hurwitz Criterion: Additional Examples, 311

6.5 Stability in State Space, 318

Case Studies, 321

Summary, 323

Review Questions, 323

Problems, 324

Cyber Exploration Laboratory, 332

Bibliography, 333

7. STEADY-STATE ERRORS, 335

7.1 Introduction, 336

7.2 Steady-State Error for Unity Feedback Systems, 339

7.3 Static Error Constants and System Type, 345

7.4 Steady-State Error Specifications, 348

7.5 Steady-State Error for Disturbances, 351

7.6 Steady-State Error for Nonunity Feedback Systems, 353

7.7 Sensitivity, 356

7.8 Steady-State Error for Systems in

State Space, 359

Case Studies, 362

Summary, 365

Review Questions, 366

Problems, 367

Cyber Exploration Laboratory, 377

Bibliography, 379

8. ROOT LOCUS TECHNIQUES, 381

8.1 Introduction, 382

8.2 Defining the Root Locus, 386

8.3 Properties of the Root Locus, 388

8.4 Sketching the Root Locus, 390

8.5 Refining the Sketch, 395

8.6 An Example, 404

8.7 Transient Response Design via Gain Adjustment, 407

8.8 Generalized Root Locus, 411

8.9 Root Locus for Positive-Feedback Systems, 413

8.10 Pole Sensitivity, 415

Case Studies, 417

Summary, 422

Review Questions, 423

Problems, 423

Cyber Exploration Laboratory, 439

Hardware Interface Laboratory, 441

Bibliography, 447

9. DESIGN VIA ROOT LOCUS, 449

9.1 Introduction, 450

9.2 Improving Steady-State Error via Cascade Compensation, 453

9.3 Improving Transient Response via Cascade Compensation, 462

9.4 Improving Steady-State Error and Transient Response, 474

9.5 Feedback Compensation, 487

9.6 Physical Realization of Compensation, 495

Case Studies, 500

Summary, 504

Review Questions, 505

Problems, 506

Cyber Exploration Laboratory, 519

Hardware Interface Laboratory, 520

Bibliography, 523

10. FREQUENCY RESPONSE TECHNIQUES, 525

10.1 Introduction, 526

10.2 Asymptotic Approximations: Bode Plots, 531

10.3 Introduction to the Nyquist Criterion, 550

10.4 Sketching the Nyquist Diagram, 555

10.5 Stability via the Nyquist Diagram, 560

10.6 Gain Margin and Phase Margin via the Nyquist Diagram, 564

10.7 Stability, Gain Margin, and Phase Margin via Bode Plots, 566

10.8 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses, 570

10.9 Relation Between Closed- and Open-Loop Frequency Responses, 573

10.10 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses, 578

10.11 Steady-State Error Characteristics from Frequency Response, 582

10.12 Systems with Time Delay, 586

10.13 Obtaining Transfer Functions

Experimentally, 591

Case Study, 595

Summary, 596

Review Questions, 597

Problems, 598

Cyber Exploration Laboratory, 609

Bibliography, 610

11. DESIGN VIA FREQUENCY RESPONSE, 613

11.1 Introduction, 614

11.2 Transient Response via Gain Adjustment, 615

11.3 Lag Compensation, 618

11.4 Lead Compensation, 623

11.5 Lag-Lead Compensation, 629

Case Studies, 638

Summary, 640

Review Questions, 640

Problems, 641

Cyber Exploration Laboratory, 646

Bibliography, 647

12. DESIGN VIA STATE SPACE, 649

12.1 Introduction, 650

12.2 Controller Design, 651

12.3 Controllability, 658

12.4 Alternative Approaches to Controller Design, 661

12.5 Observer Design, 667

12.6 Observability, 674

12.7 Alternative Approaches to Observer Design, 677

12.8 Steady-State Error Design via Integral Control, 684

Case Study, 688

Summary, 693

Review Questions, 694

Problems, 695

Cyber Exploration Laboratory, 703

Bibliography, 704

13. DIGITAL CONTROL SYSTEMS, 707

13.1 Introduction, 708

13.2 Modeling the Digital Computer, 711

13.3 The z-Transform, 714

13.4 Transfer Functions, 719

13.5 Block Diagram Reduction, 723

13.6 Stability, 726

13.7 Steady-State Errors, 733

13.8 Transient Response on the z-Plane, 737

13.9 Gain Design on the z-Plane, 739

13.10 Cascade Compensation via the s-Plane, 742

13.11 Implementing the Digital Compensator, 746