CHAPTER 1 Introduction to Control Systems 1 1.1 Introduction 2 1.2 Brief History of Automatic Control 5 1.3 Examples of Control Systems 10 1.4 Engineering Design 17 1.5 Control System Design 18 1.6 Mechatronic Systems 21 1.7 Green Engineering 25 1.

8 The Future Evolution of Control Systems 27 1.9 Design Examples 28 1.10 Sequential Design Example: Disk Drive Read System 32 1.11 Summary 34 Skills Check 35 Exercises 37 Problems 39 Advanced Problems 44 Design Problems 46 Terms and Concepts 48 CHAPTER 2 Mathematical Models of Systems 49 2.1 Introduction 50 2.2 Differential Equations of Physical Systems 50 2.3 Linear Approximations of Physical Systems 55 2.4 The Laplace Transform 58 2.

5 The Transfer Function of Linear Systems 65 2.6 Block Diagram Models 79 2.7 Signal-Flow Graph Models 84 2.8 Design Examples 90 2.9 The Simulation of Systems Using Control Design Software 113 2.10 Sequential Design Example: Disk Drive Read System 128 2.11 Summary 130 Skills Check 131 Exercises 135 Problems 141 Advanced Problems 153 Design Problems 155 Computer Problems 157 Terms and Concepts 159 CHAPTER 3 State Variable Models 161 3.1 Introduction 162 3.

2 The State Variables of a Dynamic System 162 3.3 The State Differential Equation 166 3.4 Signal-Flow Graph and Block Diagram Models 171 3.5 Alternative Signal-Flow Graph and Block Diagram Models 182 3.6 The Transfer Function from the State Equation 187 3.7 The Time Response and the State Transition Matrix 189 3.8 Design Examples 193 3.9 Analysis of State Variable Models Using Control Design Software 206 3.

10 Sequential Design Example: Disk Drive Read System 209 3.11 Summary 213 Skills Check 214 Exercises 217 Problems 220 Advanced Problems 227 Design Problems 230 Computer Problems 231 Terms and Concepts 232 CHAPTER 4 Feedback Control System Characteristics 234 4.1 Introduction 235 4.2 Error Signal Analysis 237 4.3 Sensitivity of Control Systems to Parameter Variations 239 4.4 Disturbance Signals in a Feedback Control System 242 4.5 Control of the Transient Response 247 4.6 Steady-State Error 250 4.

7 The Cost of Feedback 253 4.8 Design Examples 254 4.9 Control System Characteristics Using Control Design Software 268 4.10 Sequential Design Example: Disk Drive Read System 273 4.11 Summary 277 Skills Check 279 Exercises 283 Problems 287 Advanced Problems 293 Design Problems 296 Computer Problems 300 Terms and Concepts 303 CHAPTER 5 The Performance of Feedback Control Systems 304 5.1 Introduction 305 5.2 Test Input Signals 305 5.3 Performance of Second-Order Systems 308 5.

4 Effects of a Third Pole and a Zero on the Second-Order System Response 314 5.5 The s -Plane Root Location and the Transient Response 320 5.6 The Steady-State Error of Feedback Control Systems 322 5.7 Performance Indices 330 5.8 The Simplification of Linear Systems 339 5.9 Design Examples 342 5.10 System Performance Using Control Design Software 356 5.11 Sequential Design Example: Disk Drive Read System 360 5.

12 Summary 364 Skills Check 364 Exercises 368 Problems 371 Advanced Problems 377 Design Problems 379 Computer Problems 382 Terms and Concepts 384 CHAPTER 6 The Stability of Linear Feedback Systems 386 6.1 The Concept of Stability 387 6.2 The Routh--Hurwitz Stability Criterion 391 6.3 The Relative Stability of Feedback Control Systems 399 6.4 The Stability of State Variable Systems 401 6.5 Design Examples 404 6.6 System Stability Using Control Design Software 413 6.7 Sequential Design Example: Disk Drive Read System 421 6.

8 Summary 424 Skills Check 425 Exercises 428 Problems 430 Advanced Problems 435 Design Problems 438 Computer Problems 440 Terms and Concepts 442 CHAPTER 7 The Root Locus Method 443 7.1 Introduction 444 7.2 The Root Locus Concept 444 7.3 The Root Locus Procedure 449 7.4 Parameter Design by the Root Locus Method 467 7.5 Sensitivity and the Root Locus 473 7.6 PID Controllers 480 7.7 Negative Gain Root Locus 492 7.

8 Design Examples 496 7.9 The Root Locus Using Control Design Software 510 7.10 Sequential Design Example: Disk Drive Read System 516 7.11 Summary 518 Skills Check 522 Exercises 526 Problems 530 Advanced Problems 539 Design Problems 543 Computer Problems 549 Terms and Concepts 551 CHAPTER 8 Frequency Response Methods 553 8.1 Introduction 554 8.2 Frequency Response Plots 556 8.3 Frequency Response Measurements 577 8.4 Performance Specifications in the Frequency Domain 579 8.

5 Log Magnitude and Phase Diagrams 582 8.6 Design Examples 583 8.7 Frequency Response Methods Using Control Design Software 596 8.8 Sequential Design Example: Disk Drive Read System 602 8.9 Summary 603 Skills Check 608 Exercises 613 Problems 616 Advanced Problems 626 Design Problems 628 Computer Problems 631 Terms and Concepts 633 CHAPTER 9 Stability in the Frequency Domain 634 9.1 Introduction 635 9.2 Mapping Contours in the s -Plane 636 9.3 The Nyquist Criterion 642 9.

4 Relative Stability and the Nyquist Criterion 653 9.5 Time-Domain Performance Criteria in the Frequency Domain 661 9.6 System Bandwidth 668 9.7 The Stability of Control Systems with Time Delays 668 9.8 Design Examples 673 9.9 PID Controllers in the Frequency Domain 691 9.10 Stability in the Frequency Domain Using Control Design Software 692 9.11 Sequential Design Example: Disk Drive Read System 700 9.

12 Summary 703 Skills Check 711 Exercises 715 Problems 721 Advanced Problems 731 Design Problems 735 Computer Problems 740 Terms and Concepts 742 CHAPTER 10 The Design of Feedback Control Systems 743 10.1 Introduction 744 10.2 Approaches to System Design 745 10.3 Cascade Compensation Networks 747 10.4 Phase-Lead Design Using the Bode Diagram 751 10.5 Phase-Lead Design Using the Root Locus 757 10.6 System Design Using Integration Networks 764 10.7 Phase-Lag Design Using the Root Locus 767 10.

8 Phase-Lag Design Using the Bode Diagram 772 10.9 Design on the Bode Diagram Using Analytical Methods 776 10.10 Systems with a Prefilter 778 10.11 Design for Deadbeat Response 781 10.12 Design Examples 783 10.13 System Design Using Control Design Software 796 10.14 Sequential Design Example: Disk Drive Read System 802 10.15 Summary 804 Skills Check 806 Exercises 810 Problems 814 Advanced Problems 823 Design Problems 826 Computer Problems 831 Terms and Concepts 833 CHAPTER 11 The Design of State Variable Feedback Systems 834 11.

1 Introduction 835 11.2 Controllability and Observability 835 11.3 Full-State Feedback Control Design 841 11.4 Observer Design 847 11.5 Integrated Full-State Feedback and Observer 851 11.6 Reference Inputs 857 11.7 Optimal Control Systems 859 11.8 Internal Model Design 869 11.

9 Design Examples 873 11.10 State Variable Design Using Control Design Software 882 11.11 Sequential Design Example: Disk Drive Read System 888 11.12 Summary 890 Skills Check 890 Exercises 894 Problems 896 Advanced Problems 900 Design Problems 903 Computer Problems 906 Terms and Concepts 908 CHAPTER 12 Robust Control Systems 910 12.1 Introduction 911 12.2 Robust Control Systems and System Sensitivity 912 12.3 Analysis of Robustness 916 12.4 Systems with Uncertain Parameters 918 12.

5 The Design of Robust Control Systems 920 12.6 The Design of Robust PID-Controlled Systems 926 12.7 The Robust Internal Model Control System 932.