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Preface
CHAPTER 1 Introduction to Control Systems A Space Shuttle Example
1.1 Introduction 2
1.2 The Design Process 5
1.3 Simulating a Simple System with SIMULINK
1.4 Summary 16
Exercises 16
CHAPTER 2 Mathematical Models of Systems Fluid Flow Modeling Example
2.1 Introduction 17
2.2 Fluid Flow Modeling 18
2.3 Mathematical Model and Assumptions 20
2.4 Differential Equations of Motion 22
2.5 Solutions to the Equations of Motion 26
2.6 Summary 33
Exercises 33
CHAPTER 3 State Variable Models A Space Station Example
3.1 Introduction 35
3.2 Two Simple Physical Systems 35
3.3 Spacecraft Control 43
3.4 Simplified Nonlinear Model 53
3.5 Linearization 54
3.6 Pitch-axis Analysis 56
3.7 Summary 60
Exercises 60
CHAPTER 4 Feedback Control System Characteristics Blood Pressure Control Example
4.1 Introduction 62
4.2 Error Signal Analysis 62
4.3 Blood Pressure Control During Anesthesia 71
4.4 Summary 83
Exercises 83
CHAPTER 5 Performance of Feedback Control Systems Airplane Lateral Dynamics Example
5.1 Introduction 85
5.2 Airplane Lateral Dynamics 86
5.3 Bank Angle Control Design 91
5.4 Simulation Development 95
5.5 Summary 102
Exercises 102
CHAPTER 6 Stability of Linear Feedback Systems Robot-controlled Motorcycle Example
6.1 Introduction 105
6.2 BIBO Stability 105
6.3 Robot-controlled Motorcycle 111
6.4 Stability Analysis 114
6.5 Disturbance Response 116
6.6 MATLAB Analysis 117
6.7 Summary 120
Exercises 120
CHAPTER 7 Root Locus Method Automobile Velocity Control Example
7.1 Introduction 121
7.2 Sketching a Root Locus 122
7.3 PID Controller 128
7.4 Automobile Velocity Control 130
7.5 Summary 137
Exercises 138
CHAPTER 8 Frequency Response Methods Six-legged Ambler Example
8.1 Introduction 140
8.2 A Simple Physical System 142
8.3 Six-legged Ambler 146
8.4 Controller Selection 147
8.5 Controller Design 148
8.6 Summary 154
Exercises 155
CHAPTER 9 Stability in the Frequency Domain Hot Ingot Robot Control Example
9.1 Introduction 158
9.2 Hot Ingot Robot Control 158
9.3 Proportional Controller Design 161
9.4 Nyquist Plot for a System with a Time-delay 163
9.5 Pad6 Approximation 168
9.6 Other Time-delay Approximations 170
9.7 Nyquist Plot with Pad6 Approximation 171
9.8 PI Controller Design 173
9.9 Summary 178
Exercises 179
CHAPTER 10 Design of Feedback Control Systems Milling Machine Control Example
10.1 Introduction 180
10.2 Lead and Lag Compensators 181
10.3 Milling Machine Control System 181
10.4 Lag Compensator Design 187
10.5 Summary 191
Exercises 191
CHAPTER 11 Design of State Variable Feedback Systems Diesel Electric Locomotive Example
11.1 Introduction 193
11.2 Robot Drive Train Dynamics 195
11.3 More on Controllability 199
11.4 More on Observability 203
11.5 Diesel Electric Locomotive Example 204
11.6 State Feedback Controller Design 206
11.7 System Simulation with SIMULINK 211
11.8 Summary 214
Exercises 215
CHAPTER 12 Robust Control Systems Digital Audio Tape Speed Control Example
12.1 Introduction 216
12.2 UncertainTime-delays 217
12.3 Digital Audio Tape Example 222
12.4 PID Controller Design 224
12.5 Summary 229
Exercises 229
CHAPTER 13 Digital Control Systems Fly-by-wire Control Surface Example
13.1 Introduction 230
13.2 Fly-by-wire Aircraft Control Surface 231
13.3 Settling Time and Percent Overshoot Specifications 236
13.4 Controller Design 237
13.5 Summary 240
Exercises 241
APPENDIX A Useful Design Formulas
References
Index
