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1. INTRODUCTION
1.1 Introduction
1.2 System Configurations
1.3 Servomechanism
1.4 A History of Control Systems
1.5 Analysis and Design Objectives
1.6 The Design Process
1.7 Multivariable Systems
1.8 Computer-Aided Design
1.9 The Control Systems Engineer Summary Review Questions Problems Cyber Exploration Laboratory Bibliography
2. MODELING IN THE FREQUENCY DOMAIN
2.1 Introduction
2.2 Laplace Transform Review
2.3 The Transfer Function
2.4 Electrical Network Transfer Functions
2.5 Translational Mechanical System Transfer Functions
2.6 Rotational Mechanical System Transfer Functions
2.7 Transfer Functions for Systems with Gears
2.8 Electromechanical System Transfer Functions
2.9 Electric Circuit Analogs
2.10 Nonlinearities
2.11 Linearization Summary Review Questions Problems Cyber Exploration Laboratory Hardware Interface Laboratory Bibliography
3. MODELING IN THE TIME DOMAIN
3.1 Introduction
3.2 Some Observations
3.3 The General State-Space Representation
3.4 Applying the State-Space Representation
3.5 Converting a Transfer Function to State Space
3.6 Converting from State Space to a Transfer Function
3.7 Linearization Summary Review Questions Problems Cyber Exploration Laboratory Bibliography
4. TIME RESPONSE ANALYSIS
4.1 Introduction
4.2 Poles, Zeros, and System Response
4.3 First-Order Systems
4.4 Second-Order Systems: Introduction
4.5 The General Second-Order System
4.6 Underdamped Second-Order Systems
4.7 System Response with Additional Poles
4.8 System Response with Zeros
4.9 Effects of Nonlinearities upon Time Response
4.10 Laplace Transform Solution of State Equations
4.11 Time Domain Solution of State Equations Summary Review Questions Problems Cyber Exploration Laboratory Hardware Interface Laboratory Bibliography
5. REDUCTION OF MULTIPLE SUBSYSTEMS
5.1 Introduction
5.2 Block Diagrams
5.3 Analysis and Design of Feedback Systems
5.4 Signal-Flow Graphs
5.5 Mason''s Rule
5.6 Signal-Flow Graphs of State Equations
5.7 Alternative Representations in State Space
5.8 Similarity Transformations Summary Review Questions Problems Cyber Exploration Laboratory Bibliography
6. STABILITY
6.1 Introduction
6.2 Routh-Hurwitz Criterion
6.3 Routh-Hurwitz Criterion: Special Cases
6.4 Routh-Hurwitz Criterion: Additional Examples
6.5 Stability in State Space Summary Review Questions Problems Cyber Exploration Laboratory Bibliography
7. STEADY-STATE ERRORS
7.1 Introduction
7.2 Steady-State Error for Unity-Feedback Systems
7.3 Static Error Constants and System Type
7.4 Steady-State Error Specifications
7.5 Steady-State Error for Disturbances
7.6 Steady-State Error for Nonunity-Feedback Systems
7.7 Sensitivity
7.8 Steady-State Error for Systems in State Space Summary Review Questions Problems Cyber Exploration Laboratory Bibliography
8. ROOT LOCUS TECHNIQUES
8.1 Introduction
8.2 Defining the Root Locus
8.3 Properties of the Root Locus
8.4 Sketching the Root Locus
8.5 Refining the Sketch 8.6 An Example
8.7 Transient Response Design via Gain Adjustment
8.8 Generalized Root Locus
8.9 Root Locus for Positive-Feedback Systems
8.10 Pole Sensitivity Summary Review Questions Problems Cyber Exploration Laboratory Hardware Interface Laboratory Bibliography
9. DESIGN VIA ROOT LOCUS
9.1 Introduction
9.2 Improving Steady-State Error via Cascade Compensation
9.3 Improving Transient Response via Cascade Compensation
9.4 Improving Steady-State Error and Transient Response
9.5 Feedback Compensation
9.6 Physical Realization of Compensation
9.7 Tuning of PID Controllers Summary Review Questions Problems Cyber Exploration Laboratory Hardware Interface Laboratory Bibliography
10. FREQUENCY RESPONSE TECHNIQUES
10.1 Introduction
10.2 Asymptotic Approximations: Bode Plots
10.3 All-Pass and Non-Minimum Phase Systems
10.4 Introduction to the Nyquist Criterion
10.5 Sketching the Nyquist Diagram
10.6 Stability via the Nyquist Diagram
10.7 Gain Margin and Phase Margin via the Nyquist Diagram
10.8 Stability, Gain Margin, and Phase Margin via Bode Plots
10.9 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses
10.10 Relation Between Closed- and Open-Loop Frequency Responses
10.11 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses
10.12 Steady-State Error Characteristics from Frequency Response
10.13 Systems with Time Delay
10.14 Obtaining Transfer Functions Experimentally Summary Review Questions Problems Cyber Exploration Laboratory Bibliography
11. DESIGN VIA FREQUENCY RESPONSE
11.1 Introduction
11.2 Transient Response via Gain Adjustment
11.3 Lag Compensation
11.4 Lead Compensation
11.5 Lag-Lead Compensation Summary Review Questions Problems Cyber Exploration Laboratory Bibliography
12. DESIGN VIA STATE SPACE
12.1 Introduction
12.2 Controller Design
12.3 Controllability
12.4 Alternative Approaches to Controller Design
12.5 Observer Design
12.6 Observability
12.7 Alternative Approaches to Observer Design
12.8 Steady-State Error Design via Integral Control Summary Review Questions Problems Cyber Exploration Laboratory Bibliography
13. DIGITAL CONTROL SYSTEMS
13.1 Introduction
13.2 Modeling the Digital Computer
13.3 The z -Transform
13.4 Transfer Functions
13.5 Block Diagram Reduction
13.6 Stability
13.7 Steady-State Errors
13.8 Transient Response on the z -Plane
13.9 Gain Design on the z -Plane
13.10 Cascade Compensation via the s -Plane
13.11 Implementing the Digital Compensator Summary Review Questions Problems Cyber Exploration Laboratory Bibliography
14. OPTIMAL CONTROL SYSTEMS ( Available Online )
14.1 Introduction
14.2 Performance Indices
14.3 Optimal Control Problem
14.4 Regulator Problem
14.5 State Regulator
14.6 Output Regulator
14.7 Tracking Problem Summary Review Questions Problems Cyber Exploration Laboratory Bibliography APPENDIX A1 List of Symbols APPENDIX A2 Antenna Azimuth Position Control System APPENDIX A3 Unmanned Free-Swimming Submersible Vehicle APPENDIX A4 Key Equations GLOSSARY ANSWERS TO SELECTED PROBLEMS INDEX ONLINE APPENDICES APPENDIX B MATLAB Tutorial APPENDIX C Simulink Tutorial APPENDIX D LabVIEW Tutorial APPENDIX E MATLAB''s GUI Tools Tutorial APPENDIX F MATLAB''s Symbolic Math Toolbox Tutorial APPENDIX G Matrices, Determinants, and Systems of Equations APPENDIX H Control System Computational Aids APPENDIX I Derivation of a Schematic for a DC Motor APPENDIX J Derivation of the Time Domain Solution of State Equations APPENDIX K Solution of State Equations for t 0 â?  0 APPENDIX L Derivation of Similarity Transformations APPENDIX M Root Locus Rules: Derivations