Control Systems Engineering, International Adaptation - Norman S. Nise

Sommaire:

Preface v

1. Introduction 1

1.1 Introduction 1

1.2 System Configurations 4

1.3 Servomechanism 6

1.4 A History of Control Systems 7

1.5 Analysis and Design Objectives 11

1.6 The Design Process 16

1.7 Multivariable Systems 21

1.8 Computer-Aided Design 22

1.9 The Control Systems Engineer 24

Summary 25

Review Questions 26

Problems 26

Cyber Exploration Laboratory 34

Bibliography 34

2. Modeling in the Frequency Domain 37

2.1 Introduction 37

2.2 Laplace Transform Review 38

2.3 The Transfer Function 48

2.4 Electrical Network Transfer Functions 51

2.5 Translational Mechanical System Transfer Functions 65

2.6 Rotational Mechanical System Transfer Functions 73

2.7 Transfer Functions for Systems with Gears 77

2.8 Electromechanical System Transfer Functions 81

2.9 Electric Circuit Analogs 87

2.10 Nonlinearities 90

2.11 Linearization 91

Summary 99

Review Questions 99

Problems 100

Cyber Exploration Laboratory 114

Hardware Interface Laboratory 117

Bibliography 120

3. Modeling in the Time Domain 123

3.1 Introduction 123

3.2 Some Observations 124

3.3 The General State-Space Representation 129

3.4 Applying the State-Space Representation 131

3.5 Converting a Transfer Function to State Space 139

3.6 Converting from State Space to a Transfer Function 146

3.7 Linearization 148

Summary 156

Review Questions 157

Problems 157

Cyber Exploration Laboratory 169

Bibliography 171

4. Time Response Analysis 173

4.1 Introduction 174

4.2 Poles Zeros and System Response 174

4.3 First-Order Systems 177

4.4 Second-Order Systems: Introduction 180

4.5 The General Second-Order System 185

4.6 Underdamped Second-Order Systems 189

4.7 System Response with Additional Poles 198

4.8 System Response with Zeros 202

4.9 Effects of Nonlinearities upon Time Response 208

4.10 Laplace Transform Solution of State Equations 210

4.11 Time Domain Solution of State Equations 214

Summary 224

Review Questions 225

Problems 226

Cyber Exploration Laboratory 243

Hardware Interface Laboratory 246

Bibliography 252

5. Reduction of Multiple Subsystems 255

5.1 Introduction 255

5.2 Block Diagrams 256

5.3 Analysis and Design of Feedback Systems 265

5.4 Signal-Flow Graphs 268

5.5 Mason's Rule 271

5.6 Signal-Flow Graphs of State Equations 274

5.7 Alternative Representations in State Space 276

5.8 Similarity Transformations 285

Summary 298

Review Questions 298

Problems 299

Cyber Exploration Laboratory 319

Bibliography 321

6. Stability 323

6.1 Introduction 323

6.2 Routh-Hurwitz Criterion 327

6.3 Routh-Hurwitz Criterion: Special Cases 329

6.4 Routh-Hurwitz Criterion: Additional Examples 335

6.5 Stability in State Space 342

Summary 347

Review Questions 347

Problems 348

Cyber Exploration Laboratory 361

Bibliography 362

7. Steady-state Errors 365

7.1 Introduction 365

7.2 Steady-State Error for Unity-Feedback Systems 369

7.3 Static Error Constants and System Type 375

7.4 Steady-State Error Specifications 378

7.5 Steady-State Error for Disturbances 381

7.6 Steady-State Error for Nonunity-Feedback Systems 383

7.7 Sensitivity 386

7.8 Steady-State Error for Systems in State Space 389

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