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
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