| Description |
1 online resource |
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text txt rdacontent |
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computer c rdamedia |
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online resource cr rdacarrier |
| Summary |
Introduction to Linear Control Systems is designed as a standard introduction to linear control systems for all those who one way or another deal with control systems. It can be used as a comprehensive up-to-date textbook for a one-semester 3-credit undergraduate course on linear control systems as the first course on this topic at university. This includes the faculties of electrical engineering, mechanical engineering, aerospace engineering, chemical and petroleum engineering, industrial engineering, civil engineering, bio-engineering, economics, mathematics, physics, management and social sciences, etc. The book covers foundations of linear control systems, their raison detre, different types, modelling, representations, computations, stability concepts, tools for time-domain and frequency-domain analysis and synthesis, and fundamental limitations, with an emphasis on frequency-domain methods. Every chapter includes a part on further readings where more advanced topics and pertinent references are introduced for further studies. The presentation is theoretically firm, contemporary, and self-contained. Appendices cover Laplace transform and differential equations, dynamics, MATLAB and SIMULINK, treatise on stability concepts and tools, treatise on Routh-Hurwitz method, random optimization techniques as well as convex and non-convex problems, and sample midterm and endterm exams. The book is divided to the sequel 3 parts plus appendices. PART I: In this part of the book, chapters 1-5, we present foundations of linear control systems. This includes: the introduction to control systems, their raison detre, their different types, modelling of control systems, different methods for their representation and fundamental computations, basic stability concepts and tools for both analysis and design, basic time domain analysis and design details, and the root locus as a stability analysis and synthesis tool. PART II: In this part of the book, Chapters 6-9, we present what is generally referred to as the frequency domain methods. This refers to the experiment of applying a sinusoidal input to the system and studying its output. There are basically three different methods for representation and studying of the data of the aforementioned frequency response experiment: these are the Nyquist plot, the Bode diagram, and the Krohn-Manger-Nichols chart. We study these methods in details. We learn that the output is also a sinusoid with the same frequency but generally with different phase and magnitude. By dividing the output by the input we obtain the so-called sinusoidal or frequency transfer function of the system which is the same as the transfer function when the Laplace variable s is substituted with . Finally we use the Bode diagram for the design process. PART III: In this part, Chapter 10, we introduce some miscellaneous advanced topics under the theme fundamental limitations which should be included in this undergraduate course at least in an introductory level. We make bridges between some seemingly disparate aspects of a control system and theoretically complement the previously studied subjects. Appendices: The book contains seven appendices. Appendix A is on the Laplace transform and differential equations. Appendix B is an introduction to dynamics. Appendix C is an introduction to MATLAB, including SIMULINK. Appendix D is a survey on stability concepts and tools. A glossary and road map of the available stability concepts and tests is provided which is missing even in the research literature. Appendix E is a survey on the Routh-Hurwitz method, also missing in the literature. Appendix F is an introduction to random optimization techniques and convex and non-convex problems. Finally, appendix G presents sample midterm and endterm exams, which are class-tested several times. |
| Note |
Online resource; title from digital title page (viewed on August 29, 2018). |
| Contents |
Front Cover -- Introduction to Linear Control Systems -- Copyright Page -- Dedication -- Contents -- Preface -- Acknowledgments -- I. Foundations -- 1 Introduction -- 1.1 Introduction -- 1.2 Why control? -- 1.3 History of control -- 1.4 Why feedback? -- 1.5 Magic of feedback -- 1.6 Physical elements of a control system -- 1.7 Abstract elements of a control system -- 1.8 Design process -- 1.9 Types of control systems -- 1.10 Open-loop control -- 1.10.1 Stability and performance -- 1.10.2 Sensitivity and robustness -- 1.10.3 Disturbance -- 1.10.4 Reliability, economics, and linearity -- 1.11 Closed-loop control -- 1.11.1 Stability and performance -- 1.11.2 Sensitivity and robustness -- 1.11.3 Disturbance and noise -- 1.11.4 Reliability, economics, and linearity -- 1.12 The 2-DOF control structure -- 1.13 The Smith predictor -- 1.14 Internal model control structure -- 1.15 Modern representation-Generalized model -- 1.16 Status quo -- 1.16.1 Overview -- 1.16.1.1 Summary -- 1.16.1.2 The forgotten -- 1.16.2 Relation with other disciplines -- 1.16.3 Challenges -- 1.16.4 Outlook -- 1.17 Summary -- 1.18 Notes and further readings -- 1.19 Worked-out problems -- 1.20 Exercises -- References -- Further Reading -- 2 System representation -- 2.1 Introduction -- 2.2 System modeling -- 2.2.1 State-space -- 2.2.1.1 Linearization -- 2.2.1.2 Number of inputs and outputs -- 2.2.2 Frequency domain -- 2.2.2.1 Finding the output -- 2.2.3 Zero, pole, and minimality -- 2.3 Basic examples of modeling -- 2.3.1 Electrical system as the plant -- 2.3.2 Mechanical system as the plant -- 2.3.3 Liquid system as the plant -- 2.3.4 Thermal system as the plant -- 2.3.5 Hydraulic system as the plant -- 2.3.6 Chemical system as the plant -- 2.3.7 Structural system as the plant -- 2.3.8 Biological system as the plant -- 2.3.9 Economics system as the plant. |
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2.3.10 Ecological system as the plant -- 2.3.11 Societal system as the plant -- 2.3.12 Physics system as the plant -- 2.3.13 Delay -- 2.3.13.1 Exact modeling of delay -- 2.3.13.2 Approximate modeling of delay -- 2.3.14 The other constituents -- 2.3.14.1 Sensors -- 2.3.14.2 Amplifiers -- 2.4 Block diagram -- 2.5 Signal flow graph -- 2.5.1 Basic terminology of graph theory -- 2.5.2 Equivalence of BD and SFG methods -- 2.5.3 Computing the transmittance of an SFG -- 2.6 Summary -- 2.7 Notes and further readings -- 2.8 Worked-out problems -- 2.9 Exercises -- References -- 3 Stability analysis -- 3.1 Introduction -- 3.2 Lyapunov and BIBO stability -- 3.3 Stability tests -- 3.4 Routh's test -- 3.4.1 Special cases -- 3.5 Hurwitz' test -- 3.6 Lienard and Chipart test -- 3.7 Relative stability -- 3.8 D-stability -- 3.9 Particular relation with control systems design -- 3.10 The Kharitonov theory -- 3.11 Internal stability -- 3.12 Strong stabilization -- 3.13 Stability of LTV Systems -- 3.14 Summary -- 3.15 Notes and further readings -- 3.16 Worked-out problems -- 3.17 Exercises -- References -- 4 Time response -- 4.1 Introduction -- 4.2 System type and system inputs -- 4.3 Steady-state error -- 4.4 First-order systems -- 4.4.1 Impulse input -- 4.4.2 Step, ramp, and parabolic inputs -- 4.5 Second-order systems -- 4.5.1 System representation -- 4.5.2 Impulse response -- 4.5.3 Step response -- 4.5.3.1 Time response characteristics -- 4.5.4 Ramp and parabola response -- 4.6 Bandwidth of the system -- 4.6.1 First-order systems -- 4.6.2 Second-order systems -- 4.6.3 Alternative derivation -- 4.6.4 Higher-order systems -- 4.6.5 Open-loop and closed-loop systems -- 4.7 Higher-order systems -- 4.8 Model reduction -- 4.9 Effect of addition of pole and zero -- 4.10 Performance region -- 4.11 Inverse response -- 4.12 Analysis of the actual system -- 4.12.1 Sensor dynamics. |
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4.12.2 Delay dynamics -- 4.13 Introduction to robust stabilization and performance -- 4.13.1 Open-loop control -- 4.13.2 Closed-loop control -- 4.13.2.1 Disturbance and noise rejection and setpoint tracking -- Design for disturbance and noise rejection -- Design for sinusoidal reference tracking -- 4.14 Summary -- 4.15 Notes and further readings -- 4.16 Worked-out problems -- 4.17 Exercises -- References -- 5 Root locus -- 5.1 Introduction -- 5.2 The root locus method -- 5.3 The root contour -- 5.4 Finding the value of gain from the root locus -- 5.5 Controller design implications -- 5.5.1 Difficult systems -- 5.5.1.1 System without NMP zeros -- 5.5.1.2 Systems with NMP zeros -- 5.5.1.3 Examples of systems without NMP zeros -- 5.5.1.4 Examples of system with NMP zeros -- 5.5.2 Simple systems -- 5.6 Summary -- 5.7 Notes and further readings -- 5.8 Worked-out problems -- 5.9 Exercises -- References -- II. Frequency domain analysis & synthesis -- 6 Nyquist plot -- 6.1 Introduction -- 6.2 Nyquist plot -- 6.2.1 Principle of argument -- 6.2.2 Nyquist stability criterion -- 6.2.3 Drawing of the Nyquist plot -- 6.2.4 The high- and low-frequency ends of the plot -- 6.2.5 Cusp points of the plot -- 6.2.6 How to handle the proportional gain/uncertain parameter -- 6.2.7 The case of j-axis zeros and poles -- 6.2.8 Relation with root locus -- 6.3 Gain, phase, and delay margins -- 6.3.1 The GM concept -- 6.3.1.1 Definition of GM in the Nyquist plot context -- 6.3.2 The PM and DM concepts -- 6.3.3 Stability in terms of the GM and PM signs -- 6.3.4 The high sensitivity region -- 6.4 Summary -- 6.5 Notes and further readings -- 6.6 Worked-out problems -- 6.7 Exercises -- References -- 7 Bode diagram -- 7.1 Introduction -- 7.2 Bode diagram -- 7.2.1 Logarithm -- 7.2.2 Decibel -- 7.2.3 Log magnitude -- 7.2.4 The magnitude diagram -- 7.2.5 Octave and decade. |
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7.2.6 Some useful figures to remember -- 7.2.7 Relation between the transfer function and its constituting components -- 7.2.7.1 Gain -- 7.2.7.2 Zeros at origin -- 7.2.7.3 Poles at origin -- 7.2.7.4 Real zeros not at origin -- 7.2.7.5 Real poles not at origin -- 7.2.7.6 Error in magnitude -- 7.2.7.7 Error in phase -- 7.2.7.8 Double zeros -- 7.2.7.9 Double poles -- 7.2.8 How to draw the Bode diagram with hand -- 7.3 Bode diagram and the steady-state error -- 7.4 Minimum phase and nonminimum phase systems -- 7.4.1 NMP zero with positive gain -- 7.4.2 NMP pole with positive gain -- 7.4.3 NMP zero with negative gain -- 7.4.4 NMP pole with negative gain -- 7.4.5 Determination of NMP systems from the Bode diagram -- 7.5 Gain, phase, and delay margins -- 7.6 Stability in the Bode diagram context -- 7.7 The high sensitivity region -- 7.8 Relation with Nyquist plot and root locus -- 7.9 Standard second-order systems -- 7.10 Bandwidth -- 7.11 Summary -- 7.12 Notes and further readings -- 7.13 Worked-out problems -- 7.14 Exercises -- References -- 8 Krohn-Manger-Nichols chart -- 8.1 Introduction -- 8.2 S-Circles -- 8.3 M-Circles -- 8.4 N-circles -- 8.5 M- and N-Contours -- 8.6 KMN chart -- 8.7 System features: GM, PM, DM, BW, stability -- 8.7.1 Gain, phase, and delay margins -- 8.7.2 Stability -- 8.7.3 Bandwidth -- 8.8 The high sensitivity region -- 8.9 Relation with Bode diagram, Nyquist plot, and root locus -- 8.10 Summary -- 8.11 Notes and further readings -- 8.12 Worked-out problems -- 8.13 Exercises -- References -- 9 Frequency domain synthesis and design -- 9.1 Introduction -- 9.2 Basic controllers: proportional, lead, lag, and lead-lag -- 9.3 Controller simplifications: PI, PD, and PID -- 9.4 Controller structures in the Nyquist plot context -- 9.5 Effect of the controllers on the root locus -- 9.6 Design procedure. |
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9.7 Specialized design and tuning rules of PID controllers -- 9.7.1 Heuristic rules -- 9.7.2 Analytical rules -- 9.7.2.1 Pole placement method -- 9.7.2.2 Direct synthesis -- 9.7.2.3 Skogestad tuning rules -- 9.7.3 Optimization-based rules -- 9.8 Internal model control -- 9.9 The Smith predictor -- 9.10 Implementation with operational amplifiers -- 9.10.1 Proportional control-P-term -- 9.10.2 Integral control-I-term -- 9.10.3 Proportional-integral-PI-term -- 9.10.4 Proportional-derivative-PD-term -- 9.10.5 Nonideal/actual derivative-D-term -- 9.10.6 Series proportional-integral-derivative-Series PID -- 9.10.7 Lead -- 9.10.8 Lag -- 9.10.9 Lead or lag -- 9.10.10 Lead-lag -- 9.11 Summary -- 9.12 Notes and further readings -- 9.13 Worked-out problems -- 9.14 Exercises -- References -- III. Advanced Issues -- 10 Fundamental limitations -- 10.1 Introduction -- 10.2 Relation between time and frequency domain specifications -- 10.3 The ideal transfer function -- 10.4 Controller design via the TS method -- 10.5 Interpolation conditions -- 10.6 Integral and Poisson integral constraints -- 10.7 Constraints implied by poles and zeros -- 10.7.1 Implications of open-loop integrators -- 10.7.2 MP and NMP poles and zeros -- 10.7.3 Imaginary-axis poles and zeros -- 10.8 Actuator and sensor limitations -- 10.8.1 Maximal actuator movement -- 10.8.2 Minimal actuator movement -- 10.8.3 Sensor precision -- 10.8.4 Sensor speed -- 10.9 Delay -- 10.10 Eigenstructure assignment by output feedback -- 10.10.1 Regulation -- 10.10.2 Tracking -- 10.11 Noninteractive performance -- 10.12 Minimal closed-loop pole sensitivity -- 10.13 Robust stabilization -- 10.13.1 Structured perturbations -- 10.13.2 Unstructured perturbations -- 10.14 Special results for positive systems -- 10.15 Generic design procedure -- 10.16 Summary -- 10.17 Notes and further readings. |
| Subject |
Linear control systems.
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Commande linéaire.
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TECHNOLOGY & ENGINEERING -- Engineering (General)
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Linear control systems
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| Other Form: |
Print version: 0128127481 9780128127483 (OCoLC)964291354 |
| ISBN |
9780128127490 (electronic book) |
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012812749X (electronic book) |
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0128127481 |
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9780128127483 |
| Standard No. |
AU@ 000061257942 |
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AU@ 000065062108 |
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CHNEW 001014542 |
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UKMGB 018484098 |
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