Automatic Control Systems, Tenth Edition /

Focuses on control systems. This edition delivers practical coverage designed to introduce readers to the essential concepts of automatic control systems without bogging them down with theoretical complexities. It also includes solved examples, labs using both LEGO Mindstorms[registered] and MATLAB/...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autores principales: Golnaraghi, M. F. (Autor), Kuo, Benjamin C., 1930- (Autor)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: New York, N.Y. : McGraw-Hill Education, [2017].
Edición:10th edition.
Temas:
Automatic control.
Control theory.
Electronic books.
Acceso en línea:Texto completo
Tabla de Contenidos:
  • A. Dedication
  • B. About the Authors
  • C. In Memory of Professor Benjamin C. Kuo-A Visionary Pioneer and a Brilliant Teacher
  • D. LEGO and MINDSTORMS are registered trademarks of the LEGO Group.
  • E. Preface
  • 1. Introduction to Control Systems
  • CHAPTER PRELIMINARIES
  • BASIC COMPONENTS OF A CONTROL SYSTEM
  • EXAMPLES OF CONTROL-SYSTEM APPLICATIONS
  • OPEN-LOOP CONTROL SYSTEMS (NONFEEDBACK SYSTEMS)
  • CLOSED-LOOP CONTROL SYSTEMS (FEEDBACK CONTROL SYSTEMS)
  • WHAT IS FEEDBACK, AND WHAT ARE ITS EFFECTS?
  • TYPES OF FEEDBACK CONTROL SYSTEMS
  • LINEAR VERSUS NONLINEAR CONTROL SYSTEMS
  • TIME-INVARIANT VERSUS TIME-VARYING SYSTEMS
  • CONTINUOUS-DATA CONTROL SYSTEMS
  • DISCRETE-DATA CONTROL SYSTEMS
  • CASE STUDY: INTELLIGENT VEHICLE OBSTACLE AVOIDANCE-LEGO MINDSTORMS
  • SUMMARY
  • 2. Modeling of Dynamic Systems
  • CHAPTER PRELIMINARIES
  • MODELING OF SIMPLE MECHANICAL SYSTEMS
  • INTRODUCTION TO MODELING OF SIMPLE ELECTRICAL SYSTEMS
  • INTRODUCTION TO MODELING OF THERMAL AND FLUID SYSTEMS
  • LINEARIZATION OF NONLINEAR SYSTEMS
  • ANALOGIES
  • PROJECT: INTRODUCTION TO LEGO MINDSTORMS NXT MOTOR-MECHANICAL MODELING
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 3. Solution of Differential Equations of Dynamic Systems
  • CHAPTER PRELIMINARIES
  • INTRODUCTION TO DIFFERENTIAL EQUATIONS
  • LAPLACE TRANSFORM
  • INVERSE LAPLACE TRANSFORM BY PARTIAL-FRACTION EXPANSION
  • APPLICATION OF THE LAPLACE TRANSFORM TO THE SOLUTION OF LINEAR ORDINARY DIFFERENTIAL EQUATIONS
  • IMPULSE RESPONSE AND TRANSFER FUNCTIONS OF LINEAR SYSTEMS
  • SYSTEMS OF FIRST-ORDER DIFFERENTIAL EQUATIONS: STATE EQUATIONS
  • SOLUTION OF THE LINEAR HOMOGENEOUS STATE EQUATION
  • CASE STUDIES WITH MATLAB
  • LINEARIZATION REVISITED-THE STATE-SPACE APPROACH
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 4. Block Diagrams and Signal-Flow Graphs
  • CHAPTER PRELIMINARIES
  • BLOCK DIAGRAMS
  • SIGNAL-FLOW GRAPHS
  • STATE DIAGRAM
  • CASE STUDIES
  • MATLAB TOOLS
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 5. Stability of Linear Control Systems
  • CHAPTER PRELIMINARIES
  • INTRODUCTION TO STABILITY
  • METHODS OF DETERMINING STABILITY
  • ROUTH-HURWITZ CRITERION
  • MATLAB TOOLS AND CASE STUDIES
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 6. Important Components of Feedback Control Systems
  • CHAPTER PRELIMINARIES
  • MODELING OF ACTIVE ELECTRICAL ELEMENTS: OPERATIONAL AMPLIFIERS
  • SENSORS AND ENCODERS IN CONTROL SYSTEMS
  • DC MOTORS IN CONTROL SYSTEMS
  • SPEED AND POSITION CONTROL OF A DC MOTOR
  • CASE STUDIES: PRACTICAL EXAMPLES
  • THE CONTROL LAB: INTRODUCTION TO LEGO MINDSTORMS NXT MOTOR-MODELING AND CHARACTERIZATION
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 7. Time-Domain Performance of Control Systems
  • CHAPTER PRELIMINARIES
  • TIME RESPONSE OF CONTINUOUS-DATA SYSTEMS: INTRODUCTION
  • TYPICAL TEST SIGNALS TO EVALUATE TIME-RESPONSE PERFORMANCE OF CONTROL SYSTEMS
  • THE UNIT-STEP RESPONSE AND TIME-DOMAIN SPECIFICATIONS
  • TIME RESPONSE OF A PROTOTYPE FIRST-ORDER SYSTEM
  • TRANSIENT RESPONSE OF A PROTOTYPE SECOND-ORDER SYSTEM
  • STEADY-STATE ERROR
  • BASIC CONTROL SYSTEMS AND EFFECTS OF ADDING POLES AND ZEROS TO TRANSFER FUNCTIONS.
  • DOMINANT POLES AND ZEROS OF TRANSFER FUNCTIONS
  • CASE STUDY: TIME-DOMAIN ANALYSIS OF A POSITION-CONTROL SYSTEM
  • THE CONTROL LAB: INTRODUCTION TO LEGO MINDSTORMS NXT MOTOR-POSITION CONTROL
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 8. State-Space Analysis and Controller Design
  • CHAPTER PRELIMINARIES
  • STATE-VARIABLE ANALYSIS
  • BLOCK DIAGRAMS, TRANSFER FUNCTIONS, AND STATE DIAGRAMS
  • SYSTEMS OF FIRST-ORDER DIFFERENTIAL EQUATIONS: STATE EQUATIONS
  • VECTOR-MATRIX REPRESENTATION OF STATE EQUATIONS
  • STATE-TRANSITION MATRIX
  • STATE-TRANSITION EQUATION
  • RELATIONSHIP BETWEEN STATE EQUATIONS AND HIGH-ORDER DIFFERENTIAL EQUATIONS
  • RELATIONSHIP BETWEEN STATE EQUATIONS AND TRANSFER FUNCTIONS
  • CHARACTERISTIC EQUATIONS, EIGENVALUES, AND EIGENVECTORS
  • SIMILARITY TRANSFORMATION
  • DECOMPOSITIONS OF TRANSFER FUNCTIONS
  • CONTROLLABILITY OF CONTROL SYSTEMS
  • OBSERVABILITY OF LINEAR SYSTEMS
  • RELATIONSHIP AMONG CONTROLLABILITY, OBSERVABILITY, AND TRANSFER FUNCTIONS
  • INVARIANT THEOREMS ON CONTROLLABILITY AND OBSERVABILITY
  • CASE STUDY: MAGNETIC-BALL SUSPENSION SYSTEM
  • STATE-FEEDBACK CONTROL
  • POLE-PLACEMENT DESIGN THROUGH STATE FEEDBACK
  • STATE FEEDBACK WITH INTEGRAL CONTROL
  • MATLAB TOOLS AND CASE STUDIES
  • CASE STUDY: POSITION CONTROL OF THE LEGO MINDSTORMS ROBOTIC ARM SYSTEM
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 9. Root-Locus Analysis
  • CHAPTER PRELIMINARIES
  • BASIC PROPERTIES OF THE ROOT LOCI
  • PROPERTIES OF THE ROOT LOCI
  • THE ROOT SENSITIVITY
  • DESIGN ASPECTS OF THE ROOT LOCI
  • ROOT CONTOURS: MULTIPLE-PARAMETER VARIATION
  • MATLAB TOOLS
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 10. Frequency-Domain Analysis
  • CHAPTER PRELIMINARIES
  • INTRODUCTION TO FREQUENCY RESPONSE
  • Mr, ?r, AND BANDWIDTH OF THE PROTOTYPE SECOND-ORDER SYSTEM
  • EFFECTS OF ADDING POLES AND ZEROS TO THE FORWARD-PATH TRANSFER FUNCTION
  • NYQUIST STABILITY CRITERION: FUNDAMENTALS
  • NYQUIST CRITERION FOR SYSTEMS WITH MINIMUM-PHASE TRANSFER FUNCTIONS
  • RELATION BETWEEN THE ROOT LOCI AND THE NYQUIST PLOT
  • ILLUSTRATIVE EXAMPLES: NYQUIST CRITERION FOR MINIMUM-PHASE TRANSFER FUNCTIONS
  • EFFECTS OF ADDING POLES AND ZEROS TO L(s) ON THE SHAPE OF THE NYQUIST PLOT
  • RELATIVE STABILITY: GAIN MARGIN AND PHASE MARGIN
  • STABILITY ANALYSIS WITH THE BODE PLOT
  • RELATIVE STABILITY RELATED TO THE SLOPE OF THE MAGNITUDE CURVE OF THE BODE PLOT
  • STABILITY ANALYSIS WITH THE MAGNITUDE-PHASE PLOT
  • CONSTANT-M LOCI IN THE MAGNITUDE-PHASE PLANE: THE NICHOLS CHART
  • NICHOLS CHART APPLIED TO NONUNITY-FEEDBACK SYSTEMS
  • SENSITIVITY STUDIES IN THE FREQUENCY DOMAIN
  • MATLAB TOOLS AND CASE STUDIES
  • SUMMARY
  • REFERENCES
  • PROBLEMS
  • 11. Design of Control Systems
  • CHAPTER PRELIMINARIES
  • INTRODUCTION
  • DESIGN WITH THE PD CONTROLLER
  • DESIGN WITH THE PI CONTROLLER
  • DESIGN WITH THE PID CONTROLLER
  • DESIGN WITH PHASE-LEAD AND PHASE-LAG CONTROLLERS
  • POLE-ZERO-CANCELLATION DESIGN: NOTCH FILTER
  • FORWARD AND FEEDFORWARD CONTROLLERS.
  • DESIGN OF ROBUST CONTROL SYSTEMS
  • MINOR-LOOP FEEDBACK CONTROL
  • MATLAB TOOLS AND CASE STUDIES
  • THE CONTROL LAB
  • REFERENCES
  • PROBLEMS
  • A. APPENDIX A: Elementary Matrix Theory and Algebra
  • APPENDIX PRELIMINARIES
  • ELEMENTARY MATRIX THEORY
  • MATRIX ALGEBRA
  • COMPUTER-AIDED SOLUTIONS OF MATRICES
  • REFERENCES
  • B. APPENDIX B: Mathematical Foundations
  • APPENDIX PRELIMINARIES
  • COMPLEX-VARIABLE CONCEPT
  • FREQUENCY-DOMAIN PLOTS
  • STABILITY OF LINEAR CONTROL SYSTEMS
  • BOUNDED-INPUT, BOUNDED-OUTPUT (BIBO) STABILITY-CONTINUOUS-DATA SYSTEMS
  • RELATIONSHIP BETWEEN CHARACTERISTIC EQUATION ROOTS AND STABILITY
  • ZERO-INPUT AND ASYMPTOTIC STABILITY OF CONTINUOUS-DATA SYSTEMS
  • REFERENCES
  • C. APPENDIX C: Laplace Transform Table
  • APPENDIX PRELIMINARIES
  • D. APPENDIX D: Control Lab
  • APPENDIX PRELIMINARIES
  • PROJECT 1: INTRODUCTION TO LEGO MINDSTORMS NXT MOTOR-CHARACTERIZATION AND CONTROL
  • PROJECT 2: ELEVATOR POSITION CONTROL
  • DESCRIPTION OF ACSYS SIMLAB AND LEGOLAB SOFTWARE
  • SIMULATION AND LEGO EXPERIMENTS
  • DESIGN PROJECT: ROBOTIC ARM
  • SUMMARY
  • REFERENCE
  • PROBLEMS
  • E. APPENDIX E: ACSYS 2013: Description of the Software
  • APPENDIX PRELIMINARIES
  • INSTALLATION OF ACSYS
  • DESCRIPTION OF THE SOFTWARE
  • FINAL COMMENTS
  • REFERENCES
  • F. APPENDIX F: Properties and Construction of the Root Loci
  • APPENDIX PRELIMINARIES
  • K = 0 AND K = ?? POINTS
  • NUMBER OF BRANCHES ON THE ROOT LOCI
  • SYMMETRY OF THE ROOT LOCI
  • ANGLES OF ASYMPTOTES OF THE ROOT LOCI AND BEHAVIOR OF THE ROOT LOCI AT |S| ? ?
  • INTERSECT OF THE ASYMPTOTES (CENTROID)
  • ROOT LOCI ON THE REAL AXIS
  • ANGLES OF DEPARTURE AND ANGLES OF ARRIVAL OF THE ROOT LOCI
  • INTERSECTION OF THE ROOT LOCI WITH THE IMAGINARY AXIS
  • BREAKAWAY POINTS (SADDLE POINTS)
  • CALCULATION OF K ON THE ROOT LOCI
  • G. APPENDIX G: General Nyquist Criterion
  • APPENDIX PRELIMINARIES
  • FORMULATION OF NYQUIST CRITERION
  • ILLUSTRATIVE EXAMPLES: GENERAL NYQUIST CRITERION MINIMUM AND NONMINIMUM TRANSFER FUNCTIONS
  • STABILITY ANALYSIS OF MULTILOOP SYSTEMS
  • REFERENCE
  • PROBLEMS
  • H. APPENDIX H: Discrete-Data Control Systems
  • APPENDIX PRELIMINARIES
  • INTRODUCTION
  • THE Z-TRANSFORM
  • TRANSFER FUNCTIONS OF DISCRETE-DATA SYSTEMS
  • STATE EQUATIONS OF LINEAR DISCRETE-DATA SYSTEMS
  • STABILITY OF DISCRETE-DATA SYSTEMS
  • TIME-DOMAIN PROPERTIES OF DISCRETE-DATA SYSTEMS
  • STEADY-STATE ERROR ANALYSIS OF DISCRETE-DATA CONTROL SYSTEMS
  • ROOT LOCI OF DISCRETE-DATA SYSTEMS
  • FREQUENCY-DOMAIN ANALYSIS OF DISCRETE-DATA CONTROL SYSTEMS
  • DESIGN OF DISCRETE-DATA CONTROL SYSTEMS
  • DIGITAL CONTROLLERS
  • DESIGN OF DISCRETE-DATA CONTROL SYSTEMS IN THE FREQUENCY DOMAIN AND THE Z-PLANE
  • DESIGN OF DISCRETE-DATA CONTROL SYSTEMS WITH DEADBEAT RESPONSE
  • POLE-PLACEMENT DESIGN WITH STATE FEEDBACK
  • REFERENCES
  • PROBLEMS
  • I. APPENDIX I: Difference Equations
  • APPENDIX PRELIMINARIES
  • REFERENCES
  • J. APPENDIX J: z-Transform Table
  • APPENDIX PRELIMINARIES.

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