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Introduction to linear control systems /

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...

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Detalles Bibliográficos
Clasificación:	Libro Electrónico
Autor principal:	Bavafa-Toosi, Yazdan (Autor)
Formato:	Electrónico eBook
Idioma:	Inglés
Publicado:	London ; San Diego, CA : Academic Press, [2017]
Temas:	Linear control systems. Commande lin�eaire. TECHNOLOGY & ENGINEERING > Engineering (General) Linear control systems
Acceso en línea:	Texto completo

Tabla de Contenidos:

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.
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.
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.
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.
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.

Introduction to linear control systems /

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