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Feedback Control of Dynamic Systems

Fourth Edition

Prentice-Hall, 2002, ISBN: 0-13-032393-4, 912 pp.

by Gene Franklin, J. David Powell, Abbas Emami-Naeini

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In its fourth edition, Feedback Control of Dynamic Systems retains its balanced coverage of modern and classical topics, the early incorporation of design aspects, and its discussion of analysis techniques; all hallmark features that established it as the authoritative controls text. Due to instructor demand, the third edition now contains expanded coverage of dynamics modeling and Laplace transform topics. The book is available for purchase at the publishers web site: Prentice-Hall.

Feedback Control of Dynamic Systems

Table of Contents

Chapter 1: An Overview and Brief History of Feedback Control

A Perspective on Feedback Control
Chapter Overview
A Simple Feedback System
A First Analysis of Feedback
A Brief History
An Overview of the Book
Summary
Problems

Chapter 2: Dynamic Models

A Perspective on Dynamic Models
Chapter Overview
Dynamics of Mechanical Systems
Differential Equations in State-variable Form
Models of Electric Circuits
Models of Electromechanical Systems
Heat and Fluid-flow Models
Heat Flow
Incompressible Fluid Control
Linearization and Scaling
Small-signal Linearization
Linearization by Feedback
Amplitude Scaling
Time Scaling
Summary
Problems

Chapter 3: Dynamic Response

A Perspective on System Response
Chapter Overview
The Laplace Transform
Response by Convolution
Transfer Functions
The L-Laplace Transform
Properties of Laplace Transform
Partial-fraction Expansion
Laplace Transform Theorems
Using Laplace Transforms to Solve Problems
Laplace Transforms Using CACSD Software
System Modeling Diagrams
The Block Diagram
Mason's Rule and the Signal-flow Graph
Response versus Pole Locations
Time-domain Specifications
Effects of Zeros and Additional Poles
Numerical Simulation
Solution of Nonlinear Differential Equations
Solution of Linear Differential Equations
Obtaining Models from Experimental Data
Models from Transient-response Data
Models from Other Data
Summary
Problems

Chapter 4: Basic Properties of Feedback

A Perspective on Properties of Feedback
Chapter Overview
A Case Study of Speed Control
Disturbance Rejection
Sensitivity: Effects of Gain Changes
Dynamic Tracking
The Classical Three-term Controller
Proportional Feedback Control
Proportional-Integral (PI) Feedback Control
Derivative Feedback Control
Proportional-Integral-Derivative (PID) Control
Time-response Sensitivity to Parameters
Zeigler-Nichols Tuning of PID Regulators
Integrator Antiwindup
Steady-state Tracking and System Type
A Special Case of System Type: Unity Feedback
System Type with Respect to Disturbance Inputs
Truxal's Formula
Stability
Bounded Input-Bounded Output Stability
Stability of Constant Systems
Rough's Stability Criterion
Summary
Problems

Chapter 5: The Root-locus Design Method

A Perspective on the Root-locus Design Method
Chapter Overview
Root Locus of a Basic Feedback System
Guidelines for Sketching a Root Locus
Sleeted Illustrative Root Loci
Other Root-locus Usage
Loci versus Other Parameters
Zero-degree Loci for Negative Parameters
Selecting Gain from the Root Locus
Dynamic Compensation
Lead Compensation
Lag Compensation
Extensions of the Root-locus Method
Time Delay
Nonlinear Systems
Computer-aided Determination of the Root Locus
Summary
Problems

Chapter 6: The Frequency-response Design Method

A Perspective on the Frequency-response Design Method
Chapter Overview
Frequency Response
Bode Plot Techniques
Steady-state Errors
Stability
The Nyquist Stability Criterion
Stability Margins
Bode's Gain-phase Relationship
Closed-loop Frequency Response
Compensation
PD Compensation
Lead Compensation
PI Compensation
Lag Compensation
PID Compensation
Alternate Presentations of Data
Nichols Chart
Inverse Nyquist
Sensitivity
Sensitivity Functions
Stability Robustness
Time Delay
Obtaining a Pole-zero Model from Frequency-response Data
Summary
Problems

Chapter 7: State-space Design

A perspective on State-space Design
Chapter Overview
Advantages of State Space
Analysis of State Equations
Block Diagrams and Canonical Forms
Dynamic Response from the State Equations
Control-law Design for Full State Feedback
Finding the Control Law
Introducing the Reference Input with Full State Feedback
Selection of Pole Locations for Good Design
Dominant Second-order Poles
Prototype Design
Symmetric Root Locus
Comments on the Methods
Estimator Design
Full-order Estimators
Reduced-order Estimators
Estimator Pole Selection
Compensator Design: Combined Control Law and Estimator
Introduction of the Reference Input
A General Structure for the Reference Input
Calculation of the System Zeros
Selecting a Gain
Integral Control and Robust Tracking
Integral Control
Robust Tracking Control: the Error-space Approach
Disturbance Rejection by Disturbance Estimation
Direct Design with Rational Transfer Functions
Design for Systems with Pure Time Delay
Lyapunov Stability
Summary
Problems

Chapter 8: Digital Control

A Perspective on Digital Control
Chapter Overview
Digitization
Euler's Method
Digitization Using CACSD Software
Dynamic Analysis of Discrete Systems
z-Transform
z-Transform Inversion
Relationship between s and z
Final Value Theorem
Design by Emulation
Digitization Procedures
Design Example
Applicability Limits of the Emulation Design Method
Discrete Design
Analysis Tools
Feedback Properties
Discrete Design Example
Discrete Analysis of Designs
State-space Design Methods
Hardware Characteristics
Analog-to-Digital (A/D) Converters
Digital-to-Analog (D/A) Converters
Analog Prefilters
The Computer
Word-size Effects
Random Effects
Systematic Effects
Sample-rate Selection
Tracking Effectiveness
Disturbance Rejection
Control Systems Design Methodology
Summary
Problems

Chapter 9: Control Systems Design: Principles and Case Studies

A Perspective on Design Principles
Chapter Overview
An Outline of Control Systems Design
Design of a Satellite's Attitude Control
Lateral and Longitudinal Control of a Boeing 747
Yaw Damper
Altitude-hold Autopilot
Control of the Fuel-air Ration in an Automotive Engine
Control of a Digital Tape Transport
Summary
Problems

Appendix A: Laplace Transforms
Appendix B: A Review of Complex Variables

B.1: Definition of a Complex Number
B.2: Algebraic Manipulations
B.3: Graphical Evaluation of Magnitude and Phase
B.4: Differentiation and Integration
B.5: Euler's Relations
B.6: Analytic Functions
B.7: Couchy's Theorem
B.8: Singularities and Residues
B.9: Residue Theorem
B.10: The Argument Principle

Appendix C: Summary of Matrix Theory

C.1: Matrix Definitions
C.2: Elementary Operations on Matrices
C.3: Trace
C.4: Transpose
C.5: Determinant and Matrix Inverse
C.6: Properties of the Determinant
C.7: Inverse of Block Triangular Matrices
C.8: Special Matrices
C.9: Rank
C.10: Characteristic Polynomial
C.11: Cayley-Hamilton Theorem
C.12: Eigenvalues and Eigenvectors
C.13: Similarity Transformations
C.14: Matrix Exponential
C.15: Fundamental Subspaces
C.16: Singular-value Decomposition
C.17: Positive Definite Matrices

Appendix D: Controllability and Observability
Appendix E: Ackermann's Formula for Pole Placement
Appendix F: CACSD Cross-references

References
Index