CONTENTS

Preface

1 Introduction

1.1. Introduction

1.2. Goal of Advanced Modern Control System Theory and Design

1.3. Control System Performance Objectives

1.4. The Procedure for Designing a Control System

1.5. Outline of Advanced Modern Control System Theory and Design

1.6. Advanced Modern Control System Theory and Design Toolbox

1.7. Illustrative Problems and Solutions

Problems

References

2 Linear Control-System Compensation and Design

2.1. Introduction

2.2. Cascade-Compensation Techniques

2.3. Minor-Loop Feedback-Compensation Techniques

2.4. Proportional-Plus-Integral-Plus Derivative (PID) Compensators

2.5. Example for the Design of a Second-Order Control System

2.6. Compensation and Design using the Bode-Diagram Method

2.7. Approximate Methods for Preliminary Compensation and Design using the Bode Diagram

2.8. Compensation and Design using the Nichols Chart

2.9. Compensation and Design using the Root-Locus Method

2.10. Tradeoffs of using Various Cascade-Compensation Methods and Minor-Loop Feedback

2.11. Illustrative Problems and Solutions

Problems

References

3 Modern Control-System Design using State-Space, Pole Placement, Ackermann's Formula, Estimation, Robust Control, and H^∞ Techniques

3.1. Introduction

3.2. Pole-Placement Design using Linear-State-Variable Feedback

3.3. Controller Design using Pole Placement and Linear-State-Variable-Feedback Techniques

3.4. Controllability

3.5. Observability

3.6. Ackermann's Formula for Design using Pole Placement

3.7. Estimator Design in Conjunction with the Pole Placement Approach using Linear-State-Variable Feedback

3.8. Combined Compensator Design Including a Controller and an Estimator for a Regulator System

3.9. Extension of Combined Compensator Design Including a Controller and an Estimator for Systems Containing a Reference Input

3.10. Robust Control Systems

3.11. An Introduction to H^∞ Control Concepts

3.12. Foundations of H^∞ Control Theory

3.13. Linear Algebraic Aspects of Control-System Design Computations

3.14. Illustrative Problems and Solutions

Problems

References

4 Digital Control-System Analysis and Design

4.1. Introduction

4.2. Characteristics of Sampling

4.3. Data Extrapolators

4.4. z-Transform Theory

4.5. z-Transform Block-Diagram Algebra

4.6. Characteristic Response of a Sampler and Zero-Order Hold Combination

4.7. Stability Analysis Using the Nyquist Diagram

4.8. Stability Determination Using Mathematical Tests

4.9. Stability Analysis and Design Using the Bode Diagram

4.10. Stability Analysis and Design Using the Root-Locus Diagram

4.11. Bode and Root-Locus Diagrams for Discrete-Time Systems using MATLAB

4.12. Ragazzini's Method

4.13. The Digitization Process and the Design of Digital Filters

4.14. Summary

4.15. Illustrative Problems and Solutions

Problems

References

5 Nonlinear Control-System Design

5.1. Introduction

5.2. Nonlinear Differential Equations

5.3. Properties of Linear Systems that are not Valid for Nonlinear Systems

5.4. Unique Characteristics of Nonlinear Systems

5.5. Methods Available for Analyzing Nonlinear Systems

5.6. Linearizing Approximations

5.7. Describing-Function Concept

5.8. Derivation of Describing Functions for Common Nonlinearities

5.9. Use of the Describing Function to Predict Oscillations

5.10. Compensation and Design of Nonlinear Control Systems Using Describing Functions

5.11. Describing-Functions Analysis and Design Using MATLAB

5.12. Digital Computer Programs for Performing the Describing Function Analysis

5.13. Piecewise-Linear Approximations

5.14. State-Variable Analysis: The Phase Plane

5.15. Construction of the Phase Portrait

5.16. Characteristics of the Phase Portrait

5.17. Phase Plane for Systems Containing External Forcing Functions

5.18. Design of Nonlinear Feedback Control Systems Using the State-Variable Phase-Plane Method

5.19. Digital Computer Program for Obtaining the Phase Plane

5.20. Liapunov's Stability Criteria

5.21. Popov's Method

5.22. Generalized Circle Criterion

5.23. Guidelines for Selecting the “Best” Nonlinear Control System Method(s) Presented for Analysis and Design

5.24. Illustrative Problems and Solutions

Problems

References

6 Introduction to Optimal Control Theory and Its Applications

6.1. Introduction

6.2. Characteristics of the Optimal Control Problem

6.3. Calculus of Variations

6.4. Dynamic Programming

6.5. Pontryagin's Maximum Principle

6.6. Application of the Maximum Principle to the Space Attitude-Control Problem

6.7. Application of the Maximum Principle to the Lunar Soft-Landing Problem

6.8. Illustrative Problems and Solutions

Problems

References

7 Control-System Design Examples: Complete Case Studies

7.1. Introduction

7.2. Outline of Procedure for Designing a Control System

7.3. Example 1: Design for the Positioning System of a Tracking Radar using Linear and Nonlinear Techniques Jointly

7.4. Example 2: Design of the Angular Control System for a Robot's Joint

7.5. Example 3: Design of the Controller and Full-order Estimator for a Space Satellite's Attitude-Control System with Pole Placement Using Linear-State-Variable Feedback

7.6. Example 4: Design of a Sampled-Data Control System for Controlling the Temperature of a Liquid in a Tank

7.7. Example 5: Design of a Robust Control System for Controlling the Flaps of a Hydrofoil

Problems

References

A Tutorial for the Effective Use of MATLAB

B Characteristic Response of Second-Order Control Systems

C Static Accuracy

Answers to Selected Problems

Index