现代控制系统 英文版2025|PDF|Epub|mobi|kindle电子书版本百度云盘下载

现代控制系统 英文版PDF格式电子书版下载

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CHAPTER 1 Introduction to Control Systems1

1.1 Introduction2

1.2 History of Automatic Control4

1.3 Two Examples of the Use of Feedback7

1.4 Control Engineering Practice8

1.5 Examples of Modern Control Systems9

1.6 Automatic Assembly and Robots16

1.7 The Future Evolution of Control Systems16

1.8 Engineering Design18

1.9 Control System Design19

1.10 Design Example:Turntable Speed Control21

1.11 Design Example:Insulin Delivery Control System22

1.12 Sequential Design Example:Disk Drive Read System23

Exercises24

Problems25

Design Problems30

Terms and Concepts31

CHAPTER 2 Mathematical Models of Systems32

2.1 Introduction33

2.2 Differential Equations of Physical Systems33

2.3 Linear Approximations of Physical Systems38

2.4 The Laplace Transform41

2.5 The Transfer Function of Linear Systems47

2.6 Block Diagram Models62

2.7 Signal-Flow Graph Models66

2.8 Computer Analysis of Control Systems71

2.9 Design Examples72

2.10 The Simulation of Systems Using MATLAB80

2.11 Sequential Design Example:Disk Drive Read System94

2.12 Summary97

Exercises98

Problems104

Advanced Problems115

Design Problems115

MATLAB Problems116

Terms and Concepts118

CHAPTER 3 State Variable Models119

3.1 Introduction120

3.2 The State Variables of a Dynamic System121

3.3 The State Differential Equation123

3.4 Signal-Flow Graph State Models126

3.5 Alternative Signal-Flow Graph State Models132

3.6 The Transfer Function from the State Equation136

3.7 The Time Response and the State Transition Matrix138

3.8 A Discrete-Time Evaluation of the Time Response142

3.9 Design Example: Printer Belt Drive147

3.10 Analysis of State Variable Models Using MATLAB152

3.11 Sequential Design Example: Disk Drive Read System155

3.12 Summary159

Exercises159

Problems161

Advanced Problems168

Design Problems170

MATLAB Problems171

Terms and Concepts172

CHAPTER 4 Feedback Control System Characteristics173

4.1 Open-and Closed-Loop Control Systems174

4.2 Sensitivity of Control Systems to Parameter Variations176

4.3 Control of the Transient Response of Control Systems179

4.4 Disturbance Signals in a Feedback Control System183

4.5 Steady-State Error187

4.6 The Cost of Feedback190

4.7 Design Example:English Channel Boring Machines191

4.8 Design Example:Mars Rover Vehicle194

4.9 Control System Characteristics Using MATLAB196

4.10 Sequential Design Example:Disk Drive Read System202

4.11 Summary205

Exercises207

Problems209

Advanced Problems215

Design Problems218

MATLAB Problems220

Terms and Concepts222

CHAPTER 5 The Performance of Feedback Control Systems223

5.1 Introduction224

5.2 Test Input Signals225

5.3 Performance of a Second-Order System227

5.4 Effects of a Third Pole and a Zero on the Second-Order System Response233

5.5 Estimation of the Damping Ratio238

5.6 The s-Plane Root Location and the Transient Response239

5.7 The Steady-State Error of Feedback Control Systems240

5.8 The Steady-State Error of Nonunity Feedback Systems245

5.9 Performance Indices247

5.10 The Simplification of Linear Systems256

5.11 Design Example: Hubble Telescope Pointing Control259

5.12 System Performance Using MATLAB262

5.13 Sequential Design Example:Disk Drive Read System271

Exercises275

5.14 Summary277

Problems279

Advanced Problems284

Design Problems285

MATLAB Problems287

Terms and Concepts289

CHAPTER 6 The Stability of Linear Feedback Systems290

6.1 The Concept of Stability291

6.2 The Routh-Hurwitz Stability Criterion295

6.3 The Relative Stability of Feedback Control Systems303

6.4 The Stability of State Variable Systems304

6.5 Design Example:Tracked Vehicle Turning Control307

6.6 System Stability Using MATLAB309

6.7 Sequential Design Example:Disk Drive Read System317

6.8 Summary320

Exercises321

Problems322

Advanced Problems326

Design Problems328

MATLAB Problems329

Terms and Concepts330

CHAPTER 7 The Root Locus Method331

7.2 The Root Locus Concept332

7.1 Introduction332

7.3 The Root Locus Procedure339

7.4 An Example of a Control System Analysis and Design Utilizing the Root Locus Method351

7.5 Parameter Design by the Root Locus Method354

7.6 Sensitivity and the Root Locus359

7.7 Three-Term(PID)Controllers366

7.8 Design Example:Laser Manipulator Control System368

7.9 The Design of a Robot Control System371

7.10 The Root Locus Using MATLAB373

7.11 Sequential Design Example:Disk Drive Read System379

7.12 Summary380

Exercises384

Problems386

Advanced Problems396

Design Problems398

MATLAB Problems404

Terms and Concepts405

CHAPTER 8 Frequency Response Methods406

8.1 Introduction407

8.2 Frequency Response plots409

8.3 An Example of Drawing the Bode Diagram426

8.4 Frequency Response Measurements430

8.5 Performance Specifications in the Frequency Domain432

8.6 Log Magnitude and Phase Diagrams435

8.7 Design Example: Engraving Machine Control System435

8.8 Frequency Response Methods Using MATLAB439

8.9 Sequential Design Example: Disk Drive Read System444

8.10 Summary446

Exercises451

Problems454

Advanced Problems462

Design Problems464

MATLAB Problems466

Terms and Concepts468

CHAPTER 9 Stability in the Frequency Domain469

9.1 Introduction470

9.2 Mapping Contours in the s-Plane471

9.3 The Nyquist Criterion476

9.4 Relative Stability and the Nyquist Criterion487

9.5 Time-Domain Performance Criteria Specified in the Frequency Domain493

9.6 System Bandwidth500

9.7 The Stability of Control Systems with Time Delays501

9.8 Design Example: Remotely Controlled Reconnaissance Vehicle505

9.9 PID Controllers in the Frequency Domain508

9.10 Stability in the Frequency Domain Using MATLAB509

9.11 Sequential Design Example: Disk Drive Read System519

9.12 Summary521

Exercises528

Problems534

Advanced Problems544

Design Problems546

MATLAB Problems551

Terms and Concepts552

CHAPTER 10 The Design of Feedback Control Systems553

10.1 Introduction554

10.2 Approaches to System Design555

10.3 Cascade Compensation Networks557

10.4 Phase-Lead Design Using the Bode Diagram561

10.5 Phase-Lead Design Using the Root Locus567

10.6 System Design Using Integration Networks573

10.7 Phase-Lag Design Using the Root Locus576

10.8 Phase-Lag Design Using the Bode Diagram580

10.9 System Design on the Bode Diagram Using Analytical and Computer Methods585

10.10 Systems with a Prefilter586

10.11 Design for Deadbeat Response589

10.12 Design Example:Rotor Winder Control System592

10.13 Design Example:The X-Y Plotter595

10.14 System Design Using MATLAB598

10.15 Sequential Design Example:Disk Drive Read System605

10.16 Summary606

Exercises608

Problems610

Advanced Problems621

Design Problems624

MATLAB Problems628

Terms and Concepts630

CHAPTER 11 The Design of State Variable Feedback Systems631

11.1 Introduction631

11.2 Controllability632

11.3 Observability634

11.4 Optimal Control Systems636

11.5 Pole Placement Using State Feedback645

11.6 Ackermann s Formula651

11.7 Limitations of State Variable Feedback652

11.8 Internal Model Design652

11.9 Design Example: Automatic Test System655

11.10 State Variable Design Using MATLAB658

11.11 Sequential Design Example: Disk Drive Read System666

11.12 Summary668

Exercises668

Problems669

Advanced Problems672

Design Problems674

MATLAB Problems677

Terms and Concepts679

CHAPTER 12 Robust Control Systems680

12.1 Introduction681

12.2 Robust Control Systems and System Sensitivity682

12.3 Analysis of Robustness685

12.4 Systems with Uncertain Parameters688

12.5 The Design of Robust Control Systems690

12.6 PID Controllers695

12.7 The Design of Robust PID Controlled Systems697

12.8 Design Example: Aircraft Autopilot702

12.9 The Design of a Space Telescope Control System703

12.10 The Design of a Robust Bobbin Drive705

12.11 The Robust Internal Model Control System708

12.12 The Design of an Ultra-Precision Diamond Turning Machine710

12.13 The Pseudo-Quantitative Feedback System714

12.14 Robust Control Systems Using MATLABL716

12.15 Sequential Design Example:Disk Drive Read System719

12.16 Summary721

Exercises723

Problems724

Advanced Problems730

Design Problems733

MATLAB Problems741

Terms and Concepts742

CHAPTER 13 Digital Control Systems743

13.1 Introduction744

13.2 Digital Computer Control System Applications744

13.3 Sampled-Data Systems746

13.4 The z-Transform749

13.5 Closed-Loop Feedback Sampled-Data Systems754

13.6 Stability Analysis in the z-Plane756

13.7 Performance of a Sampled-Data, Second-Order System757

13.8 Closed-Loop Systems with Digital Computer Compensation760

13.9 The Design of a Worktable Motion Control System762

13.10 The Root Locus of Digital Control Systems764

13.11 Implementation of Digital Controllers768

13.12 Digital Control Systems Using MATLAB769

13.13 Sequential Design Example:Disk Drive Read System774

13.14 Summary776

Exercises776

Problems778

Advanced Problems780

Design Problems782

MATLAB Problems783

Terms and Concepts784

APPENDIXA MATLAB Basics787

APPENDIXB Simulink Basics805

References813

Index825