Design of feedback control systems:
Saved in:
| Format: | Book |
|---|---|
| Language: | English |
| Published: |
New York [u.a.]
Oxford Univ. Press
2002
|
| Edition: | 4. ed. |
| Series: | The Oxford series in electrical and computer engineering
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XVI, 848 S. Ill., graph. Darst. |
| ISBN: | 0195142497 |
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MARC
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| 245 | 1 | 0 | |a Design of feedback control systems |c Raymond T. Stefani ... |
| 250 | |a 4. ed. | ||
| 264 | 1 | |a New York [u.a.] |b Oxford Univ. Press |c 2002 | |
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| 490 | 0 | |a The Oxford series in electrical and computer engineering | |
| 650 | 4 | |a Sistemas de control por retroalimentación | |
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Record in the Search Index
| _version_ | 1804128808677146624 |
|---|---|
| adam_text | Titel: Design of feedback control systems
Autor: Stefani, Raymond T
Jahr: 2002
Contents
Preface xv
CHAPTER 1 Continuous-Time System Description 1
1.1 Preview 1
1.2 Basic Concepts 2
1.2.1 Control System Terminology 2
1.2.2 The Feedback Concept 4
1.3 Modeling 7
1.4 System Dynamics 9
1.5 Electrical Components 10
7.5./ Mesh Analysis 11
1.5.2 State Variables 13
1.5.3 Node Analysis 15
1.5.4 Analyzing Operational Amplifier Circuits 18
1.5.5 Operational Amplifier Applications 21
1.6 Translational Mechanical Components 25
1.6.1 Free-Body Diagrams 25
1.6.2 State Variables 29
1.7 Rotational Mechanical Components 32
1.7.1 Free-Body Diagrams 32
1.7.2 Analogies 35
1.7.3 Gear Trains and Transformers 37
vi
CONTENTS
vii
1.8 Electromechanical Components 40
1.9 Aerodynamics 45
1.9.1 Nomenclature 46
1.9.2 Dynamics 46
1.9.3 Lateral and Longitudinal Motion 50
1.10 Thermal Systems 52
1.11 Hydraulics 54
1.12 Transfer Function and Stability 55
1.12.1 Transfer Functions 55
1.12.2 Response Terms 57
1.12.3 Multiple Inputs and Outputs 67
1.12.4 Stability 69
1.13 Block Diagrams 73
1.13.1 Block Diagram Elements 73
1.13.2 Block Diagram Reduction 75
1.13.3 Multiple Inputs and Outputs 78
1.14 Signal Flow Graphs 79
1.14.1 Comparison with Block Diagrams 19
1.14.2 Mason s Rule 83
1.15 A Positioning Servo 91
1.16 Controller Model of the Thyroid Gland 94
1.17 Stick-Slip Response of an Oil Well Drill 96
1.18 Summary 101
References 103
Problems 105
CHAPTER 2 Continuous-Time System Response 119
2.1 Preview 119
2.2 Response of First-Order Systems 120
2.3 Response of Second-Order Systems 126
2.3.1 Time Response 126
2.3.2 Overdamped Response 127
2.3.3 Critically Damped Response 128
2.3.4 Underdamped Response 128
2.3.5 Undamped Natural Frequency and Damping Ratio 129
2.3.6 Rise Time, Overshoot, and Settling Time 136
2.4 Higher-Order System Response 141
2.5 Stability Testing 143
2.5.1 Coefficient Tests 143
2.5.2 Routh-Hurwitz Testing 145
2.5.3 Significance of the Array Coefficients 147
viii
CONTENTS
2.5.4 Left-Column Zeros 148
2.5.5 Row of Zeros 150
2.5.6 Eliminating a Possible Odd Divisor 154
2.5.7 Multiple Roots 155
2.6 Parameter Shifting 159
2.6.1 Adjustable Systems 159
2.6.2 Kharitonov s Theorem 163
2.7 An Insulin Delivery System 165
2.8 Analysis of an Aircraft Wing 168
2.9 Summary 171
References 173
Problems 174
CHAPTER 3 Performance Specifications 183
3.1 Preview 183
3.2 Analyzing Tracking Systems 184
3.2.1 Importance of Tracking Systems 184
3.2.2 Natural Response, Relative Stability, and Damping 187
3.3 Forced Response 189
3.3.1 Steady State Error 189
3.3.2 Initial and Final Values 190
3.3.3 Steady State Errors to Power-of-Time Inputs 192
3.4 Power-of-Time Error Performance 198
3.4.1 System Type Number 198
3.4.2 Achieving a Given Type Number 200
3.4.3 Unity Feedback Systems 201
3.4.4 Unity Feedback Error Coefficients 204
3.5 Performance Indices and Optimal Systems 208
3.6 System Sensitivity 215
3.6.1 Calculating the Effects of Changes in Parameters 215
3.6.2 Sensitivity Functions 216
3.6.3 Sensitivity to Disturbance Signals 220
3.7 Time Domain Design 223
3.7.1 Process Control 224
3.7.2 Ziegler-Nichols Compensation 224
3.7.3 Chien-Hrones-Reswick Compensation 225
3.8 An Electric Rail Transportation System 231
3.9 Phase-Locked Loop for a CB Receiver 234
3.10 Bionic Eye 237
3.11 Summary 240
References 242
Problems 244
CHAPTER 4 Root Locus Analysis
4.1 Preview
4.2 Pole-Zero Plots
4.2.1 Poles and Zeros
4.2.2 Graphical Evaluation
4.3 Root Locus for Feedback Systems
4.3.1 Angle Criterion
4.3.2 High and Low Gains
4.3.3 Root Locus Properties
4.4 Root Locus Construction
4.5 More About Root Locus
4.5.1 Root Locus Calibration
4.5.2 Computer-Aided Root Locus
4.6 Root Locus for Other Systems
4.6.1 Systems with Other Forms
4.6.2 Negative Parameter Ranges
4.6.3 Delay Effects
4.7 Design concepts (Adding Poles and Zeros)
4.8 A Light-Source Tracking System
4.9 An Artificial Limb
4.10 Control of a Flexible Spacecraft
4.11 Bionic Eye
4.12 Summary
References
Problems
CHAPTER 5 Root Locus Design
5.1 Preview
5.2 Shaping a Root Locus
5.3 Adding and Canceling Poles and Zeros
5.3.1 Adding a Pole or Zero
5.3.2 Canceling a Pole or Zero
5.4 Second-Order Plant Models
5.5 An Uncompensated Example System
5.6 Cascade Proportional Plus Integral (PI)
5.6.1 General Approach to Compensator Design
5.6.2 Cascade PI Compensation
5.7 Cascade Lag Compensation
5.8 Cascade Lead Compensation
5.9 Cascade Lag-Lead Compensation
CONTENTS ix
254
254
255
255
256
260
260
261
262
263
272
272
284
286
286
288
293
295
300
302
308
310
313
314
314
327
327
328
329
329
330
334
338
341
341
343
347
351
355
X
CONTENTS
5.10 Rate Feedback Compensation (PD) 357
5.11 Proportional-Integral-Derivative Compensation 361
5.12 Pole Placement 365
5.12.1 Algebraic Compensation 366
5.12.2 Selecting the Transfer Function 367
5.12.3 Incorrect Plant Transmittance 370
5.12.4 Robust Algebraic Compensation 373
5.12.5 Fixed-Structure Compensation 378
5.13 An Unstable High-Performance Aircraft 381
5.14 Control of a Flexible Space Station 385
5.15 Control of a Solar Furnace 388
5.16 Summary 393
References 394
Problems 395
CHAPTER 6 Frequency Response Analysis 405
6.1 Preview 405
6.2 Frequency Response 406
6.2.1 Forced Sinusoidal Response 406
6.2.2 Frequency Response Measurement 407
6.2.3 Response at Low and High Frequencies 410
6.2.4 Graphical Frequency Response Methods 412
6.3 Bode Plots 420
6.3.1 Amplitude Plots in Decibels 420
6.3.2 Real Axis Roots 424
6.3.3 Products of Transmittance Terms 428
6.3.4 Complex Roots 433
6.4 Using Experimental Data 446
6.4.1 Finding Models 446
6.4.2 Irrational Transmittances 447
6.5 Nyquist Methods 449
6.5.1 Generating the Nyquist (polar) Plot 450
6.5.2 Interpreting the Nyquist Plot 456
6.6 Gain Margin 464
6.7 Phase Margin 469
6.8 Relations Between Closed-Loop and Open-Loop Frequency Response 475
6.9 Frequency Response of a Flexible Spacecraft 480
6.10 Summary 485
References 488
Problems 488
CONTENTS
xi
CHAPTER 7 Frequency Response Design 501
7.1 Preview 501
7.2 Relation Between Root Locus, Time Domain, and Frequency Domain 501
7.3 Compensation Using Bode Plots 505
7.4 Uncompensated System 507
7.5 Cascade Proportional Plus Integral (PI) and Cascade Lag Compensations 509
7.6 Cascade Lead Compensation 514
7.7 Cascade Lag-Lead Compensation 517
7.8 Rate Feedback Compensation 520
7.9 Proportional-Integral-Derivative Compensation 523
7.10 An Automobile Driver as a Compensator 525
7.11 Summary 529
References 530
Problems 530
CHAPTER 8 State Space Analysis 535
8.1 Preview 535
8.2 State Space Representation 536
8.2.1 Phase-Variable Form 537
8.2.2 Dual Phase-Variable Form 540
8.2.3 Multiple Inputs and Outputs 542
8.2.4 Physical State Variables 547
8.2.5 Transfer Functions 551
8.3 State Transformations and Diagonalization 554
8.3.1 Diagonal Forms 558
8.3.2 Diagonalization Using Partial Fraction Expansion 562
8.3.3 Complex Conjugate Characteristic Roots 564
8.3.4 Repeated Characteristic Roots 567
8.4 Time Response from State Equations 575
8.4.1 Laplace Transform Solution 575
8.4.2 Time Domain Response of First-Order Systems 576
8.4.3 Time Domain Response of Higher-Order Systems 577
8.4.4 System Response Computation 579
8.5 Stability 584
8.5.1 Asymptotic Stability 584
8.5.2 BIBO Stability 585
8.5.3 Internal Stability 587
8.6 Controllability and Observability 589
8.6.1 The Controllability Matrix 592
8.6.2 The Observability Matrix 594
8.6.3 Controllability, Observability, and Pole-Zero Cancellation 595
xii
CONTENTS
8.6.4 Causes of Uncontrollability 596
8.7 Inverted Pendulum Problems 603
8.8 Summary 610
References 612
Problems 614
CHAPTER 9 State Space Design 626
9.1 Preview 626
9.2 State Feedback and Pole Placement 626
9.2.1 Stabilizability 630
9.2.2 Choosing Pole Locations 632
9.2.3 Limitations of State Feedback 635
9.3 Tracking Problems 637
9.3.1 Integral Control 638
9.4 Observer Design 640
9.4.1 Control Using Observers 644
9.4.2 Separation Property 646
9.4.3 Observer Transfer Function 647
9.5 Reduced-Order Observer Design 650
9.5.1 Separation Property 653
9.5.2 Reduced-Order Observer Transfer Function 654
9.6 A Magnetic Levitation System 657
9.7 Summary 667
References 668
Problems 669
CHAPTER 10 Advanced State Space Methods 675
10.1 Preview 675
10.2 The Linear Quadratic Regulator Problem 676
10.2.1 Properties of the LQR Design 680
10.2.2 Return Difference Inequality 680
10.2.3 Optimal Root Locus 682
10.3 Optimal Observers—the Kalman Filter 685
10.4 The Linear Quadratic Gaussian (LQG) Problem 687
10.4.1 Critique of LQG 690
10.5 Robustness 692
10.5.1 Feedback Properties 693
10.5.2 Uncertainty Modeling 695
10.5.3 Robust Stability 698
10.6 Loop Transfer Recovery (LTR) 705
CONTENTS xiii
10.7 //oo Control 709
10.7.1 A Brief History 709
10.7.2 Some Preliminaries 710
10.7.3 Hqc Control: Solution 713
10.7.4 Weights in Hx Control Problems 715
10.8 Summary 722
References 723
Problems 724
CHAPTER 11 Digital Control 733
11.1 Preview 733
11.2 Computer Processing 734
11.2.1 Computer History and Trends 734
11.3 A/D and D/A Conversion 737
11.3.1 Analog-to-Digital Conversion 737
11.3.2 Sample and Hold 739
11.3.3 Digital-to-Analog Conversion 741
11.4 Discrete-Time Signals 741
11.4.1 Representing Sequences 741
11.4.2 z-Transformation and Properties 744
11.4.3 Inverse z Transform 749
11.5 Sampling 751
11.6 Reconstruction of Signals from Samples 753
11.6.1 Representing Sampled Signals with Impulses 753
11.6.2 Relation Between the z Transform and the Laplace Transform 756
11.6.3 The Sampling Theorem 757
11.7 Discrete-Time Systems 760
11.7.1 Difference Equations and Response 760
11.7.2 z-Transfer Functions 762
11.7.3 Block Diagrams and Signal Flow Graphs 763
11.7.4 Stability and the Bilinear Transformation 764
11.7.5 Computer Software 768
11.8 State-Variable Descriptions of Discrete-Time Systems 771
11.8.1 Simulation Diagrams and Equations 771
11.8.2 Response and Stability 774
11.8.3 Controllability and Observability 777
11.9 Digitizing Control Systems 779
11.9.1 Step-Invariant Approximation 779
11.9.2 z-Transfer Functions of Systems with Analog Measurements 782
11.9.3 A Design Example 785
11.10 Direct Digital Design 788
11.10.1 Steady State Response 788
xiv CONTENTS
11.10.2 Deadbeat Systems 789
11.10.3 A Design Example 790
11.11 Summary 798
References 800
Problems 802
APPENDIX A Matrix Algebra 812
A.l Preview 812
A.2 Nomenclature 812
A.3 Addition and Subtraction 812
A.4 Transposition 813
A.5 Multiplication 813
A.6 Determinants and Cofactors 814
A.7 Inverse 816
A.8 Simultaneous Equations 817
A.9 Eigenvalues and Eigenvectors 819
A. 10 Derivative of a Scalar with Respect to a Vector 821
A. 11 Quadratic Forms and Symmetry 823
A. 12 Definiteness 824
A. 13 Rank 826
A. 14 Partitioned Matrices 827
Problems 830
APPENDIX B Laplace Transform 834
B.l Preview 834
B.2 Definition and Properties 834
B.3 Solving Differential Equations 835
B.4 Partial Fraction Expansion 837
B.5 Additional Properties of the Laplace Transform 841
B.5.1 Real Translation 842
B.5.2 Second Independent Variable 842
B.5.3 Final-Value and Initial-Value Theorems 843
B.5.4 Convolution Integral 844
Index
845
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| physical | XVI, 848 S. Ill., graph. Darst. |
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| spelling | Design of feedback control systems Raymond T. Stefani ... 4. ed. New York [u.a.] Oxford Univ. Press 2002 XVI, 848 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier The Oxford series in electrical and computer engineering Sistemas de control por retroalimentación Feedback control systems Regelungstechnik (DE-588)4076594-5 gnd rswk-swf Regelungstechnik (DE-588)4076594-5 s DE-604 Stefani, Raymond T. Sonstige oth HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009553518&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Design of feedback control systems Sistemas de control por retroalimentación Feedback control systems Regelungstechnik (DE-588)4076594-5 gnd |
| subject_GND | (DE-588)4076594-5 |
| title | Design of feedback control systems |
| title_auth | Design of feedback control systems |
| title_exact_search | Design of feedback control systems |
| title_full | Design of feedback control systems Raymond T. Stefani ... |
| title_fullStr | Design of feedback control systems Raymond T. Stefani ... |
| title_full_unstemmed | Design of feedback control systems Raymond T. Stefani ... |
| title_short | Design of feedback control systems |
| title_sort | design of feedback control systems |
| topic | Sistemas de control por retroalimentación Feedback control systems Regelungstechnik (DE-588)4076594-5 gnd |
| topic_facet | Sistemas de control por retroalimentación Feedback control systems Regelungstechnik |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009553518&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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