Chapter 1 Introduction to Control Systems
1��1 Introduction
1��2 Brief History of Automatic Control
1��3 Examples of Control Systems
1��4 Engineering Design
1��5 Control System Design
1��6 Mechatronic Systems
1��7 Green Engineering
1��8 The Future Evolution of Control Systems
1��9 Design Examples
1��10 Sequential Design Example�� Disk Drive Read System
1��11 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Terms and Concepts
Chapter 2 Mathematical Models of Systems
2��1 Introduction
2��2 Differential Equations of Physical Systems
2��3 Linear Approximations of Physical Systems
2��4 The Laplace Transform
2��5 The Transfer Function of Linear Systems
2��6 Block Diagram Models
2��7 Signal-Flow Graph Models
2��8 Design Examples
2��9 The Simulation of Systems Using Control Design Software
2��10 Sequential Design Example�� Disk Drive Read System
2��11 Summary 155
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 3 State Variable Models
3��1 Introduction
3��2 The State Variables of a Dynamic System
3��3 The State Differential Equation
3��4 Signal-Flow Graph and Block Diagram Models
3��5 Alternative Signal-Flow Graph and Block Diagram Models
3��6 The Transfer Function from the State Equation
3��7 The Time Response and the State Transition Matrix
3��8 Design Examples
3��9 Analysis of State Variable Models Using Control Design Software
3��10 Sequential Design Example�� Disk Drive Read System
3��11 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 4 Feedback Control System Characteristics
4��1 Introduction
4��2 Error Signal Analysis
4��3 Sensitivity of Control Systems to Parameter Variations
4��4 Disturbance Signals in a Feedback Control System
4��5 Control of the Transient Response
4��6 Steady-State Error
4��7 The Cost of Feedback
4��8 Design Examples
4��9 Control System Characteristics Using Control Design Software
4��10 Sequential Design Example�� Disk Drive Read System
4��11 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 5 The Performance of Feedback Control Systems
5��1 Introduction
5��2 Test Input Signals
5��3 Performance of Second-Order Systems
5��4 Effects of a Third Pole and a Zero on the Second-Order System Response
5��5 The s-Plane Root Location and the Transient Response
5��6 The Steady-State Error of Feedback Control Systems
5��7 Performance Indices
5��8 The Simplification of Linear Systems
5��9 Design Examples
5��10 System Performance Using Control Design Software
5��11 Sequential Design Example�� Disk Drive Read System
5��12 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 6 The Stability of Linear Feedback Systems
6��1 The Concept of Stability
6��2 The Routh-Hurwitz Stability Criterion
6��3 The Relative Stability of Feedback Control Systems
6��4 The Stability of State Variable Systems
6��5 Design Examples
6��6 System Stability Using Control Design Software
6��7 Sequential Design Example�� Disk Drive Read System
6��8 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 7 The Root Locus Method
7��1 Introduction
7��2 The Root Locus Concept
7��3 The Root Locus Procedure
7��4 Parameter Design by the Root Locus Method
7��5 Sensitivity and the Root Locus
7��6 PID Controllers
7��7 Negative Gain Root Locus
7��8 Design Examples
7��9 The Root Locus Using Control Design Software
7��10 Sequential Design Example�� Disk Drive Read System
7��11 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 8 Frequency Response Methods
8��1 Introduction
8��2 Frequency Response Plots
8��3 Frequency Response Measurements
8��4 Performance Specifications in the Frequency Domain
8��5 Log-Magnitude and Phase Diagrams
8��6 Design Examples
8��7 Frequency Response Methods Using Control Design Software
8��8 Sequential Design Example�� Disk Drive Read System
8��9 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems
Terms and Concepts
Chapter 9 Stability in the Frequency Domain
9��1 Introduction
9��2 Mapping Contours in the s-Plane
9��3 The Nyquist Criterion
9��4 Relative Stability and the Nyquist Criterion
9��5 Time-Domain Performance Criteria in the Frequency Domain
9��6 System Bandwidth
9��7 The Stability of Control Systems with Time Delays
9��8 Design Examples
9��9 PID Controllers in the Frequency Domain
9��10 Stability in the Frequency Domain Using Control Design Software
9��11 Sequential Design Example�� Disk Drive Read System
9��12 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 10 The Design of Feedback Control Systems
10��1 Introduction
10��2 Approaches to System Design
10��3 Cascade Compensators
10��4 Phase-Lead Design Using the Bode Plot
10��5 Phase-Lead Design Using the Root Locus
10��6 System Design Using Integration Compensators
10��7 Phase-Lag Design Using the Root Locus
10��8 Phase-Lag Design Using the Bode Plot
10��9 Design on the Bode Plot Using Analytical Methods
10��10 Systems with a Prefilter
10��11 Design for Deadbeat Response
10��12 Design Examples
10��13 System Design Using Control Design Software
10��14 Sequential Design Example�� Disk Drive Read System
10��15 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 11 The Design of State Variable Feedback Systems
11��1 Introduction
11��2 Controllability and Observability
11��3 Full-State Feedback Control Design
11��4 Observer Design
11��5 Integrated Full-State Feedback and Observer
11��6 Reference Inputs
11��7 Optimal Control Systems
11��8 Internal Model Design
11��9 Design Examples
11��10 State Variable Design Using Control Design Software
11��11 Sequential Design Example�� Disk Drive Read System
11��12 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 12 Robust Control Systems
12��1 Introduction
12��2 Robust Control Systems and System Sensitivity
12��3 Analysis of Robustness
12��4 Systems with Uncertain Parameters
12��5 The Design of Robust Control Systems
12��6 The Design of Robust PID-Controlled Systems
12��7 The Robust Internal Model Control System
12��8 Design Examples
12��9 The Pseudo-Quantitative Feedback System
12��10 Robust Control Systems Using Control Design Software
12��11 Sequential Design Example�� Disk Drive Read System
12��12 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
Chapter 13 Digital Control Systems
13��1 Introduction
13��2 Digital Computer Control System Applications
13��3 Sampled-Data Systems
13��4 The z-Transform
13��5 Closed-Loop Feedback Sampled-Data Systems
13��6 Performance of a Sampled-Data�� Second-Order System
13��7 Closed-Loop Systems with Digital Computer Compensation
13��8 The Root Locus of Digital Control Systems
13��9 Implementation of Digital Controllers
13��10 Design Examples
13��11 Digital Control Systems Using Control Design Software
13��12 Sequential Design Example�� Disk Drive Read System
13��13 Summary
Skills Check ? Exercises ? Problems ? Advanced
Problems ? Design Problems ? Computer Problems ?
Terms and Concepts
References

WEB RESOURCES
Appendix A MATLAB Basics
Appendix B MathScript RT Module Basics
Appendix C Symbols�� Units�� and Conversion Factors
Appendix D Laplace Transform Pairs
Appendix E An Introduction to Matrix Algebra
Appendix F Decibel Conversion
Appendix G Complex Numbers
Appendix H z-Transform Pairs Preface
Appendix I Discrete-Time Evaluation of the Time Response