Automatic Control with Interactive Toolsis a textbook for undergraduate study of automatic control. Providing a clear course structure, and covering concepts taught in engineering degrees, this book is an ideal companion to those studying or teaching automatic control. The authors have used this text successfully to teach their students.
By providing unique interactive tools, which have been designed to illustrate the most important automatic control concepts, Automatic Control with Interactive Tools helps students overcome the potential barriers presented by the significant mathematical content of automatic control courses. Even when they have previously had only the benefit of an introductory control course, the software tools presented will help readers to get to grips with the use of such techniques as differential equations, linear algebra, and differential geometry.
This textbook covers the breadth of automatic control topics, including time responses of dynamic systems, the Nyquist criterion and PID control. It switches smoothly between analytical and practical approaches. Automatic Control with Interactive Tools offers a clear introduction to automatic control, ideal for undergraduate students, instructors and anyone wishing to familiarize themselves with the fundamentals of the subject
Author(s): José Luis Guzmán, Ramon Costa-Castelló, Manuel Berenguel, Sebastián Dormido
Publisher: Springer
Year: 2023
Language: English
Pages: 365
City: Cham
Foreword
Preface
Website of the Book
References
Contents
Terminology and Abbreviations
Terminology
Abbreviations
Basic Block Diagram and Associated Signals
Sec5
Sec6
Variables and Parameters
Sec8
Interactive Symbols
Functions
Other Symbols
Complex Number Theory in Relation with the Laplace Transform
References
List of Figures
List of Tables
Part I About Interactivity and Main Objectives of the Book
References
1 Introduction
1.1 Introduction: Visualization and Interactivity
1.2 What Is Meant by Visualization?
1.3 The Role of Visualization in Automatic Control Teaching and Learning
1.4 What Is Meant by Interactivity?
1.5 The Role of Interactivity in Automatic Control Teaching and Learning
1.6 Objectives and Organization of the Contents
1.7 Components and Structures of the Interactive Tools
1.7.1 Distribution of Elements and Interactive Objects in the Tools
1.7.2 A Remark on Numerical Implementation
References
Part II Open-Loop Analysis
2 From Nonlinear Physical Models to Linear Models
2.1 Introduction
2.1.1 Static Versus Dynamical Systems
2.1.2 Mathematical Models
2.1.3 Linear Systems
2.1.4 Linearization
2.2 The Tank Level System
2.2.1 Interactive Tool: bluetank_level_lin
2.3 Variable Section Tank Level System
2.3.1 Interactive Tool: blue spherical_tank_level_lin
2.4 Ball & Beam System
2.4.1 Interactive Tool: blue ball_and_beam_control
2.5 Inverted Pendulum on a Cart System
2.5.1 Interactive Tool: blue inverted_pendulum_control
2.6 DC Motor System
2.6.1 Interactive Tool: blue DC_motor_control
References
3 Time Response
3.1 Introduction
3.1.1 Laplace Transform and Transfer Function
3.2 Time Response of Continuous-Time First-Order Linear Systems without Zeros
3.2.1 Interactive Tool: bluet_first_order
3.3 Time Response of Continuous-Time Second-Order Linear Systems without Zeros
3.3.1 Interactive Tool: bluet_second_order
3.4 Effect of a Zero on the Time Response of Continuous-Time First-Order Linear Systems
3.4.1 Interactive Tool: bluet_first_order_zero
3.5 Effect of a Zero on the Time Response of Continuous-Time Second-Order Linear Systems
3.5.1 Interactive Tool: bluet_second_order_zero
3.6 Time Response of Generic Continuous-Time Linear Systems
3.6.1 Interactive Tool: bluet_generic
3.7 Dominance in the Time Domain
3.7.1 Interactive Tool: bluet_dominance
3.8 Model Fitting in the Time Domain
3.8.1 Interactive Tool: bluet_model_fitting
References
4 Frequency Response
4.1 Introduction
4.2 Frequency Response Concept
4.2.1 Interactive Tool: bluef_concept
4.3 Frequency Response of Continuous-Time First-Order Linear Systems Without Zeros
4.3.1 Interactive Tool: bluef_first_order
4.4 Frequency Response of Continuous-Time Second-Order Linear Systems Without Zeros
4.4.1 Interactive Tool: bluef_second_order
4.5 Effect of a Zero on the Frequency Response of Continuous-Time First-Order Linear Systems
4.5.1 Interactive Tool: bluef_first_order_zero
4.6 Effect of a Zero on the Frequency Response of Continuous-Time Second-Order Linear Systems
4.6.1 Interactive Tool: blue f_second_order_zero
4.7 Frequency Response of Generic Continuous-Time Linear Systems
4.7.1 Interactive Tool: bluef_generic
4.8 Nonminimum Phase Systems
4.8.1 Interactive Tool: bluef_nonminimum_phase
4.9 Model Fitting in the Frequency Domain
4.9.1 Interactive Tool: bluef_model_fitting
References
5 Relationship Between Model Parameters with Physical Models
5.1 Introduction
5.2 The Tank Level System Transfer Function
5.2.1 Interactive Tool: blue tank_level_tf
5.3 Variable Section Tank Level System Transfer Function
5.3.1 Interactive Tool: blue spherical_tank_level_tf
5.4 Ball and Beam System Transfer Function
5.4.1 Interactive Tool: blue ball_and_beam_control
5.5 Inverted Pendulum on a Cart System Transfer Function
5.5.1 Interactive Tool: blue inverted_pendulum_control
5.6 DC Motor System Transfer Function
5.6.1 Interactive Tool: blue DC_motor_control
References
6 Problems on Open-Loop Analysis
6.1 Problem 1. First-Order System
6.1.1 Solution
6.2 Problem 2. Second-Order System
6.2.1 Solution
6.3 Problem 3. First-Order System with a Zero
6.3.1 Solution
6.4 Problem 4. Second-Order System with a Zero
6.4.1 Solution
Reference
Part III Closed-Loop Analysis and Design
7 Closed-Loop Systems and Stability
7.1 Introduction
7.1.1 Block Diagrams and Block Diagram Algebra
7.1.2 Simplest Forms of Feedback
7.1.3 Basic Relations in Feedback Loops
7.2 Root Locus
7.2.1 Interactive Tool: blueroot_locus
7.3 The Nyquist Stability Criterion
7.3.1 Interactive Tool: blue Nyquist_criterion
7.4 Phase and Gain Margins
7.4.1 Interactive Tool: bluestability_margins
7.5 Limitations Imposed by Time Delay in Closed-Loop Systems
7.5.1 Interactive Tool: bluelimitations_delay
References
8 Control System Design
8.1 Introduction
8.1.1 Relation Between Time-Domain and Frequency-Domain Specifications
8.1.2 Sensitivity Functions, Disturbance Rejection, and Unmodeled Dynamics
8.2 Steady-State Errors in Unit Feedback Control Systems
8.2.1 Interactive Tool: bluesteady_state
8.3 Proportional, Integral, and Derivative (PID) Controllers
8.3.1 Interactive Tool: bluePID_concept
8.4 Phase-Lag and Phase-Lead Compensators
8.4.1 Interactive Tool: bluelead_lag_concept
8.5 PI Control of First-Order Systems Without Time Delay by Pole Placement
8.5.1 Interactive Tool: bluePI_pole_placement
8.6 PI Control of First-Order Systems by Pole Cancellation
8.6.1 Interactive Tool: bluePI_lambda
8.7 PID Control Based on the Open-Loop Ziegler–Nichols Tuning Rules
8.7.1 Interactive Tool: bluePID_Ziegler_Nichols
8.8 Classical Design of Phase-Lag Controllers in the Frequency Domain
8.8.1 Interactive Tool: bluef_design_lag
8.9 Classical Design of Phase-Lead Controllers in the Frequency Domain
8.9.1 Interactive Tool: bluef_design_lead
8.10 Design of Phase-Lead or Phase-Lag Controllers in the Frequency Domain
8.10.1 Interactive Tool: bluef_design_lead_lag
8.11 Loop Shaping Design
8.11.1 Interactive Tool: blue ILM_PIDloopshaping
8.11.2 Interactive Tool: blue LCSD
References
9 Control of Physical Systems
9.1 Introduction
9.2 The Tank Level Control
9.2.1 Interactive Tool: blue tank_level_control
9.3 Variable Section Tank Level Control
9.3.1 Interactive Tool: blue spherical_tank_level_control
9.4 Ball & Beam Control
9.4.1 Interactive Tool: blue ball_and_beam_control
9.5 Inverted Pendulum on a Cart Control
9.5.1 Interactive Tool: blue inverted_pendulum_control
9.6 DC Motor Control
9.6.1 Interactive Tool: blue DC_motor_control
References
10 Problems on Closed-Loop Analysis and Design
10.1 Problem 1. Stability Analysis
10.1.1 Solution
10.2 Problem 2. Design in Time Domain
10.2.1 Solution
10.3 Problem 3. Design in Frequency Domain
10.3.1 Solution
Reference
Index
