Taking a different approach from standard thousand-page reference-style control textbooks, Fundamentals of Linear Control provides a concise yet comprehensive introduction to the analysis and design of feedback control systems in fewer than 400 pages. The text focuses on classical methods for dynamic linear systems in the frequency domain. The treatment is, however, modern and the reader is kept aware of contemporary tools and techniques, such as state space methods and robust and nonlinear control. Featuring fully worked design examples, richly illustrated chapters, and an extensive set of homework problems and examples spanning across the text for gradual challenge and perspective, this textbook is an excellent choice for senior-level courses in systems and control or as a complementary reference in introductory graduate level courses. The text is designed to appeal to a broad audience of engineers and scientists interested in learning the main ideas behind feedback control theory.
Author(s): Mauricio C. de Oliveira
Edition: 1
Publisher: Cambridge University Press
Year: 2017
Language: English
Pages: 401
Tags: Control Systems
Half title......Page 2
Title......Page 4
Copyright......Page 6
Dedication......Page 8
Table of Contents......Page 9
Preface......Page 12
Overview......Page 13
1 Introduction......Page 17
1.1 Models and Experiments......Page 18
1.2 Cautionary Note......Page 21
1.3 A Control Problem......Page 22
1.4 Solution without Feedback......Page 23
1.5 Solution with Feedback......Page 24
1.6 Sensitivity......Page 28
1.7 Disturbances......Page 29
Problems......Page 31
2 Dynamic Systems......Page 37
2.1 Dynamic Models......Page 38
2.2 Block-Diagrams for Differential Equations......Page 39
2.3 Dynamic Response......Page 40
2.4 Experimental Dynamic Response......Page 44
2.5 Dynamic Feedback Control......Page 46
2.6 Nonlinear Models......Page 50
2.7 Disturbance Rejection......Page 53
2.8 Integral Action......Page 56
Problems......Page 59
3.1 The Laplace Transform......Page 74
3.2 Linearity, Causality, and Time-Invariance......Page 80
3.3 Differential Equations and Transfer-Functions......Page 84
3.4 Integration and Residues......Page 86
3.5 Rational Functions......Page 93
3.6 Stability......Page 100
3.7 Transient and Steady-State Response......Page 102
3.8 Frequency Response......Page 105
3.9 Norms of Signals and Systems......Page 107
Problems......Page 111
4 Feedback Analysis......Page 132
4.1 Tracking, Sensitivity, and Integral Control......Page 134
4.2 Stability and Transient Response......Page 139
4.3 Integrator Wind-up......Page 146
4.4 Feedback with Disturbances......Page 149
4.5 Input-Disturbance Rejection......Page 150
4.6 Measurement Noise......Page 156
4.7 Pole–Zero Cancellations and Stability......Page 157
Problems......Page 163
5.1 Realization of Dynamic Systems......Page 175
5.2 State-Space Models......Page 184
5.3 Minimal State-Space Realizations......Page 190
5.4 Nonlinear Systems and Linearization......Page 192
5.5 Simple Pendulum......Page 195
5.6 Pendulum in a Cart......Page 198
5.7 Car Steering......Page 201
5.8 Linear Control of Nonlinear Systems......Page 204
Problems......Page 208
6.1 Second-Order Systems......Page 223
6.2 Derivative Action......Page 231
6.3 Proportional–Integral–Derivative Control......Page 234
6.4 Root-Locus......Page 235
6.5 Control of the Simple Pendulum – Part I......Page 244
Problems......Page 256
7.1 Bode Plots......Page 268
7.2 Non-Minimum-Phase Systems......Page 283
7.3 Polar Plots......Page 287
7.4 The Argument Principle......Page 289
7.5 Stability in the Frequency Domain......Page 295
7.6 Nyquist Stability Criterion......Page 301
7.7 Stability Margins......Page 311
7.8 Control of the Simple Pendulum – Part II......Page 315
Problems......Page 324
8.1 Closed-Loop Stability and Performance......Page 337
8.2 Robustness......Page 345
8.3 Small Gain......Page 347
8.4 Control of the Simple Pendulum – Part III......Page 350
8.5 Circle Criterion......Page 357
8.6 Feedforward Control and Filtering......Page 364
Problems......Page 372
References......Page 383
Index......Page 386
