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by Stanley M. Shinners
Advanced Modern Control System Theory and Design
Cover Page
Title Page
Copyright
Dedication
Contents
PREFACE
Major Enhancement for Learning
Primary Features of Advanced Modem Control System Theory and Design
Chapter Organization
The Learning Package
ACKNOWLEDGMENTS
1: INTRODUCTION
1.1. INTRODUCTION
1.2. GOAL OF ADVANCED MODERN CONTROL SYSTEM THEORY AND DESIGN
1.3. CONTROL SYSTEM PERFORMANCE OBJECTIVES
1.4. THE PROCEDURE FOR DESIGNING A CONTROL SYSTEM
1.5. OUTUNE OF ADVANCED MODERN CONTROL SYSTEM THEORY AND DESIGN
1.6. ADVANCED MODERN CONTROL SYSTEM THEORY ANDDESIGN TOOLBOX
1.7. ILLUSTRATIVE PROBLEMS AND SOLUTIONS [ 1 ]
PROBLEMS
REFERENCES
2: LINEAR CONTROL-SYSTEM COMPENSATION AND DESIGN
2.1. INTRODUCTION
2.2. CASCADE-COMPENSATION TECHNIQUES
2.3. MINOR-LOOP FEEDBACK-COMPENSATION TECHNIQUES
2.4. PROPORTIONAL-PLUS-INTEGRAL-PLUS DERIVATIVE (PID) COMPENSATORS
2.5. EXAMPLE FOR THEDESIGN OF A SECOND-ORDER CONTROL SYSTEM
2.6. COMPENSATION AND DESIGN USING THE BODE-DIAGRAM METHOD
2.7. APPROXIMATE METHODS FOR PRELIMINARY COMPENSATION AND DESIGN USING THE BODE DIAGRAM
2.8. COMPENSATION AND DESIGN USING THE NICHOLS CHART
2.9. COMPENSATION AND DESIGN USING THE ROOT-LOCUS METHOD
2.10. TRADEOFFS OF USING VARIOUS CASCADE-COMPENSATION METHODS AND MINOR-LOOP FEEDBACK
2.11. ILLUSTRATIVE PROBLEMS AND SOLUTIONS
PROBLEMS
REFERENCES
3: MODERN CONTROL-SYSTEM DESIGN USING STATE-SPACE, POLE PLACEMENT, ACKERMANN'S FORMULA, ESTIMATION, ROBUST CONTROL, AND H ∞ TECHNIQUES
3.1. INTRODUCTION
3.2. POLE-PLACEMENT DESIGN USING LINEAR-STATE-VARIABLE FEEDBACK
3.3. CONTROLLER DESIGN USING POLE PLACEMENT AND LINEAR-STATE-VARIABLE FEEDBACK TECHNIQUES
3.4. CONTROLLABILITY
3.5. OBSERVABILITY
3.6. ACKERMANN'S FORMULA FOR DESIGN USING POLE PLACEMENT [ 5 – 7 ]
3.7. ESTIMATOR DESIGN IN CONJUNCTION WITH THE POLE PLACEMENT APPROACH USING UNEAR-STATE-VARIABLE FEEDBACK
3.8. COMBINED COMPENSA FOR DESIGN INCLUDING A CONTROLLER AND AN ESTIMATOR FOR A REGULATOR SYSTEM
3.9. EXTENSION OF COMBINED COMPENSATOR DESIGN INCLUDING A CONTROLLER AND AN ESTIMATOR FOR SYSTEMS CONTAINING A REFERENCE INPUT
3.10. ROBUST CONTROL SYSTEMS [ 10 – 14 ]
3.11. AN INTRODUCTION TO H ∞ CONTROL CONCEPTS [ 16 , 17 ]
3.12. FOUNDATIONS OF H ∞ CONTROL THEORY
3.13. LINEAR ALGEBRAIC ASPECTS OF CONTROL-SYSTEM DESIGN COMPUTATIONS [ 22 – 25 ]
3.14. ILLUSTRATIVE PROBLEMS AND SOLUTIONS
PROBLEMS
REFERENCES
4: DIGITAL CONTROL-SYSTEM ANALYSIS AND DESIGN
4.1. INTRODUCTION
4.2. CHARACTERISTICS OF SAMPLING
4.3. DATA EXTRAPOLATORS
4.4. z -TRANSFORM THEORY
4.5. z -TRANSFORM BLOCK-DIAGRAM ALGEBRA
4.6. CHARACTERISTIC RESPONSE OF A SAMPLER AND ZERO-ORDER HOLD COMBINATION
4.7. STABILITYANALYSIS USING THE NYQUIST DIAGRAM
4.8. STABILITY DETERMINATION USING MATHEMATICAL TESTS
4.9. STABILITY ANALYSIS AND DESIGN USING THE BODE DIAGRAM
4.10. STABIUTY ANALYSIS AND DESIGN USING THEROOT-LOCUS DIAGRAM
4.11. BODE AND ROOT-LOCUS DIAGRAMS FOR DISCRETE TIMESYSTEMS USING MATLAB [ 13 ]
4.12. RAGAZZINI'S METHOD
4.13. THE DIGITIZATION PROCESS AND THE DESIGN OF DIGITAL FILTERS [ 2 ]
4.14. SUMMARY
4.15. IUUSTRATIVE PROBLEMS AND SOLUTIONS
PROBLEMS
REFERENCES
5: NONLINEAR CONTROL-SYSTEM DESIGN
5.1. INTRODUCTION
5.2. NONLINEAR DIFFERENTIAL EQUATIONS
5.3. PROPERTIES OF LINEAR SYSTEMS THAT ARE NOT VALID FOR NONLINEAR SYSTEMS
5.4. UNIQUE CHARACTERISTICS OF NONLINEAR SYSTEMS
5.5. METHODS AVAILABLE FOR ANALYZING NONUNEAR SYSTEMS
5.6. UNEARIZING APPROXIMATIONS
5.7. DESCRIBING-FUNCTION CONCEPT
5.8. DERIVATION OF DESCRIBING FUNCTIONS FOR COMMON NONLINEARITIES
5.9. USE OF THE DESCRIBING FUNCTION TO PREDICT OSCILLATIONS
5.10. COMPENSATION AND DESIGN OF NONLINEAR CONTROL SYSTEMS USING DESCRIBING FUNCTIONS
5.11. DESCRIBING-FUNCTION ANALYSIS AND DESIGN USING MATLAB [ 29 ]
5.12. DIGITAL COMPUTER PROGRAMS FOR PERFORMING THE DESCRIBING-FUNCTION ANALYSIS
5.13. PIECEWISE-LINEAR APPROXIMATIONS
5.14. STATE-VARIABLE ANALYSIS: THE PHASE PLANE
5.15. CONSTRUCTION OF THE PHASE PORTRAIT
5.16. CHARACTERISTICS OF THE PHASE PORTRAIT
5.17. PHASE PLANE FOR SYSTEMS CONTAINING EXTERNAL FORCING FUNCTIONS
5.18. DESIGN OF NONLINEAR FEEDBACK CONTROL SYSTEMS USING THE STATE-VARIABLE PHASE-PLANE METHOD
5.19. DIGITAL COMPUTER PROGRAM FOR OBTAINING THE PHASE PLANE
5.20. LIAPUNOV'S STABIUTY CRITERIA
5.21. POPOV'S METHOD
5.22. GENERALIZED CIRCLE CRITERION
5.23. GUIDELINES FOR SELECTING THE “BEST” NONLINEAR CONTROL SYSTEM METHOD(S) PRESENTED FOR ANALYSIS AND DESIGN
5.24. ILLUSTRATIVE PROBLEMS AND SOLUTIONS
PROBLEMS
REFERENCES
6: INTRODUCTION TO OPTIMAL CONTROL THEORY AND ITS APPLICATIONS
6.1. INTRODUCTION
6.2. CHARACTERISTICS OF THE OPTIMAL CONTROL PROBLEM
6.3. CALCULUS OF VARIATIONS
6.4. DYNAMIC PROGRAMMING
6.5. PONTRYAGIN'S MAXIMUM PRINCIPLE
6.6. APPLICATION OF THE MAXIMUM PRINCIPLE TO THE SPACE ATTITUDE-CONTROL PROBLEM
6.7. APPLICATION OF THE MAXIMUM PRINCIPLE TO THE LUNAR SOFT-LANDING PROBLEM
6.8. ILLUSTRATIVE PROBLEMS AND SOLUTIONS
PROBLEMS
REFERENCES
7: CONTROL-SYSTEM DESIGN EXAMPLES: COMPLETE CASE STUDIES
7.1. INTRODUCTION
7.2. OUTLINE OF PROCEDURE FOR DESIGNING A CONTROL SYSTEM [ 1 , 2 ]
7.3. EXAMPLE 1: DESIGN FOR THE POSITIONING SYSTEM OF A TRACKING RADAR USING LINEAR AND NONLINEAR TECHNIQUES JOINTLY [ 1 ]
7.4. EXAMPLE 2: DESIGN OF AN ANGULAR CONTROL SYSTEM FOR A ROBOT'S JOINT
7.5. EXAMPLE 3: DESIGN OF THE CONTROLLER AND FULL-ORDER ESTIMATOR FOR A SPACE SATELLITE'S ATTITUDE-CONTROL SYSTEM WITH POLE PLACEMENT USING LINEAR-STATE-VARIABLE FEEDBACK
7.6. EXAMPLE 4: DESIGN OF A SAMPLED-DATA CONTROL SYSTEM FOR CONTROLLING THE TEMPERATURE OF A LIQUID IN A TANK
7.7. EXAMPLE 5: DESIGN OF A ROBUST CONTROL SYSTEM FOR CONTROLLING THE FLAPS OF A HYDROFOIL [ 6 – 10 ]
PROBLEMS
REFERENCES
APPENDIX A: TUTORIAL FOR THE EFFECTIVE USE OF MATLAB
A.1. INTRODUCTION
A.2. First Time Usage—Software For Engineering
A.3. Rrst Time Usage—MATLAS Installation
A.4. First Time Usage—Performance Tuning MATLAB
A.5. First Time Usage—MATLAB Fundamental Concepts
A.6. First Time Usage—Matrix Representations
A.7. First Time Usage—MATLAB Fundamentals
A.9. Summary of MATLAB and Advanced Modern Control System Theory and Design Toolbox Commands
APPENDIX B: CHARACTERISTIC RESPONSES OF SECOND-ORDER CONTROL SYSTEMS
APPENDIX C: STATIC ACCURACY
ANSWERS TO SELECTED PROBLEMS
CHAPTER 1
CHAPTER 2
CHAPTER 3
CHAPTER 4
CHAPTER 5
CHAPTER 6
CHAPTER 7
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