- Cover
- Title Page
- Contents
- Preface
- About the Author
- 1 Control System Modeling
- 1.1 Introduction
- 1.3 Comparison of Open-Loop and Closed-Loop Control Systems
- 1.4 Differential Equations and Transfer Functions
- 1.4.1 Transfer Function Representation
- 1.4.2 Features and Advantages of Transfer Function Representation
- 1.4.3 Disadvantages of Transfer Function Representation
- 1.4.4 Transfer Function of an Open-Loop System
- 1.4.5 Transfer Function of a Closed-Loop System
- 1.4.6 Comparison of Positive Feedback and Negative Feedback Systems
- 1.5 Mathematical Modeling
- 1.6 Modeling of Electrical Systems
- 1.7 Modeling of Mechanical Systems
- 1.8 Introduction to Analogous System
- Review Questions
- 2 Physical Systems and Components
- 2.1 Introduction
- 2.2 Electromechanical System
- 2.3 Hydraulic System
- 2.4 Pneumatic Systems
- 2.5 Thermal Systems
- 2.6 Liquid-Level System
- 2.7 Introduction to Control System Components
- 2.8 Controllers
- 2.9 Electronic Controllers
- 2.10 Potentiometers
- 2.11 Synchros
- 2.12 Servomotors
- 2.13 Tachogenerators
- 2.14 Stepper Motor
- 2.15 Gear Trains
- Review Questions
- 3 Block Diagram Reduction Techniques
- 4 Signal Flow Graph
- 5 Time Response Analysis
- 5.1 Introduction
- 5.2 Time Response of the Control System
- 5.3 Standard Test Signals
- 5.4 Poles, Zeros and System Response
- 5.5 Type and Order of the System
- 5.6 First-Order System
- 5.7 Second-Order System
- 5.8 Steady-State Error
- 5.9 Effect of Adding Poles and Zeros in the Second-Order System
- 5.10 Response with P, PI and PID Controllers
- 5.11 Performance Indices
- Review Questions
- 6 Stability and Routh–Hurwitz Criterion
- 6.1 Introduction
- 6.2 Concept of Stability
- 6.3 Stability of Linear Time-Invariant System
- 6.4 Mathematical Condition for the Stability of the System
- 6.5 Transfer Function of the System, G(s)
- 6.6 Zero-Input Stability or Asymptotic Stability
- 6.7 Relative Stability
- 6.8 Methods for Determining the Stability of the System
- 6.9 Routh–Hurwitz Criterion
- 6.10 Hurwitz Criterion
- 6.11 Routh’s Stability Criterion
- Review Questions
- 7 Root Locus Technique
- 7.1 Introduction
- 7.2 Advantages of Root Locus Technique
- 7.3 Categories of Root Locus
- 7.4 Basic Properties of Root Loci
- 7.5 Manual Construction of Root Loci
- 7.6 Root Loci for different Pole-Zero Configurations
- 7.7 Effect of Adding Poles and Zeros in the System
- 7.8 Time Response from Root Locus
- 7.9 Gain Margin and Phase Margin of the System
- 7.10 Root Locus for K < 0 Inverse Root Locus or Complementary Root Loci
- 7.11 Pole-Zero Cancellation Rules
- 7.12 Root Contours (Multi-Variable System)
- Review Questions
- 8 Frequency Response Analysis
- 8.1 Introduction
- 8.2 Importance of Sinusoidal Waves for Frequency Response Analysis
- 8.3 Basics of Frequency Response Analysis
- 8.4 Frequency Response Analysis of Open-Loop and Closed-Loop Systems
- 8.5 Frequency Response Representation
- 8.6 Frequency Domain Specifications
- 8.7 Frequency and Time Domain Interrelations
- 8.8 Effect of Addition of a Pole to the Open-Loop Transfer Function of the System
- 8.9 Effect of Addition of a Zero to the Open-Loop Transfer Function of the System
- 8.10 Graphical Representation of Frequency Response
- 8.11 Introduction to Bode Plot
- 8.12 Determination of Frequency Domain Specifications from Bode Plot
- 8.13 Stability of the System
- 8.14 Construction of Bode Plot
- 8.15 Constructing the Bode Plot for a Given System
- 8.16 Flow Chart for Plotting Bode Plot
- 8.17 Procedure for Determining the Gain K from the Desired Frequency Domain Specifications
- 8.18 Maximum Value of Gain
- 8.19 Procedure for Determining Transfer Function from Bode Plot
- 8.20 Bode Plot for Minimum and Non-Minimum Phase Systems
- Review Questions
- 9 Polar and Nyquist Plots
- 9.1 Introduction to Polar Plot
- 9.2 Starting and Ending of Polar Plot
- 9.3 Construction of Polar Plot
- 9.4 Determination of Frequency Domain Specification from Polar Plot
- 9.5 Procedure for Constructing Polar Plot
- 9.6 Typical Sketches of Polar Plot on an Ordinary Graph and Polar Graph
- 9.7 Stability Analysis using Polar Plot
- 9.8 Determining the Gain K from the Desired Frequency Domain Specifications
- 9.9 Introduction to Nyquist Stability Criterion
- 9.10 Advantages of Nyquist Plot
- 9.11 Basic Requirements for Nyquist Stability Criterion
- 9.12 Encircled and Enclosed
- 9.13 Number of Encirclements or Enclosures
- 9.14 Mapping of s-Plane into Characteristic Equation Plane
- 9.15 Principle of Argument
- 9.16 Nyquist Stability Criterion
- 9.17 Nyquist Path
- 9.18 Relation Between G(s) H(s)-Plane and F(s)-Plane
- 9.19 Nyquist Stability Criterion Based on the Encirclements of −1+ j 0
- 9.20 Stability Analysis of the System
- 9.21 Procedure for Determining the Number of Encirclements
- 9.22 General Procedures for Determining the Stability of the System Based on Nyquist Stability Criterion
- Review Questions
- 10 Constant M- and N-Circles and Nichols Chart
- 10.1 Introduction
- 10.2 Closed-Loop Response from Open-Loop Response
- 10.3 Constant M-Circles
- 10.3.1 Applications of Constant M-Circles
- 10.3.2 Resonant Peak Mr and Resonant Frequency wr from Constant M-Circles
- 10.3.3 Variation of Gain K with Mr and wr 10.6
- 10.3.4 Bandwidth of the System
- 10.3.5 Stability of the System
- 10.3.6 Determination of Gain K Corresponding to the Desired Resonant Peak (Mr)desired
- 10.3.7 Magnitude Plot of the System from Constant M-Circles
- 10.4 Constant N-Circles
- 10.5 Nichols Chart
- 10.5.1 Reason for the Usage of Nichols Chart
- 10.5.2 Advantages of Nichols Chart
- 10.5.3 Transformation of Constant M- and N-Circles into Nichols Chart
- 10.5.4 Determination of Frequency Domain Specifications from Nichols Chart
- 10.5.5 Determination of Gain K for a Desired Frequency Domain Specifications
- Review Questions
- 11 Compensators
- 11.1 Introduction
- 11.2 Compensators
- 11.2.1 Series or Cascade Compensation
- 11.2.2 Feedback or Parallel Compensation
- 11.2.3 Load or Series-Parallel Compensation
- 11.2.4 State Feedback Compensation
- 11.2.5 Forward Compensation with Series Compensation
- 11.2.6 Feed-forward Compensation
- 11.2.7 Effects of Addition of Poles
- 11.2.8 Effects of Addition of Zeros
- 11.2.9 Choice of Compensators
- 11.3 Lag Compensator
- 11.4 Lead Compensator
- 11.4.1 Determination of Maximum Phase Angle fm
- 11.4.2 Electrical Representation of the Lead Compensator
- 11.4.3 Effects of Lead Compensator
- 11.4.4 Limitations of Lead Compensator
- 11.4.5 Design of Lead Compensator
- 11.4.6 Design of Lead Compensator Using Bode Plot
- 11.4.7 Design of Lead Compensator Using Root Locus Technique
- 11.5 Lag–Lead Compensator
- Review Questions
- 12 Physiological Control Systems
- 12.1 Introduction
- 12.2 Physiological Control Systems
- 12.3 Properties of Physiological Control Systems
- 12.4 Block Diagram of the Physiological Control System
- 12.5 Differences Between Engineering and Physiological Control Systems
- 12.6 System Elements
- 12.7 Properties Related to Elements
- 12.8 Linear Models of Physiological Systems: Two Examples
- 12.9 Simulation—Matlab and Simulink Examples
- Review Questions
- 13 State-Variable Analysis
- 13.1 Introduction
- 13.2 State-Space Representation of Continuous-Time LTI Systems
- 13.3 Block Diagram and SFG Representation of a Continuous State-Space Model
- 13.4 State-Space Representation
- 13.5 State-Space Representation of Differential Equations in Physical Variable Form
- 13.6 State-Space Model Representation for Electric Circuits
- 13.7 State-Space Model Representation for Mechanical System
- 13.8 State-Space Model Representation of Electromechanical System
- 13.9 State-Space Representation of a System Governed by Differential Equations
- 13.10 State-Space Representation of Transfer Function in Phase Variable Forms
- 13.11 State-Space Representation of Transfer Function in Canonical Forms
- 13.12 Transfer Function from State-Space Model
- 13.13 Solution of State Equation for Continuous Time Systems
- 13.14 Controllability and Observability
- 13.15 State-Space Representation of Discrete-Time LTI Systems
- 13.16 Solutions of State Equations for Discrete-Time LTI Systems
- 13.17 Representation of Discrete LTI System
- 13.18 Sampling
- Review Questions
- 14 MATLAB Programs
- 14.1 Introduction
- 14.2 MATLAB in Control Systems
- 14.2.1 Laplace Transform
- 14.2.2 Inverse Laplace Transform
- 14.2.3 Partial Fraction Expansion
- 14.2.4 Transfer Function Representation
- 14.2.5 Zeros and Poles of a Transfer Function
- 14.2.6 Pole-Zero Map of a Transfer Function
- 14.2.7 State-Space Representation of a Dynamic System
- 14.2.8 Phase Variable Canonical Form
- 14.2.9 Transfer Function to State-Space Conversion
- 14.2.10 State-Space to Transfer Function Conversion
- 14.2.11 Series/Cascade, Parallel and Feedback Connections
- 14.2.12 Time Response of Control System
- 14.2.13 Performance Indices from the Response of a System
- 14.2.14 Steady State Error from the Transfer Function of a System
- 14.2.15 Routh–Hurwitz Criterion
- 14.2.16 Root Locus Technique
- 14.2.17 Bode Plot
- 14.2.18 Nyquist Plot
- 14.2.19 Design of Compensators Using Matlab
Control Systems Engineering
S. Salivahanan
Principal
SSN College of Engineering
Chennai
R. Rengaraj
Associate Professor
Department of Electrical and Electronics Engineering
SSN College of Engineering
Chennai
G. R. Venkatakrishnan
SSN College of Engineering
Chennai
Chennai • Delhi
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