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A First Course in Control System Design
Author
Title
A First Course in Control System Design.
ISBN
9788770221511
8770221510
9781003336907
1003336906
9781000794564
1000794563
9781000791440
1000791440
8770221529
9788770221528
Edition
2nd ed.
Publication
Aalborg : River Publishers, 2020.
Physical Description
1 online resource (324 pages)
Local Notes
Access is available to the Yale community.
Access and use
Access restricted by licensing agreement.
Biographical / Historical Note
Kamran Iqbal
Summary
This book discusses control systems design from a model-basedperspective for dynamic system models of single-input single-output type. Theemphasis in this book is on understanding and applying the techniques thatenable the design of effective control systems in multiple engineeringdisciplines. The book covers both time-domain and the frequency-domain designmethods, as well as controller design for both continuous-time anddiscrete-time systems. MATLAB© and its Control Systems Toolbox are extensivelyused for design.
Variant and related titles
Knovel. OCLC KB.
Other formats
Print version: Iqbal, Kamran. First Course in Control System Design, Second Edition. 2nd ed. Aalborg : River Publishers, 2020
Format
Books / Online
Language
English
Added to Catalog
August 07, 2023
Series
River Publishers Series in Automation, Control and Robotics Ser.
Contents
Foreword xi
Preface xiii
Acknowledgement xxi
List of Figures xxiii
List of Tables xxix
List of Abbreviations xxxi
1 Mathematical Models of Physical Systems 1
1.1 Modeling of Physical Systems 2
1.1.1 Model Variables and Element Types 3
1.1.2 First-Order ODE Models 4
1.1.3 Solving First-Order ODE Models with Step Input 8
1.1.4 Second-Order ODE Models 10
1.1.5 Solving Second-Order ODE Models 12
1.2 Transfer Function Models 15
1.2.1 DC Motor Model 16
1.2.2 Industrial Process Models 20
1.3 State Variable Models 21
1.4 Linearization of Nonlinear Models 24
1.4.1 Linearization About an Operating Point 25
1.4.2 Linearization of a General Nonlinear Model 27 Skill Assessment Questions 29
2 Analysis of Transfer Function Models 31
2.1 Characterization of Transfer Function Models 32
2.1.1 System Poles and Zeros 32
2.1.2 System Natural Response 34
2.2 System Response to Inputs 36
2.2.1 The Impulse Response 36
2.2.2 The Step Response 38
2.2.3 Characterizing the System Transient Response 44
2.2.4 System Stability 46
2.3 Sinusoidal Response of a System 49
2.3.1 Sinusoidal Response of Low-Order Systems 50
2.3.2 Visualizing the Frequency Response 52 Skill Assessment Questions 59
3 Analysis of State Variable Models 63
3.1 State Variable Models 64
3.1.1 Solution to the State Equations 65
3.1.2 Laplace Transform Solution and Transfer Function 66
3.1.3 The State-Transition Matrix 68
3.1.4 Homogenous State Equation and Asymptotic Stability 70
3.1.5 System Response for State Variable Models 74
3.2 State Variable Realization of Transfer Function Models 77
3.2.1 Simulation Diagrams 78
3.2.2 Controller Form Realization 80
3.2.3 Dual (Observer Form) Realization 83
3.2.4 Modal Realization 83
3.2.5 Diagonalization and Decoupling 85
3.3 Linear Transformation of State Variables 86
3.3.1 Transformation into Controller Form 86
3.3.2 Transformation into Modal Form 88 Skill Assessment Questions 90.
4 Feedback Control Systems 93
4.1 Static Gain Controller 95
4.2 Dynamic Controllers 96
4.2.1 First-Order Phase-Lead and Phase-Lag Controllers 97
4.2.2 The PID Controller 99
4.2.3 Rate Feedback Controllers 103 Skill Assessment Questions 108
5 Control System Design Objectives 111
5.1 Stability of the Closed-Loop System 112
5.1.1 Closed-Loop Characteristic Polynomial 112
5.1.2 Stability Determination by Algebraic Methods 114
5.1.3 Stability Determination from the Bode Plot 116
5.2 Transient Response Improvement 117
5.2.1 System Design Specifications 119
5.2.2 The Desired Characteristic Polynomial 121
5.2.3 Optimal Performance Indices 123
5.3 Steady-State Error Improvement 124
5.3.1 The Steady-State Error 124
5.3.2 System Error Constants 125
5.3.3 Steady-State Error to Ramp Input 126
5.4 Disturbance Rejection 128
5.5 Sensitivity and Robustness 130 Skill Assessment Questions 132
6 Control System Design with Root Locus 133
6.1 The Root Locus 135
6.1.1 Roots of the Characteristic Polynomial 135
6.1.2 Root Locus Rules 136
6.1.3 Obtaining Root Locus Plot in MATLAB 138
6.1.4 Stability from the Root Locus Plot 139
6.1.5 Analytic Root Locus Conditions 141
6.2 Static Controller Design 143
6.3 Dynamic Controller Design 144
6.3.1 Transient Response Improvement 145
6.3.2 Steady-State Error Improvement 151
6.3.3 Lead-Lag and PID Designs 152
6.3.4 Rate Feedback Compensation 156
6.3.5 Controller Designs Compared 161
6.4 Controller Realization 163
6.4.1 Phase-Lead/Phase-Lag Controllers 164
6.4.2 PD, PI, PID Controllers 164 Skill Assessment Questions 165
7 Design of Sampled-Data Systems 167
7.1 Models of Sampled-Data Systems 169
7.1.1 Z-transform 169
7.1.2 Zero-Order Hold 171
7.1.3 Pulse Transfer Function 172
7.2 Sampled-Data System Response 175
7.2.1 Difference Equation Solution by Iteration 175
7.2.2 Unit-Pulse Response 176
7.2.3 Unit-Step Response 179.
7.2.4 Response to Arbitrary Inputs 183
7.3 Stability in the Case of Sampled-Data Systems 184
7.3.1 Jury's Stability Test 184
7.3.2 Stability Through Bilinear Transform 185
7.4 Closed-Loop Sampled-Data Systems 186
7.4.1 Closed-Loop System Stability 186
7.4.2 Unit-Step Response 187
7.4.3 Steady-State Tracking Error 190
7.5 Controllers for Sampled-Data Systems 192
7.5.1 Root Locus Design of Digital Controllers 193
7.5.2 Analog and Digital Controller Design Compared 196
7.5.3 Digital Controller Design by Emulation 200
7.5.4 Emulation of Analog PID Controller 203 Skill Assessment Questions 206
8 Controller Design for State Variable Models 211
8.1 State Feedback Controller Design 212
8.1.1 Pole Placement with State Feedback 213
8.1.2 Pole Placement in the Controller Form 215
8.1.3 Pole Placement using Bass-Gura Formula 217
8.1.4 Pole Placement using Ackermann's Formula 218
8.1.5 Pole Placement using Sylvester's Equation 220
8.2 Tracking System Design 222
8.2.1 Tracking System Design with Feedforward Gain 222
8.2.2 Tracking PI Controller Design 225
8.3 State Variable Models of Sampled-Data Systems 230
8.3.1 Discretizing the State Equations 230
8.3.2 Solution to the Discrete State Equations 232
8.3.3 Pulse Transfer Function from State Equations 234
8.4 Controllers for Discrete State Variable Models 235
8.4.1 Emulating an Analog Controller 235
8.4.2 Pole Placement Design of Digital Controller 236
8.4.3 Deadbeat Controller Design 238
8.4.4 Tracking PI Controller Design 241 Skill Assessment Questions 244
9 Frequency Response Design of Compensators 247
9.1 Frequency Response Representation 248
9.1.1 The Bode Plot 248
9.1.2 The Nyquist Plot 250
9.2 Measures of Performance 254
9.2.1 Relative Stability 254
9.2.2 Phase Margin and the Transient Response 256
9.2.3 Error Constants and System Type 259
9.2.4 System Sensitivity 260
9.3 Frequency Response Design 261.
9.3.1 Gain Compensation 261
9.3.2 Phase-Lag Compensation 262
9.3.3 Phase-Lead Compensation 264
9.3.4 Lead-Lag Compensation 267
9.3.5 PI Compensator 269
9.3.6 PD Compensator 271
9.3.7 PID Compensator 273
9.3.8 Compensator Designs Compared 275
9.4 Closed-Loop Frequency Response 276 Skill Assessment Questions 280 Appendix 281
Index 285
About the Author 289.
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