| Description |
1 online resource (xxv, 163 pages) : color diagrams. |
| Physical Medium |
polychrome |
| Description |
text file |
| Series |
River Publishers series in automation, control and robotics
|
|
River Publishers series in automation, control and robotics.
|
| Bibliography |
Includes bibliographical references and index. |
| Summary |
Annotation Control systems are pervasive in our lives. Our homes have environmental controls. The appliances we use at home - such as the washing machines, microwaves, etc. - have embedded controllers. We fly in airplanes and drive automobiles, which make extensive use of control systems. The increasing automation in the past few decades has increased our reliance on control systems. 'A First Course in Control System Design' discusses control systems design from a model-based perspective as applicable to single-input single-output systems. |
| Contents |
Preface xi -- Acknowledgement xvii -- List of Figures xix -- List of Table xxiii -- List of Abbreviations xxv -- 1 Physical System Models 1 -- 1.1 Physical Component Models 2 -- 1.1.1 First-Order Models 2 -- 1.1.2 Second-Order Models 6 -- 1.2 Transfer Function Models 7 -- 1.2.1 DC Motor Model 8 -- 1.2.2 Simplified Model a DC Motor 10 -- 1.2.3 Industrial Process Models 10 -- 1.3 State Variable Models 11 -- 1.4 Linearization of Nonlinear Models 13 -- 1.4.1 The General Nonlinear Case 14 Skill Assessment Questions 15 -- 2 Analysis of Transfer Function Models 17 -- 2.1 System Poles and Zeros 17 -- 2.2 System Step Response 18 -- 2.2.1 Transient and Steady-State Components 19 -- 2.3 System Impulse Response 19 -- 2.4 BIBO Stability 20 -- 2.5 Sinusoidal Response of the System 21 -- 2.5.1 The Frequency Response Function 22 Skill Assessment Questions 23 -- 3 Analysis of State Variable Models 25 -- 3.1 System Transfer Function 25 -- 3.2 Solution to the State Equations 26 -- 3.3 The State-Transition Matrix 27 -- 3.4 Linear Transformation of the State Variables 29 -- 3.5 State-Space Realization of Transfer Function Models 31 -- 3.5.1 Controller Form Realization 31 -- 3.5.2 Modal Form Realization 33 -- 3.5.3 Diagonal Form Realization 34 Skill Assessment Questions 35 -- 4 Control System Design Objectives 37 -- 4.1 Stability of the Closed-Loop System 38 -- 4.1.1 The Hurwitz Criterion 38 -- 4.1.2 The Routh's Criterion 39 -- 4.2 System Transient Response 40 -- 4.2.1 Modes of System Response 40 -- 4.2.2 System Design Specifications 41 -- 4.2.3 Performance Indices 42 -- 4.3 System Steady-State Response 43 -- 4.3.1 Error Constants 44 -- 4.3.2 Steady-State Error to Ramp Input 44 -- 4.4 Disturbance Rejection 45 -- 4.5 Robustness 46 Skill Assessment Questions 48 -- 5 Cascade Controller Models 49 -- 5.1 The Static Controller 49 -- 5.2 The Dynamic Controller 50 -- 5.3 The PID Controller 51 -- 5.3.1 Proportional-Derivative (PD) 51 -- 5.3.2 Proportional-Integral (PI) 52 -- 5.3.3 Proportional-Integral-Derivative (PID) 52. |
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5.3.4 PID Controller Tuning 53 Skill Assessment Questions 55 -- 6 Control System Design with Root Locus 57 -- 6.1 The Root Locus 58 -- 6.1.1 Root Locus Rules 59 -- 6.2 Static Controller Design 61 -- 6.3 Controller Design Specifications 63 -- 6.4 Dynamic Controller Design 64 -- 6.4.1 Transient Response Improvement 64 -- 6.4.2 Steady-State Error Improvement 67 -- 6.4.3 Lead-Lag and PID Designs 69 -- 6.4.4 Rate Feedback Compensation 71 -- 6.4.5 Controller Design Comparison 74 -- 6.4.6 Controller Design with MATLAB SISO Tool 75 -- 6.5 Controller Realization 75 -- 6.5.1 Phase-Lead/Phase-Lag Compensators 76 -- 6.5.2 PD, PI, PID Compensators 76 Skill Assessment Questions 77 -- 7 Sampled-Data Systems 79 -- 7.1 Models of Sampled-Data Systems 80 -- 7.1.1 Zero-Order Hold 82 -- 7.2 The Pulse Transfer Function 82 -- 7.2.1 Pulse Transfer Function in MATLAB 83 -- 7.3 Closed-Loop Sampled-Data Systems 84 -- 7.3.1 Step Response 84 -- 7.3.2 Steady-State Error 87 -- 7.4 Stability of Sampled-Data Systems 88 -- 7.4.1 Unit Pulse Response 88 -- 7.4.2 Schur-Cohn Stability Test 89 -- 7.4.3 The Jury's Test 90 -- 7.4.4 Stability through Bilinear Transform 91 Skill Assessment Questions 93 -- 8 Digital Controller Design 95 -- 8.1 Controller Emulation 95 -- 8.1.1 Controller Emulation Using Impulse Invariance 96 -- 8.1.2 Controller Emulation Using Pole-Zero Matching 96 -- 8.1.3 Controller Emulation Using Bilinear Transform 97 -- 8.1.4 Controller Emulation Using ZOH 98 -- 8.1.5 Comparison of Controller Emulation Methods 98 -- 8.2 Emulation of Analog PID Controller 100 -- 8.3 Root Locus Design of Digital Controllers 102 -- 8.3.1 Design for a Desired Damping Ratio 102 -- 8.3.2 Settling Time and Damping Ratio 104 Skill Assessment Questions 105 -- 9 Control System Design in State-Space 107 -- 9.1 Pole Placement with Full State Feedback 108 -- 9.1.1 Pole Placement in MATLAB 109 -- 9.2 Controller Form Pole Placement Design 109 -- 9.2.1 Linear Transformation to the Controller Form 111 -- 9.3 Tracking System Design 113. |
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9.3.1 Tracking PI Control 113 Skill Assessment Questions 118 -- 10 Digital Controller Design in State-Space 121 -- 10.1 Sampled-Data Systems in State-Space 121 -- 10.2 Solution to the Discrete State Equations 123 -- 10.3 Pulse Transfer Function from the State Equations 125 -- 10.4 Digital Controller Design via Pole Placement 125 -- 10.4.1 Deadbeat Controller Design 127 Skill Assessment Questions 129 -- 11 Compensator Design via Frequency Response Modification 131 -- 11.1 The Bode Plot 132 -- 11.1.1 Bode Plot of First Order Factors 132 -- 11.1.2 Bode Plot of Second Order Factors 133 -- 11.1.3 The Composite Bode Plot 134 -- 11.2 The Polar Plot 135 -- 11.3 Relative Stability 137 -- 11.3.1 Relative Stability on Frequency Response Plots 137 -- 11.3.2 Phase Margin and the Transient Response 138 -- 11.3.3 Sensitivity 139 -- 11.4 Frequency Response Design 139 -- 11.4.1 Gain Compensation 140 -- 11.4.2 Phase-Lag Compensation 141 -- 11.4.3 Phase-Lead Compensation 143 -- 11.4.4 Lead-Lag Compensation 145 -- 11.4.5 PI Compensator 147 -- 11.4.6 PD Compensator 148 -- 11.4.7 PID Compensator 148 -- 11.5 Closed-Loop Frequency Response 150 -- 11.5.1 The Nichol's Chart 150 Skill Assessment Questions 152 Appendix 153 -- References 157 -- Index 159 -- About the Author 163. |
| Local Note |
eBooks on EBSCOhost EBSCO eBook Subscription Academic Collection - North America |
| Subject |
Automatic control.
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Automatic control. |
| Genre/Form |
Electronic books.
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| Other Form: |
Print version: Iqbal, Kamran. First course in control system design. Gistrup : River Publishers, [2017] 9788793609051 (OCoLC)1023613521 |
| ISBN |
9788793609044 (electronic book) |
|
8793609043 (electronic book) |
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9788793609952 (electronic book) |
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8793609957 |
|
9788793609051 |
|
8793609051 |
|
