Control Systems Engineering, eighth edition, offers students a comprehensive introduction to the design and analysis of feedback systems that support modern technology. It takes a practical approach, presenting clear and complete explanations. Real-world examples demonstrate the analysis and design process, while helpful skill-assessment exercises, numerous in-chapter examples, review questions, and problems reinforce key concepts. Multiple experiment formats demonstrate essential principles through hypothetical scenarios, simulations, and interactive virtual models, while Cyber Exploration Laboratory Experiments allow students to interface with actual hardware through National Instruments' myDAQ for real-world systems testing. This emphasis on practical applications has made it the most widely adopted text for core courses in mechanical, electrical, aerospace, biomedical, and chemical engineering.
This edition of the text maintains those aspects of the previous editions that have led to the book being so successful. In addition to introducing a new online chapter on Optimal Control Systems, this edition strengthens the coverage by including new sections on Servomechanism, Multivariable Systems, Tuning of PID Controllers, and All-Pass and Non-Minimum Phase Systems. Many of the end-of-chapter problems have been revised and new problems have been added.
Control Systems Engineering, eighth edition, offers students a comprehensive introduction to the design and analysis of feedback systems that support modern technology. It takes a practical approach, presenting clear and complete explanations. Real-world examples demonstrate the analysis and design process, while helpful skill-assessment exercises, numerous in-chapter examples, review questions, and problems reinforce key concepts. Multiple experiment formats demonstrate essential principles through hypothetical scenarios, simulations, and interactive virtual models, while Cyber Exploration Laboratory Experiments allow students to interface with actual hardware through National Instruments' myDAQ for real-world systems testing. This emphasis on practical applications has made it the most widely adopted text for core courses in mechanical, electrical, aerospace, biomedical, and chemical engineering.
This edition of the text maintains those aspects of the previous editions that have led to the book being so successful. In addition to introducing a new online chapter on Optimal Control Systems, this edition strengthens the coverage by including new sections on Servomechanism, Multivariable Systems, Tuning of PID Controllers, and All-Pass and Non-Minimum Phase Systems. Many of the end-of-chapter problems have been revised and new problems have been added.
Über den Autor
Norman S. Nise teaches in the Electrical and Computer Engineering Department at California State Polytechnic University, Pomona. In addition to being the author of Control Systems Engineering, Professor Nise has contributed to the CRC publications The Engineering Handbook, The Control Handbook, and The Electrical Engineering Handbook.
Inhaltsverzeichnis
Preface v 1. Introduction 1 1.1 Introduction 1 1.2 System Configurations 4 1.3 Servomechanism 6 1.4 A History of Control Systems 7 1.5 Analysis and Design Objectives 11 1.6 The Design Process 16 1.7 Multivariable Systems 21 1.8 Computer-Aided Design 22 1.9 The Control Systems Engineer 24 Summary 25 Review Questions 26 Problems 26 Cyber Exploration Laboratory 34 Bibliography 34 2. Modeling in the Frequency Domain 37 2.1 Introduction 37 2.2 Laplace Transform Review 38 2.3 The Transfer Function 48 2.4 Electrical Network Transfer Functions 51 2.5 Translational Mechanical System Transfer Functions 65 2.6 Rotational Mechanical System Transfer Functions 73 2.7 Transfer Functions for Systems with Gears 77 2.8 Electromechanical System Transfer Functions 81 2.9 Electric Circuit Analogs 87 2.10 Nonlinearities 90 2.11 Linearization 91 Summary 99 Review Questions 99 Problems 100 Cyber Exploration Laboratory 114 Hardware Interface Laboratory 117 Bibliography 120 3. Modeling in the Time Domain 123 3.1 Introduction 123 3.2 Some Observations 124 3.3 The General State-Space Representation 129 3.4 Applying the State-Space Representation 131 3.5 Converting a Transfer Function to State Space 139 3.6 Converting from State Space to a Transfer Function 146 3.7 Linearization 148 Summary 156 Review Questions 157 Problems 157 Cyber Exploration Laboratory 169 Bibliography 171 4. Time Response Analysis 173 4.1 Introduction 174 4.2 Poles Zeros and System Response 174 4.3 First-Order Systems 177 4.4 Second-Order Systems: Introduction 180 4.5 The General Second-Order System 185 4.6 Underdamped Second-Order Systems 189 4.7 System Response with Additional Poles 198 4.8 System Response with Zeros 202 4.9 Effects of Nonlinearities upon Time Response 208 4.10 Laplace Transform Solution of State Equations 210 4.11 Time Domain Solution of State Equations 214 Summary 224 Review Questions 225 Problems 226 Cyber Exploration Laboratory 243 Hardware Interface Laboratory 246 Bibliography 252 5. Reduction of Multiple Subsystems 255 5.1 Introduction 255 5.2 Block Diagrams 256 5.3 Analysis and Design of Feedback Systems 265 5.4 Signal-Flow Graphs 268 5.5 Mason's Rule 271 5.6 Signal-Flow Graphs of State Equations 274 5.7 Alternative Representations in State Space 276 5.8 Similarity Transformations 285 Summary 298 Review Questions 298 Problems 299 Cyber Exploration Laboratory 319 Bibliography 321 6. Stability 323 6.1 Introduction 323 6.2 Routh-Hurwitz Criterion 327 6.3 Routh-Hurwitz Criterion: Special Cases 329 6.4 Routh-Hurwitz Criterion: Additional Examples 335 6.5 Stability in State Space 342 Summary 347 Review Questions 347 Problems 348 Cyber Exploration Laboratory 361 Bibliography 362 7. Steady-state Errors 365 7.1 Introduction 365 7.2 Steady-State Error for Unity-Feedback Systems 369 7.3 Static Error Constants and System Type 375 7.4 Steady-State Error Specifications 378 7.5 Steady-State Error for Disturbances 381 7.6 Steady-State Error for Nonunity-Feedback Systems 383 7.7 Sensitivity 386 7.8 Steady-State Error for Systems in State Space 389 Summary 395 Review Questions 396 Problems 397 Cyber Exploration Laboratory 411 Bibliography 412 8. Root Locus Techniques 415 8.1 Introduction 415 8.2 Defining the Root Locus 420 8.3 Properties of the Root Locus 422 8.4 Sketching the Root Locus 424 8.5 Refining the Sketch 429 8.6 An Example 438 8.7 Transient Response Design via Gain Adjustment 441 8.8 Generalized Root Locus 445 8.9 Root Locus for Positive-Feedback Systems 447 8.10 Pole Sensitivity 449 Summary 456 Review Questions 457 Problems 457 Cyber Exploration Laboratory 479 Hardware Interface Laboratory 481 Bibliography 487 9. Design Via Root Locus 489 9.1 Introduction 489 9.2 Improving Steady-State Error via Cascade Compensation 493 9.3 Improving Transient Response via Cascade Compensation 502 9.4 Improving Steady-State Error and Transient Response 515 9.5 Feedback Compensation 528 9.6 Physical Realization of Compensation 536 9.7 Tuning of PID Controllers 541 Summary 560 Review Questions 561 Problems 561 Cyber Exploration Laboratory 578 Hardware Interface Laboratory 580 Bibliography 582 10. Frequency Response Techniques 585 10.1 Introduction 585 10.2 Asymptotic Approximations: Bode Plots 591 10.3 All-Pass and Nonminimum-Phase Systems 610 10.4 Introduction to the Nyquist Criterion 615 10.5 Sketching the Nyquist Diagram 619 10.6 Stability via the Nyquist Diagram 625 10.7 Gain Margin and Phase Margin via the Nyquist Diagram 629 10.8 Stability Gain Margin and Phase Margin via Bode Plots 632 10.9 Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses 635 10.10 Relation Between Closed- and Open-Loop Frequency Responses 638 10.11 Relation Between Closed-Loop Transient and Open-Loop Frequency Responses 644 10.12 Steady-State Error Characteristics from Frequency Response 648 10.13 Systems with Time Delay 652 10.14 Obtaining Transfer Functions Experimentally 657 Summary 662 Review Questions 664 Problems 665 Cyber Exploration Laboratory 676 Bibliography 678 11. Design Via Frequency Response 681 11.1 Introduction 681 11.2 Transient Response via Gain Adjustment 683 11.3 Lag Compensation 686 11.4 Lead Compensation 691 11.5 Lag-Lead Compensation 697 Summary 708 Review Questions 708 Problems 709 Cyber Exploration Laboratory 718 Bibliography 719 12. Design Via State Space 721 12.1 Introduction 721 12.2 Controller Design 723 12.3 Controllability 730 12.4 Alternative Approaches to Controller Design 733 12.5 Observer Design 739 12.6 Observability 746 12.7 Alternative Approaches to Observer Design 749 12.8 Steady-State Error Design via Integral Control 756 Summary 765 Review Questions 766 Problems 767 Cyber Exploration Laboratory 776 Bibliography 778 13. Digital Control Systems 779 13.1 Introduction 779 13.2 Modeling the Digital Computer 783 13.3 The z-Transform 786 13.4 Transfer Functions 791 13.5 Block Diagram Reduction 795 13.6 Stability 798 13.7 Steady-State Errors 805 13.8 Transient Response on the z-Plane 809 13.9 Gain Design on the z-Plane 811 13.10 Cascade Compensation via the s-Plane 815 13.11 Implementing the Digital Compensator 818 Summary 825 Review Questions 826 Problems 827 Cyber Exploration Laboratory 836 Bibliography 838 14. Optimal Control Systems 839(Available Online) 14.1 Introduction 839 14.2 Performance Indices 841 14.3 Optimal Control Problem 846 14.4 Regulator Problem 849 14.5 State Regulator 851 14.6 Output Regulator 859 14.7 Tracking Problem 861 Summary 869 Review Questions 870 Problems 870 Cyber Exploration Laboratory 873 Bibliography 875 Appendix A1 List of Symbols A- 1 Appendix A2 Antenna Azimuth Position Control System A- 5 Appendix A3 Unmanned Free-Swimming Submersible Vehicle A- 7 Appendix A4 Key Equations A- 8 Glossary G-1 Answers to Selected Problems Ans-1 Index I- 1 Online Appendices Appendix B MATLAB Tutorial Appendix C Simulink Tutorial Appendix D LabVIEW Tutorial Appendix E MATLAB's GUI Tools Tutorial Appendix F MATLAB's Symbolic Math Toolbox Tutorial Appendix G Matrices Determinants and Systems of Equations Appendix H Control System Computational Aids Appendix I Derivation of a Schematic for a DC Motor Appendix J Derivation of the Time Domain Solution of State Equations Appendix K Solution of State Equations for t 0 ¿ 0 Appendix L Derivation of Similarity Transformations Appendix M Root Locus Rules: Derivations
