现代控制工程

Preface
Chapter 1  Introduction to Control Systems
1-1   Introduction    1
1-2  Examples of Control Systems    3
1-3  Closed-Loop Control versus Open-Loop Control
1-4  Outline of the Book    8
Chapter :2  The Laplace Transform
2-1   Introduction    9
2-2  Review of Complex Variables and Complex Functions    10
2-3  Laplace Transformation    13
2-4  Laplace Transform Theorems    23
2-5  Inverse Laplace Transformation    32
2-6  Partial-Fraction Expansion with MATLAB    36
2-7  Solving Linear, Time-Invariant, Differential Equations    40
       Example Problems and Solutions    42
       Problems    51
Chapter 3  Mathematical Modeling of Dynamic Systems
3-1  Introduction    53
  3-2  Transfer Fundtion and Impulse-Response Function    55
3-3  Automatic Control Systems    58
3-4  Modeling in State Space    70
3-5  State-Space Representation of Dynamic Systems    76
3-6  Transformation of Mathematical Models with MATLAB    83
3-7  Mechanical Systems    85
3-8  Electrical and Electronic Systems    90
3-9  Signal Flow Graphs    104
3-10 Linearization of Nonlinear Mathematical Models    112
        Example Problems and Solutions    115
        Problems    146
Chapter 4  Mathematical Modeling of Fluid Systems
                 and Thermal Systems
4-1  Introduction    152
4-2  Liquid-Level Systems    153
4-3  Pneumatic Systems    158
4-4  Hydraulic Systems    175
4-5  Thermal Systems    188
         Example Problems and Solutions    192
         Problems    211
Chapter 5  Transient and Steady-State Response Analyses
5-1  Introduction    219
5-2  First-Order Systems    221
5-3  Second-Order Systems    224
5-4  Higher-Order Systems    239
5-5  Transient-ResponseAnalysis with MATLAB    243
5-6  An Example Problem Solved with MATLAB    271
  5-7  Routh's Stability Criterion   275
  5-8  Effects of Integral and Derivative Control Actions on System
         Performance    281
  5-9  Steady-State Errors in Unity-Feedback Control Systems    288
         Example Problems and Solutions    294
         Problems    330
  Contents
Chapter 6  Root-Locus Analysis
6-1  Introduction    337
6-2  Root-Locus Plots    339
6-3  Summary of General Rules for Constructing Root Loci    351
6-4  Root-Locus Plots with MATLAB    358
6-5  Positive-Feedback Systems    373
6-6  Conditionally Stable Systems    378
6-7  Root Loci for Systems with Transport Lag    379
       Example Problems and Solutions    384
       Problems    413
Chapter 7  Control Systems Design by the Root-Locus Method
7-1  Introduction    416
7-2  Preliminary Design Considerations    419
7-3  Lead Compensation    421
7-4  Lag Compensation    429
7-5  Lag-Lead Compensation    439
7-6  Parallel Compensation    451
       Example Problems and Solutions    456
       Problems    488
Chapter 8  Frequency-Response Analysis
8-1  Introduction    492
8-2  Bode Diagrams    497
8-3  Plotting Bode Diagrams with MATLAB    516
8-4  Polar Plots    523
8-5  Drawing Nyquist Plots with MATLAB    531
8-6  Log-Magnitude-versus-Phase Plots    539
8-7  Nyquist Stability Criterion    540
8-8  Stability Analysis   550
8-9  Relative Stability   560
8-10 Closed-Loop Frequency Response of Unity-Feedback
       Systems   575
8-11 Experimental Determination of Transfer Functions    584
       Example Problems and Solutions    589
       Problems    612
Contents
Chapter 9  Control Systems Design by Frequency Response
9-1  Introduction    618
9-2  Lead Compensation    621
9-3  Lag Compensation    630
9-4  Lag-Lead Compensation    639
9-5  Concluding Comments    645
       Example Problems and Solutions    648
       Problems    679
Chapter 10  PID Controls and Two-Degrees-of-Freedom
                 Control Systems
10-1  Introduction    681
10-2 Tuning Rules for PID Controllers    682
10-3 Computational Approach to Obtain Optimal Sets of Parameter
       Values    692
10-4 Modifications of PID Control Schemes    700
10-5 Two-Degrees-of-Freedom Control    703
10-6 Zero-Placement Approach to Improve Response
       Characteristics    705
       Example Problems and Solutions    724
       Problems    745
Chapter 11  Analysis of Control Systems in State Space
l l-1 Introduction    752
11-2 State-Space Representations of Transfer-Function Systems    753
11-3 Transformation of System Models with MATLAB    760
11-4 Solving the Time-lnvariant State Equation   764
11-5 Some Useful Results in Vector-Matrix Analysis    772
11-6 Controllability   779
11-70bservability    786
       Example Problems and Solutions    792
       Problems    824
Contents
Chapter 12  Design of Control Systems in State Space
12-1  Introduction    826
12-2 Pole Placement    827
12-3 Solving Pole-Placement Problems with MATLAB    839
12-4 Design of Servo Systems    843
12-5 State Observers    855
12-5 Design of Regulator Systems with Observers    882
12-7 Design of Control Systems with Observers    890
12-8 Quadratic Optimal Regulator Systems    897
       Example Problems and Solutions    910
       Problems    948
References
Index