连续与离散控制系统 英文版2025|PDF|Epub|mobi|kindle电子书版本百度云盘下载

连续与离散控制系统 英文版PDF格式电子书版下载

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Chapter 1 Preliminaries1

1.1 Why Control?1

1.2 Feedback4

1.3 The Scope ofthe Book6

1.4 Problems8

Further Readings9

Chapter 2 The Laplace Transform10

2.1 Overview10

2.2 Laplace Transform11

2.3 Fundamental Transforms12

2.3.1 The Exponential Function12

2.3.2 TheStepFunction14

2.3.3 The Impulse Function15

2.4 Properties of the Laplace Transform16

2.4.1 Linearity17

2.4.2 Laplace Transforms of Derivatives of a Function17

2.4.3 Laplace Transform of the Integral of a Function19

2.4.4 Laplace Transform of tf(t)20

2.5 The Inverse Laplace Transform21

2.6 The Remaining Transforms25

2.6.1 Transform of te-at25

2.6.2 Complex Roots25

2.7 Additional Properties30

2.7.1 Final ValueTheorem30

2.7.2 Initial Value Theorem31

2.7.3 Time Delay31

2.7.4 Convolution32

2.8 Reprise34

2.9 Problems34

Further Readings38

Chapter 3 The Transfer Function39

3.1 Overview39

3.2 TheTransferFunction40

3.3 Transfer Function of the dc Motor45

3.4 Transfer Function of a Brushless dc Motor48

3.5.3 Step Response of Simple Second-Order System50

3.5.2 Simplified Transfer Function50

3.5 Finding Transfer Functions Experimentally50

3.5.1 Introduction50

3.6 Implementing Transfer Functions57

3.6.1 Passive Implementations57

3.6.2 Operational Amplifiers59

3.6.3 Implementing Transfer Functions with Opamps62

3.7 Reprise70

3.8 Problems70

Further Readings75

4.1 Overview76

Chapter 4 Introducing Feedback76

4.2 Basic Formulation77

4.3 Routh Criterion82

4.4 Transient Behavior and Steady State Error88

4.5 Reprise91

4.6 Problems91

Further Readings96

5.2 Exchanging Algebra for Geometry97

Chapter 5 Root Locus Analysis97

5.1 Overview97

5.2.1 Polar Formulation98

5.2.2 Graphical Representation99

5.3 Rules of Root Locus105

5.4 More Examples119

5.5 Negative Gain(Complementary)Root Locus127

5.6 Polynomial Factorization129

5.7 Reprise131

5.8 Problems133

Further Readings136

Chapter 6 Quantifying Performance137

6.1 Overview137

6.2 Normalized Second-Order System138

6.3 Step Response of Tu2140

6.4 Figures of Merit143

6.4.2 Time to Peaktp144

6.4.3 Percent Overshoot144

6.4.1 Period of Oscillation Td144

6.4.4 Settling Time146

6.4.5 Rise Time146

6.5 Figures of Merit—A Discussion147

6.6 Steady State Accuracy150

6.6.1 Closed-Loop Fornulation150

6.6.2 Unity Feedback Formulation152

6.7 Reprise157

6.8 Problems158

Further Readings163

Chapter 7 Cascade Root Locus Design164

7.1 Overview164

7.2 Proportional Plus Derivative Compensation165

7.3 Cascade Lead Compensation170

7.4 Proportional Plus Integral Compensation181

7.5 Lag Compensation186

7.6 PID and Lead/Lag Compensation187

7.7 Robust Stability192

7.8 Reprise197

7.9 Problems198

Further Readings211

Chapter 8 Motor Speed Control:A Case Study212

8.1 Overview212

8.2 A New Identification Procedure213

8.3.1 Data Measurement223

8.3.2 Transfer Function without Cylinder Attached223

8.3 Identification of dc Motor without Cylinder223

8.3.3 TransferFunctionwith Cylinder Attached227

8.4 Compensator Design and Implementation233

8.5 Integral Control233

8.6 PI Control237

8.7 Reprise238

8.8 Problems239

Further Readings241

9.1 Overview242

9.2 Steady State Response to Sinusoidal Inputs242

Chapter 9 Frequency Response242

9.3 Bode P1ots245

9.3.1 Time Constant Form of G(s)245

9.3.2 SimplePole247

9.3.3 Simple Zero249

9.3.4 Qualitative Vector Analysis249

9.3.5 Composite Asymptotic Magnitude Plots249

9.3.6 Bode Plot of Repeated Poles254

9.3.7 Phase and Magnitude Plots of Complex Poles256

9.4 Transfer Function Identification261

9.5 The Effects of Feedback265

9.5.1 The Effect of Feedback on Bandwidth266

9.6 Sensitivity Analysis267

9.7 Disturbance Rejection270

9.7.1 Disturbances at the Output270

9.8 Disturbance at the Input278

9.9 Reprise279

9.10 Problems279

Further Readings284

Chapter 10 Nyquist Criterion285

10.1 Overview285

10.2 The Nyquist Equation286

10.3 The Nyquist Criterion288

10.4 Evaluation of GH Along Ω290

10.4.1 NoPoles on the lmaginary Axis290

10.4.2 Poles on the Imaginary Axis298

10.5 Gain Margin and Phase Margin310

10.6 The Log Magnitude Plot312

10.6.1 ConstantMLoci313

10.6.2 Loci of Constant Phase315

10.6.3 The Nichols Chart316

10.7 Reprise318

10.8 Problems319

Further Readings325

Chapter 11 Bode Design326

11.1 Overview326

11.2 Figures of Merit326

11.3 Lag Compensator Design331

11.4 Lead Compensator Design337

11.5 Lead/Lag Design Procedure344

11.6 General Design Procedure345

11.7 Closed-Loop Analysis360

11.8 Reprise362

11.9 Problems363

Further Readings380

Chapter 12 Robust Control381

12.1 Overview381

12.2 Norms Without Tears382

12.3 Norms for Robust Control385

12.3.1 Overview385

12.4 Sensitivity Functions386

12.5 Robust Stability Margins388

12.6 Disturbance Rejection389

12.7 Noise Rejection392

12.8 Unmodeled Plant Dynamics and Noise Suppression394

12.9 Combining Uncertainties395

12.10 Connections to the Past398

12.11 Reprise403

12.12 Problems403

Further Readings412

Chapter 13 Position Control:A Case Study413

13.1 Overview413

13.2 Model Identification415

13.2.1 Frequency Analysis Identification415

13.2.2 Ideal Impulse Identification417

13.2.3 Finite Width Pulse Identiffcation418

13.3 Pulse Identification of a Transfer Function421

13.3.1 Turntable DataAnalysis421

13.3.2 Finding the Third Pole424

13.4 Lead Compensation434

13.5 Reprise436

13.6 Problems437

Further Readings438

Chapter 14 Discrete Systems439

14.1 Overview439

14.2 The Ideal Sampler440

14.3 The Laplace Transform of x*(t)441

14.4 The ？ Transform ofx(t)442

14.5 ？ Transforms Useful in Control443

14.5.1 The Discrete Delta Function444

14.5.2 The Discrete Step Function444

14.5.3 Discrete Form of e-at445

14.5.4 DiscreteForm of x(t)=tl(t)446

14.5.5 Discrete Fom of x(t)=A cos(ωt+φ)446

14.6 Altemative Representation447

14.7 Important Theorems448

14.7.1 Linearity449

14.7.2 Right Shifting Property449

14.7.3 Left Shifting Property450

14.7.4 Final Value Theorem451

14.8 Transfer Function in the z Domain451

14.9 The Inverse ？ Transform452

14.10 The Solution of Difference Equations456

14.11 Convolution versus Multiplication458

14.12 Frequency Response459

14.13 The Mapping esT461

14.14 The Primary StriP462

14.15 The Starring Rule466

14.16 Sampled Data Systems467

14.17 Finding G′p(z)470

14.18 Nyquist in the ？ Plane473

14.19 Reprise476

14.20 Problems477

Further Readings481

Chapter 15 Digital Control482

15.1 Overview482

15.2 Important Mappings482

15.2.1 Lines of Constant Damping Ratio483

15.2.2 Curves of Constantωn484

15.2.3 The Bilinear Mapping487

15.2.4 The Ad Hoc(Pole/Zero)Mapping490

15.3 Designinthe s Plane491

15.3.1 Root Locus Design492

15.3.2 Bode Design497

15.4 Design in the z Plane504

15.4.1 Direct Design504

15.4.2 Root Locus Design in the z Plane513

15.5 Reprise519

15.6 Problems519

Chapter 16 Aircraft Pitch Control:A Case Study531

16.1 Overview531

16.2 Plant Modeling and Identification532

16.2.1 Plant Parameter Identification534

16.2.2 Data Collection536

16.2.3 Analyzing the Data538

16.3 Control Design540

16.3.1 TransferringPlanttothe z Plane540

16.4 Laboratory Setup542

16.5 Reprise546

16.6 Problems546

Further Readings547

Chapter 17 The Transportation Lag548

17.1 Overview548

17.2 Transportation Lag in a Continuous System549

17.3 Approximations to the Transportation Lag554

17.4 Compensator Design for Continuous Systems555

17.4.1 Root Locus Design555

17.5 Sampled Data Systems565

17.5.1 Bode s Plane Design565

17.5.2 Design in the z Plane568

17.6 Reprise573

17.7 Problems574

Further Readings583

Chapter 18 The State Model584

18.1 Overview584

18.2 Relation to the Transfer Function585

18.3 The Transition Matrix586

18.4 Phase Portraits590

18.4.1 Real Distinct Roots591

18.4.2 Isoclines596

18.4.3 Complex Eigenvalues602

18.4.4 Repeated Real Roots609

18.5 State Models of Higher Dimension612

18.5.1 Distinct Roots613

18.5.2 Repeated Eigenvalues616

18.6 The Jordan Canonical Form623

18.7 Invariance of Eigenvalues630

18.8 Reprise631

18.9 Problems632

Further Readings637

Chapter 19 Observability and Controllability638

19.1 Overview638

19.2 Discretizing the State Model639

19.3 Equivalent Transfer Function644

19.4 The Regulator Problem647

19.5 Controllability652

19.5.1 Definitions652

19.5.2 Controllability Theorems653

19.6 Controllable Canonical Form657

19.7 Observability666

19.8 Observable Canonical Form671

19.9 Reprise672

19.10 Problems673

Further Readings680

20.1 Introduction682

20.2 Prediction Observer682

Chapter 20 The Control ler/Observer682

20.3 Separation Theorem690

20.4 Current Observer691

20.5 Equivalent Transfer Function696

20.6 Reference Input697

20.7 Equivalent Tc(z)698

20.7.1 Model Following Control708

20.8 Reprise714

20.9 Problems714

Index721