线性控制系统分析与设计 第4版 英文2025|PDF|Epub|mobi|kindle电子书版本百度云盘下载

线性控制系统分析与设计 第4版 英文PDF格式电子书版下载

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1 Introduction1

1.1 Introduction1

1.2 Introduction to Control Systems1

1.3 Definitions6

1.4 Historical Background8

1.5 Digital Control Development12

1.6 Mathematical Background13

1.7 General Nature of the Engineering Control Problem15

1.8 Computer Literacy16

1.9 Outline of Text16

2 Writing System Equations19

2.1 Introduction19

2.2 Electric Circuits and Components21

2.3 Basic Linear Matrix Algebra25

2.4 State Concepts28

2.5 Transfer Function and Block Diagram34

2.6 Mechanical Translation Systems35

2.7 Analogous Circuits41

2.8 Mechanical Rotational Systems41

2.9 Thermal Systems46

2.10 Hydraulic Linear Actuator48

2.11 Liquid-Level System53

2.12 Rotating Power Amplifiers54

2.13 DC Servomotor56

2.14 AC Servomotor57

2.15 Lagrange's Equation59

2.16 Summary63

3 Solution of Differential Equations64

3.1 Introduction64

3.2 Standard Inputs to Control Systems65

3.3 Steady-State Response:Sinusoidal Input66

3.4 Steady-State Response:Polynomial Input67

3.5 Transient Response:Classical Method70

3.6 Definition of Time Constant73

3.7 Example:Second-Order Svstem—Mechanical74

3.8 Example:Second-Order System—Electrical76

3.9 Second-Order Transients77

3.10 Time-Response Specifications80

3.11 CAD Accuracy Checks(CADAC)82

3.12 State-Variable Equations82

3.13 Characteristic Values84

3.14 Evaluating the State Transition Matrix85

3.15 Complete Solution of the State Equation88

3.16 Summary89

4 Laplace Transform91

4.1 Introduction91

4.2 Definition of the Laplace Transform92

4.3 Derivation of Laplace Transforms of Simple Functions92

4.4 Laplace Transform Theorems94

4.5 CAD Accuracy Checks:CADAC97

4.6 Application of the Laplace Transform to Differential Equations97

4.7 Inverse Transformation98

4.8 Heaviside Partial-Fraction Expansion Theorems99

4.9 MATLAB Partial-Fraction Example106

4.10 Partial-Fraction Shortcuts107

4.11 Graphical Interpretation of Partial-Fraction Coefficients109

4.12 Frequency Response from the Pole-Zero Diagram113

4.13 Location of Poles and Stability116

4.14 Laplace Transform of the Impulse Function117

4.15 Second-Order System with Impulse Excitation119

4.16 Additional Matrix Operations and Properties120

4.17 Solution of State Equation126

4.18 Evaluation of the Transfer-Function Matrix128

4.19 Summary129

5 System Representation131

5.1 Introduction131

5.2 Block Diagrams131

5.3 Determination of the Overall Transfer Function136

5.4 Standard Block Diagram Terminology138

5.5 Position Control System140

5.6 Simulation Diagrams144

5.7 Signal Flow Graphs149

5.8 State Transition Signal Flow Graph154

5.9 Parallel State Diagrams from Transfer Functions158

5.10 Diagonalizing the A Matrix160

5.11 Use of State Transformation for the State Equation Solution168

5.12 Transforming a Matrix with Complex Eigenvalues169

5.13 Transforming an A Matrix into Companion Form172

5.14 Summary175

6.2 Routh's Stability Criterion176

6 Control-System Characteristics176

6.1 Introduction176

6.3 Mathematical and Physical Forms182

6.4 Feedback System Types183

6.5 Analysis of System Types185

6.6 Example:Type 2 System190

6.7 Steady-State Error Coefficients192

6.9 Use of Steady-State Error Coefficients196

6.8 CAD Accuracy Checks:CADAC196

6.10 Nonunity-Feedback System198

6.11 Summary199

7 Root Locus200

7.1 Introduction200

7.2 Plotting Roots of a Characteristic Equation201

7.3 Qualitative Analysis of the Root Locus204

7.4 Procedure Outline207

7.5 Open-Loop Transfer Function208

7.6 Poles of the Control Ratio C(s)/R(s)209

7.7 Application of the Magnitude and Angle Conditions211

7.8 Geometrical Properties(Construction Rules)215

7.9 CAD Accuracy Checks(CADAC)225

7.10 Examples225

7.11 Example l:MATLAB Root Locus231

7.12 Performance Characteristics234

7.13 Transport Lag238

7.14 Synthesis240

7.15 Summary of Root-Locus Construction Rules for Negative Feedback241

7.16 Summary242

8 Frequency Response244

8.1 Introduction244

8.2 Correlation of the Sinusoidal and Time Responses245

8.3 Frequency-Response Curves246

8.4 Bode Plots(Logarithmic Plots)247

8.5 General Frequency-Transfer-Function Relationships249

8.6 Drawing the Bode Plots250

8.7 Example of Drawing a Bode Plot256

8.8 System Type and Gain as Related to Log Magnitude Curves259

8.9 CAD Accuracy Check(CADAC)262

8.10 Experimental Determination of Transfer Functions262

8.11 Direct Polar Plots263

8.12 Summary:Direct Polar Plots269

8.13 Nyquist's Stability Criterion270

8.14 Examples of Nyquist's Criterion Using Direct Polar Plot278

8.15 Nyquist's Stability Criterion Applied to Systems Having Dead Time281

8.16 Definitions of Phase Margin and Gain Margin and Their Relation to Stability283

8.17 Stability Characteristics of the Log Magnitude and Phase Diagram285

8.18 Stability from the Nichols Plot(Log Magnitude-Angle Diagram)286

8.19 Summary288

9 Closed-Loop Tracking Performance Based on the Frequency Response290

9.1 Introduction290

9.2 Direct Polar Plot291

9.3 Determination of Mm and ωm for a Simple Second-Order System292

9.4 Correlation of Sinusoidal and Time Responses295

9.5 Constant M(ω)and α(ω)Contours of C(jω)/R(jω)on the Complex Plane(Direct Plot)296

9.6 Constant 1/M and α Contours(Unity Feedback)in the Inverse Polar Plane303

9.7 Gain Adjustment for a Desired Mm of a Unity-Feedback System:Direct Polar Plot304

9.8 Constant M and α Curves on the Log Magnitude-Angle Diagram(Nichols Chart)307

9.9 Generation of MATLAB(1992 Student Version)Bode and Nyquist Plots309

9.10 Adjustment of Gain by Use of the Log Magnitude-Angle Diagram312

9.11 Correlation of Pole-Zero Diagram with Frequency and Time Responses312

9.12 Summary317

10.1 Introduction to Design319

10 Root-Locus Compensation:Design319

10.2 Transient Response:Dominant Complex Poles321

10.3 Additional Significant Poles326

10.4 Root-Locus Design Considerations329

10.5 Reshaping the Root Locus331

10.6 CAD Accuracy Checks(CADAC)331

10.7 Ideal Integral Cascade Compensation(PI Controller)332

10.8 Cascade Lag Compensation Design Using Passive Elements333

10.9 Ideal Derivative Cascade Compensation(PD Controller)339

10.10 Lead Compensation Design Using Passive Elements340

10.11 General Lead-Compensator Design345

10.12 Lag-Lead Cascade Compensation Design346

10.13 Comparison of Cascade Compensators349

10.14 PID Controller352

10.15 Introduction to Feedback Compensation353

10.16 Feedback Compensation:Design Procedures355

10.17 Simplified Rate Feedback Compensation:A Design Approach355

10.18 Design of Rate Feedback358

10.19 Design:Feedback of Second Derivative of Output362

10.20 Results of Feedback Compensation Design364

10.21 Rate Feedback:Plants with Dominant Complex Poles364

10.22 Summary365

11 Frequency-Response Compensation Design367

11.1 Introduction to Feedback Compensation Design367

11.2 Selection of a Cascade Compensator369

11.3 Cascade Lag Compensator372

11.4 Design Example:Cascade Lag Compensation375

11.5 Lead Compensator379

11.6 Design Example:Cascade Lead Compensation381

11.7 Lag-Lead Compensator385

11.8 Design Example:Cascade Lag-Lead Compensation387

11.9 Feedback Compensation Design Using Log Plots390

11.10 Design Example:Feedback Compensation(Log Plots)392

11.11 Application Guidelines:Basic Minor-Loop Feedback Compensators397

11.12 Summary398

12.1 Introduction401

12 Control-Ratio Modeling401

12.2 Modeling a Desired Tracking Control Ratio402

12.3 Guillemin-Truxal Design Procedure406

12.4 Introduction to Disturbance Rejection408

12.5 A Second-Order Disturbance-Rejection Model409

12.6 Disturbance-Rejection Design Principles for SISO Systems411

12.7 Disturbance-Rejection Design Example415

12.8 Disturbance-Rejection Models418

12.9 Summary422

13 Design:Closed-Loop Pole-Zero Assignment(State-Variable Feedback)423

13.1 Introduction423

13.2 Controllability and Observability424

13.3 State Feedback for SISO Systems431

13.4 State-Feedback Design for SISO Systems Using the Control Canonical(Phase-Variables)Form433

13.5 State-Variable Feedback(Physical Variables)436

13.6 General Properties of State Feedback(Using Phase Variables)439

13.7 State-Variable Feedback:Steady-State Error Analysis442

13.8 Use of Steady-State Error Coefficients444

13.9 State-Variable Feedback:All-Pole Plant448

13.10 Plants with Complex Poles451

13.11 Compensator Containing a Zero451

13.12 State-Variable Feedback:Pole-Zero Plant453

13.13 Summary460

14 Parameter Sensitivity and State Space Trajectories462

14.1 Introduction462

14.2 Sensitivity462

14.3 Sensitivity Analysis466

14.4 Parameter Sensitivity Examples472

14.5 Inaccessible States473

14.6 State-Space Trajectories477

14.7 Linearization(Jacobian Matrix)488

14.8 Summary492

15 Digital Control Systems493

15.1 Introduction493

15.2 Sampling494

15.3 Ideal Sampling496

15.4 z-Transform Theorems500

15.5 Synthesis in the z Domain(Direct Method)500

15.6 The Inverse z Transform503

15.7 Zero-Order Hold504

15.8 Limitations506

15.9 Tustin Transformation507

15.10 Tustin Transformation Properties509

15.11 Pseudo-Continuous-Time(PCT)Control System(DIG Method)512

15.12 Analysis of a Basic(Uncompensated)System514

15.13 Design of Digital Control Systems519

15.14 Direct(DIR)Design Technique520

15.15 Lead Controller(Compensator):DIR Design Method521

15.16 Lag and Lag-Lead Controllers:DIR Design Method523

15.17 Digitization(DIG)Design Technique523

15.18 Summary526

16 Entire Eigenstructure Assignment for Multivariable Systems527

16.1 Introduction527

16.2 Effect of Eigenstructure on Time Response528

16.3 Entire Eigenstructure Assignment530

16.4 Examples of Entire Eigenstructure Assignment for Regulators531

16.5 MATLAB Eigenvectors537

16.6 Uncontrollable Systems539

16.7 Tracking Systems541

16.8 Tracking-System Design Example543

16.9 MATLAB Example of Tracker Design in Sec.16.8546

16.10 Summary551

17.1 Introduction554

17 Design of Tracking Systems Using Output Feedback554

17.2 Output Feedback Tracking System555

17.3 Block Diagonalization557

17.4 Analysis of Closed-Loop System Performance559

17.5 Design Procedure for Regular Plants562

17.6 Regular System Design Example563

17.7 Irregular Plant Characteristics566

17.8 Irregular System Performance568

17.9 Design of the Measurement Matrix M569

17.10 Irregular System Design Example571

17.11 Tracker Simulation574

17.12 Summary578

18 Quantitative Feedback Theory(QFT)Technique580

18.1 Introduction580

18.2 Frequency Responses with Parameter Variations582

18.3 Introduction to the QFT Method(Single-Loop System)584

18.4 Minimum-Phase System Performance Specifications586

18.5 Multiple-Input Multiple-Output(MIMO)Uncertain Plants590

18.6 Plant Templates of P(s),？P(jωi)592

18.7 U-Contour595

18.8 Tracking Bounds Lm BR(jω)on the NC597

18.9 Disturbance Bounds BD(jωi):Case 1[d2(t)=Dou-1(t),d1(t)=0]600

18.10 Disturbance Bounds BD(jωi):Case 2[d1(t)=Dou-1(t),d2(t)=0]605

18.11 The Composite Boundary Bo(jωi)607

18.12 Shaping of Lo(jω)608

18.13 Guidelines for Shaping Lo(jω)614

18.14 Design of the Prefilter F(s)615

18.15 Basic Design Procedure for a MISO System617

18.16 Design Example 1618

18.17 Design Example 2629

18.18 Template Generation for Unstable Plants630

18.19 Summary632

Appendixes636

A Table of Laplace Transform Pairs636

B.1 Introduction640

B Interactive Computer-Aided Design Programs for Digital and Continuous Control-System Analysis and Synthesis640

B.2 Overview of ICECAP-PC and TOTAL-PC641

B.3 Overview of MATLAB645

B.4 QFT CAD Packages647

B.5 Computer-Aided Design Accuracy Checks(CADAC)647

B.6 Other Computer-Aided Design Packages649

Problems651

Answers to Selected Problems722

Index739