Analysis and Synthesis of Single-Input/Single-Output Control Systems

Analysis and Synthesis of Single-Input Single-Output Control Systems
1 Definitions and Problem Formulations
1.1 Introduction
1.2 Definitions
1.3 Models
1.4 Control Systems
1.5 Design Problems
2 Modeling of Dynamic Systems
2.1 Introduction
2.2 General Modeling Guidelines
2.3 Some Modeling Examples
2.4 Model Uncertainty
3 System Representation and Transformation
3.1 Introduction
3.2 Normalization
3.3 Linearization
3.4 Parametric Uncertainty
3.5 Linear State Space Forms
3.6 Plant and Control System Interface
4 Analysis of Linear Systems - Part I
4.1 Introduction
4.2 Time Domain Behavior of Linear Systems
4.3 First-Order Systems
4.4 Stability
5 Analysis of Linear Systems - Part II
5.1 Introduction
5.2 Reachability, Controllability and Stabilizability
5.3 Observability Conditions
5.4 State Space Decomposition
5.5 Spectral Decompositions
5.6 Canonical Realizations
5.7 Concluding Remarks
6 Laplace Transformation - Part I
6.1 Introduction
6.2 Properties of the Laplace Transformation
6.3 Transfer Functions
6.4 Overview of System Representations and Transformations
7 Laplace Transformation - Part II
7.1 Introduction
7.2 Solution of Low-Order ODE
7.3 Poles and Zeros of Transfer Functions
7.4 Influence of Poles and Zeros on System Dynamics
7.5 Algebraic Stability Criteria
8 Frequency Responses
8.1 Introduction
8.2 Frequency Responses
8.3 Asymptotic System Properties
8.4 System Identification Using Frequency Responses
8.5 Nonparametric Uncertainty
9 Analysis of Feedback Systems
9.1 Introduction
9.2 Definitions
9.3 Closed-Loop System Stability
9.4 Nyquist Theorem
9.5 Constraints on Closed-Loop Systems
9.6 Summary
10 Specifications for Feedback Systems
10.1 Introduction
10.2 Static Errors
10.3 Specifications Based on Second-Order Systems
10.4 Frequency-Domain Specifications
10.5 Summary
11 Feedback Control Design - I
11.1 Introduction
11.2 PID Controllers
11.3 Iterative Loop Shaping
11.4 Closed-Form Cross-Over Specification
11.5 Aström and Hägglund Rules
11.6 Predictive PI Control Systems
11.7 Numerical Optimization
12 Feedback Control Design - II
12.1 Introduction
12.2 Loop Shaping for Robustness
12.3 Loop Shaping for Nonminimum Phase Systems
12.4 Loop Shaping for Unstable Systems
13 Feedback Control Design - III
13.1 Introduction
13.2 Cascaded Control Loops
13.3 Root-Locus Methods
14 Control Systems Implementation
14.1 Introduction
14.2 PID Controllers in Practical Applications
14.3 Realization with Analog Components
14.4 Realization with Digital Computers
15 Case Study
15.1 Introduction
15.2 Modeling
15.3 Specifications
15.4 Controller Design
A Library of Standard Elements
A.1 Integrator Element
A.2 Differentiator Element
A.3 First-Order Element
A.4 Realizable Derivative Element ("Dirty D")
A.5 Second-Order Element
A.6 Lag Element
A.7 Lead Element
A.8 PID Element
A.9 First-Order All-Pass Element
A.10 Delay Element
B Some Mathematical Results
B.1 Linear Algebra
B.2 Complex Analysis
B.3 Proof of the Nyquist Theorem
B.4 Proof of the Cross-Over Frequency Specification Method
B.5 Proof of the Apollonius Circle Condition
C Solutions to Quick Checks
D List of English and German Control Engineering Terms
E List of Symbols
Index
References