Dynamic Systems

Preface vi 1 Introduction to Dynamic Systems and Control 1 1.1 Introduction 1 1.2 Classification of Dynamic Systems 2 1.3 Modeling Dynamic Systems 4 1.4 Objectives and Textbook Outline 5 References 6 2 Modeling Mechanical Systems 7 2.1 Introduction 7 2.2 Mechanical Element Laws 7 2.3 Translational Mechanical Systems 13 2.4 Rotational Mechanical Systems 24 Summary 30 References 30 Problems 30 3 Modeling Electrical and Electromechanical Systems 43 3.1 Introduction 43 3.2 Electrical Element Laws 43 3.3 Electrical Systems 46 3.4 Operational-Amplifier Circuits 54 3.5 Electromechanical Systems 57 Summary 68 References 69 Problems 69 4 Modeling Fluid and Thermal Systems 80 4.1 Introduction 80 4.2 Hydraulic Systems 80 4.3 Pneumatic Systems 93 4.4 Thermal Systems 99 Summary 104 References 105 Problems 105 5 Standard Models for Dynamic Systems 115 5.1 Introduction 115 5.2 State-Variable Equations 115 5.3 State-Space Representation 119 5.4 Linearization 128 5.5 Input-Output Equations 133 5.6 Transfer Functions 136 5.7 Block Diagrams 139 5.8 Standard Input Functions 143 Summary 145 Problems 146 6 Numerical Simulation of Dynamic Systems 156 6.1 Introduction 156 6.2 System Response Using MATLAB Commands 157 6.3 Building Simulations Using Simulink 162 6.4 Simulating Linear Systems Using Simulink 165 6.5 Simulating Nonlinear Systems 170 6.6 Building Integrated Systems 178 Summary 183 References 184 Problems 184 7 Analytical Solution of Linear Dynamic Systems 197 7.1 Introduction 197 7.2 Analytical Solutions to Linear Differential Equations 197 7.3 First-Order System Response 205 7.4 Second-Order System Response 213 7.5 Higher-Order Systems 230 7.6 State-Space Representation and Eigenvalues 232 7.7 Approximate Models 235 Summary 237 Reference 238 Problems 238 8 System Analysis Using Laplace Transforms 247 8.1 Introduction 247 8.2 Laplace Transformation 247 8.3 Inverse Laplace Transformation 254 8.4 Analysis of Dynamic Systems Using Laplace Transforms 259 Summary 271 References 271 Problems 271 9 Frequency-Response Analysis 277 9.1 Introduction 277 9.2 Frequency Response 277 9.3 Bode Diagrams 290 9.4 Vibrations 306 Summary 313 References 313 Problems 313 10 Introduction to Control Systems 322 10.1 Introduction 322 10.2 Feedback Control Systems 322 10.3 Feedback Controllers 329 10.4 Steady-State Accuracy 344 10.5 Closed-Loop Stability 350 10.6 Root-Locus Method 352 10.7 Stability Margins 373 10.8 Implementing Control Systems 381 Summary 385 References 385 Problems 386 11 Case Studies in Dynamic Systems and Control 397 11.1 Introduction 397 11.2 Vibration Isolation System for a Commercial Vehicle 397 11.3 Solenoid Actuator Valve System 409 11.4 Pneumatic Air-Brake System 417 11.5 Hydraulic Servomechanism Control 427 11.6 Feedback Control of a Magnetic Levitation System 444 Summary 455 References 455 Appendix A Units 457 Appendix B MATLAB Primer for Analyzing Dynamic Systems 459 B.1 Introduction 459 B.2 Basic MATLAB Computations 459 B.3 Plotting with MATLAB 462 B.4 Constructing Basic M-files 463 B.5 Commands for Linear System Analysis 464 B.6 Commands for Laplace Transform Analysis 465 B.7 Commands for Control System Analysis 467 Appendix C Simulink Primer 469 C.1 Introduction 469 C.2 Building Simulink Models of Linear Systems 469 C.3 Building Simulink Models of Nonlinear Systems 478 C.4 Summary of Useful Simulink Blocks 482 Index 485