Misją Instytutu jest dzialalność naukowo-badawcza prowadząca do nowych rozwiązań technicznych i organizacyjnych użytecznych w kształtowaniu warunków pracy zgodnych z zasadami bezpieczeństwa pracy i ergonomii oraz ustalanie podstaw naukowych do właściwego ukierunkowywania polityki społeczno-ekonomicznej państwa w tym zakresie.
Addison Wesley Longman Inc., second edition, 1995
|
1. Introduction (1) |
1.1. Introduction (2) |
1.2. A History of Control Systems (4) |
1.3. The Control Systems Engineer (9) |
1.4. Response Characteristics and System Configurations (10) |
1.5. Analysis and Design Objectives (14) |
Antenna Azimuth: An Introduction to Position Control Systems (17) |
1.6. The design Process (21) |
1.7. Computer-Aided Design (27) |
Summary (28) |
Review Questions (28) |
Problems (29) |
Bibliography (33) |
2. Modeling in the Frequency Domain (35) |
2.1. Introduction (36) |
2.2. Laplace Transform Review (37) |
2.3. The Transfer Function (46) |
2.4. Electric Network Transfer Functions (49) |
2.5. Translation Mechanical System Transfer Functions (64) |
2.6. Rotational Mechanical System Transfer Functions (71) |
2.7. Transfer Functions for Systems with Gears (76) |
2.8. Electromechanical System Transfer Functions (81) |
2.9. Electric Circuit Analogs (87) |
2.10. Nonlinearites (91) |
2.11. Linearization (92) |
Antenna Control: Transfer Functions (98) |
Transfer Function of a Human Leg (100) |
Summary (102) |
Review Questions (102) |
Problems (103) |
Bibliography (115) |
3. Modeling in the Time Domain (117) |
3.1. Introduction (118) |
3.2. Some Observations (119) |
3.3. The General State-Space Representation (124) |
3.4. Applying the State-Space Representation (126) |
3.5. Converting a Transfer Function to State Space (133) |
3.6. Converting from State Space to a Transfer Function (140) |
3.7. Linearization (141) |
Antenna Control: State-Space Representation (144) |
Pharmaceutical Drug Absorption (146) |
Summary (149) |
Review Questions (150) |
Problems (150) |
Bibliography (158) |
4. Time Response (159) |
4.1. Introduction (160) |
4.2. Poles, Zeros, and System Response (161) |
4.3. First-Order Systems (164) |
4.4. Second-Order Systems: Introduction (167) |
4.5. The General Second-Order System (172) |
4.6. Underdamped second-Order Systems (176) |
4.7. System Response with Additional Poles (186) |
4.8. System Response with Zeros (190) |
4.9. Laplace Transform Solution of State Equations (915) |
4.10. Time Domain Solution of State Equations (198) |
4.11. Time Response via Computer Simulation (203) |
Antenna Control: Open-Loop Response (206) |
UFSS: Open-Loop Pitch Response (209) |
Summary (212) |
Review Questions (214) |
Problems (215) |
Design Problems (223) |
Bibliography (225) |
5. Reduction of Multiple Subsystems (226) |
5.1. Introduction (227) |
5.2. Block Diagrams (228) |
5.3. Analysis and Design of Feedback Systems (237) |
5.4. Signal-Flow Graphs (240) |
5.5. Mason's Rule (242) |
5.6. Signal-Flow Graphs of State Equations (245) |
5.7. Alternate Representations in State Space (247) |
5.8. Similarity Transformations (257) |
Antenna Control: Designing a Closed-Loop Response (268) |
UFSS Vehicle: Pitch-Angle Control Representation (272) |
Summary (274) |
Review Questions (275) |
Problems (276) |
Design Problems (292) |
Bibliography (294) |
6. Stability (295) |
6.1. Introduction (296) |
6.2. Routh-Hurwitz Criterion (300) |
6.3. Routh-Hurwitz Criterion: Special Cases (303) |
6.4. Routh-Hurwitz Criterion: Additional Examples (310) |
6.5. Stability in State Space (317) |
Antenna Control: Stability Design via Gain (320) |
UFSS Vehicle: Stability Design via Gain (320) |
Summary (322) |
Review Questions (323) |
Problems (323) |
Design Problems (330) |
Bibliography (332) |
7. Steady-State Errors (333) |
7.1. Introduction (334) |
7.2. Steady-State Error for Unity Feedback Systems (338) |
7.3. Static Error Constants and System Type (344) |
7.4. Steady-State Error Specifications (348) |
7.5. Steady-State Error for Disturbances (350) |
7.6. Steady-State Error for Nonunity Feedback Systems (352) |
7.7. Sensitivity (355) |
Antenna Control: Steady-State Error Design via Gain (358) |
Video Laser Disc Recorder: Steady-State Error Design via Gain (359) |
Summary (361) |
Review Questions (362) |
Problems (363) |
Design problems (376) |
Bibliography (378) |
8. Root Locus Techniques (379) |
8.1. Introduction (380) |
8.2. Defining the Root Locus (385) |
8.3. Properties of the Root Locus (388) |
8.4. Sketching the Root Locus (390) |
8.5. Refining the Sketch (395) |
8.6. An Example (404) |
8.7. Transient Response Design via Gain Adjustment (407) |
8.8. Generalized Root Locus (412) |
8.9. Root Locus for Positive-Feedback Systems (414) |
8.10. Pole Sensitivity (417) |
Antenna Control: Transient Design via Gain (419) |
UFSS Vehicle: Transient Design via Gain (420) |
Summary (424) |
Review Questions (425) |
Problems (426) |
Design Problems (439) |
Bibliography (442) |
9. Design via Root Locus (444) |
9.1. Introduction (445) |
9.2. Improving Steady-State Error via Cascade Compensation (449) |
9.3. Improving Transient Response via Cascade Compensation (459) |
9.4. Improving Steady-State Error and Transient Response (475) |
9.5. Feedback Compensation (488) |
9.6. Physical Realization of Compensation (500) |
Antenna Control: Lag-Lead Compensation (505) |
UFSS Vehicle: Lead and Feedback Compensation (508) |
Summary (511) |
Review Questions (512) |
Problems (513) |
Design Problems (521) |
Bibliography (527) |
10. Frequency Response Techniques (528) |
10.1. Introduction (529) |
10.2. Asymptotic Approximations: Bode Plots (536) |
10.3. Introduction to the Nyquist Criterion (556) |
10.4. Sketching the Nyquist Diagram (562) |
10.5. Stability via the Nyquist Diagram (567) |
10.6. Gain Margin and Phase Margin (572) |
10.7. Stability via Bode Plots (574) |
10.8. Relation between Closed-Loop Transient and Closed-Loop Frequency Responses (577) |
10.9. Relation between Closed- and Open-Loop Frequency Responses (580) |
10.10. Relation between Closed-Loop transient and Open-Loop Frequency Responses (586) |
10.11. Steady-State Error Characteristic from Frequency Response (590) |
10.12. Systems with Time Delay (594) |
10.13. Obtaining Transfer Functions Experimentally (599) |
Antenna Control: Stability Design and Transient Performance (602) |
Summary (604) |
Review Questions (605) |
Problems (606) |
Bibliography (615) |
11. Design via Frequency Response (616) |
11.1. Introduction (617) |
11.2. Transient Response via Gain Adjustment (618) |
11.3. Lag Compensation (621) |
11.4. Lead Compensation (625) |
11.5. Lag-Lead Compensation (632) |
Antenna Control: Gain Design (637) |
Antenna Control: Cascade Compensation Design (638) |
Summary (639) |
Review Questions (640) |
Problems (640) |
Design Problems (644) |
Bibliography (646) |
12. Design via State Space (647) |
12.1. Introduction (648) |
12.2. Controller Design (650) |
12.3. Controllability (656) |
12.4. Alternative Approaches to Controller Design (660) |
12.5. Observer Design (665) |
12.6. Observability (627) |
12.7. Alternative Approaches to Observer Design (676) |
12.8. Steady-State Error (681) |
Antenna Control: Design of Controller and Observer (688) |
Summary (693) |
Review Questions (694) |
Problems (695) |
Design Problems (701) |
Bibliography (702) |
13. Digital Control Systems (703) |
13.1. Introduction (704) |
13.2. Modeling the Digital Computer (708) |
13.3. The z-transform (712) |
13.4. Transfer Functions (716) |
13.5. Block Diagram Reduction (719) |
13.6. Stability (722) |
13.7. Steady-State Errors (727) |
13.8. Transient Response on the z-Plane (731) |
13.9. Gain Design on the z-Plane (733) |
Antenna Control: Transient Design via Gain (737) |
Summary (740) |
Review Questions (741) |
Problems (742) |
Design Problems (746) |
Bibliography (747) |
Appendix A. List of Symbols (748) |
Appendix B. matrices, Determinants, and Systems of Equations (752) |
Appendix C. MATLAB Tutorial (761) |
Appendix D. Microsoft QuickBASIC Programs (800) |
Appendix E. Derivation of a Schematic for a DC Motor (811) |
Appendix F. Solution of State Equations for t0 ≠ 0 (815) |
Appendix G. Root Locus Rules: Derivations (817) |
Glossary (821) |
Credits (830) |
Answers to Selected Problems (832) |
Index (839) |
© 2002-2004 Centralny Instytut Ochrony Pracy - Państwowy Instytut Badawczy www.anc.pl, www.ciop.pl