Textbook
Automatic Control Systems, 9th EditionJuly 2009, ©2009

Chapter 1: Introduction.
1.1 Introduction.
1.2 What Is Feedback, and What Are Its Effects?
1.3 Types of Feedback Control Systems.
1.4 Summary.
Chapter 2: Mathematical Foundation.
2.1 ComplexVariable Concept.
2.2 FrequencyDomain Plots.
2.3 Introduction to Differential Equations.
2.4 Laplace Transform.
2.5 Inverse Laplace Transform by PartialFraction Expansion.
2.6 Application of the Laplace Transform to the Solution of Linear Ordinary Differential Equations.
2.7 Impulse Response and Transfer Functions of Linear Systems.
2.8 Stability of Linear Control Systems.
2.9 BoundedInput, BoundedOutput.
2.10 Relationship between Characteristic Equation Roots and Stability.
2.11 ZeroInput and Asymptotic Stability of ContinuousData Systems.
2.12 Methods of Determining Stability.
2.13. RouthHurwitz Criterion.
2.14 MATLAB Tools and Case Studies.
2.15 Summary.
Chapter 3: Block Diagrams and SignalFlow Graphs.
3.1 Block Diagrams.
3.2 SignalFlow Graphs (SFGs).
3.3 MATLAB Tools and Case Studies.
3.4 Summary.
Chapter 4: Theoretical Foundation and Background Material: Modeling of Dynamic Systems.
4.1 Introduction to Modeling of Mechanical Systems.
4.2 Introduction to Modeling of Simple Electrical Systems.
4.3 Modeling of Active Electrical Elements: Operational Amplifiers.
4.4 Introduction of Modeling of Thermal Systems.
4.5 Introduction of Modeling of Fluid Systems.
4.6 Sensors and Encoders in Control Systems.
4.7 DC Motors in Control Systems.
4.8 Systems with Transportation Lags.
4.9 Linearization of Nonlinear Systems.
4.10 Analogies.
4.11 Case Studies.
4.12 MATLAB Tools.
4.13 Summary.
Chapter 5: TimeDomain Analysis of Control Systems.
5.1 Time Response of ContinuousData Systems: Introduction.
5.2 Typical Test Signals for the Time Response of Control Systems.
5.3 The UnitStep Response and TimeDomain Specification.
5.4 SteadyState Error.
5.5 Time Response of a Prototype FirstOrder System.
5.6 Transient Response of a Prototype SecondOrder System.
5.7 Speed and Position Control of a DC Moto.
5.8 TimeDomain Analysis of a PositionControl System.
5.9 Basic Control Systems and Effects of Adding Poles and Zeros to Transfer Functions.
5.10 Dominant Poles and Zeros of Transfer Functions.
5.11 Basic Control Systems Utilizing Addition of Poles and Zeros.
5.12. MATLAB Tools.
5.13 Summary.
Chapter 6: The Control Lab.
6.1 Introduction.
6.2 Description of the Virtual Experimental System.
6.3 Description of SIMLab and Virtual Lab Software.
6.4 Simulation and Virtual Experiments.
6.5 Design Project 1—Robotic Arm.
6.6 Design Project 2—QuarterCar Model.
6.7 Summary.
Chapter 7: Root Locus Analysis.
7.1 Introduction.
7.2 Basic Properties of the Root Loci (RL).
7.3 Properties of the Root Loci.
7.4 Design Aspects of the Root Loci.
7.5 Root Contours (RC): MultipleParameter Variation.
7.6 MATLAB Tools and Case Studies.
7.7 Summary.
Chapter 8: FrequencyDomain Analysis.
8.1 Introduction.
8.2 M_{r}, w_{r}, and Bandwidth of the Prototype SecondOrder System.
8.3 Effects of adding a Zero to the ForwardPath Transfer Function.
8.4 Effects of adding a Pole to the ForwardPath Transfer Function.
8.5 Nyquist Stability Criterion: Fundamentals.
8.6 Nyquist Criterion for Systems with MinimumPhase Transfer Functions.
8.7 Relation between the Root Loci and the Nyquist Plot.
8.8 Illustrative Examples: Nyquist Criterion for MinimumPhase Transfer.
8.9 Effects of Adding Poles and Zeros to L(s) on the Shape of the Nyquist Plot.
8.10 Relative Stability: Gain Margin (GM).
8.11 Stability Analysis with the Bode Plot.
8.12 Relative Stability Related to the Slope of the Magnitude Curve of the Bode Plot.
8.13 Stability Analysis with the MagnitudePhase Plot.
8.14 ConstantM Loci in the MagnitudePhase Plane: The Nichols Chart Applied to NonunityFeedback Systems.
8.15 Nichols Chart Applied to NonunityFeedback Systems.
8.16 Sensitivity Studies in the Frequency Domain.
8.17 MATLAB Tools and Case Studies.
8.18 Summary.
Chapter 9: Design of Control Systems.
9.1 Introduction.
9.2 Design with the PD Controller.
9.3 Design with the PI Controller.
9.4 Design with the PID Controller.
9.5 Design with PhaseLead Controller.
9.6 Design with PhaseLag Controller.
9.7 Design with LeadLag Controller.
9.8 PoleZeroCancellation Design: Notch Filter.
9.9 Forward and Feedforward Controllers.
9.10 Design of Robust Control Systems.
9.11 MinorLoop Feedback Control.
9.12 A Hydraulic Control System.
9.13 Controller Design.
9.14. MATLAB Tools and Case Studies.
9.15 Plotting Tutorial.
9.16 Summary.
Chapter 10: State Variable Analysis.
10.1 Introduction.
10.2 Block Diagrams, Transfer Functions, and State Diagrams.
10.3 VectorMatrix Representation of State Equations.
10.4 StateTransition Matrix.
10.5 StateTransition Equation.
10.6 Relationship between State Equations and HighOrder Differential Equations.
10.7 Relationship between State Equations and Transfer Functions.
10.8 Characteristic Equations, Eigenvalues, and Eigenvectors.
10.9 Similarity Transformation.
10.10 Decompositions of Transfer Functions.
10.11 Controllability of Control Systems.
10.12 Observability of Linear Systems.
10.13 Relationship among Controllability, Observability, and Transfer Functions.
10.14 Invariant Theorems on Controllability and Observability.
10.15 Case Study: MagneticBall Suspension System.
10.16 StateFeedback Control.
10.17 PolePlacement Design Through State Feedback.
10.18 State Feedback with Integral Control.
10.19 MATLAB Tools and Case Studies.
10.20 Summary.
Index.
Appendix A: Elementary Matrix Theory and Algebra.
Appendix B: Difference Equations.
Appendix C: Laplace Transform Table.
Appendix D: zTransform Table.
Appendix E: Properties and Construction of the Root Loci.
Appendix F: General Nyquist Criterion.
Appendix G: ACSYS 2008: Description of the Software.
Appendix H: DiscreteData Control Systems.
Dr. Benjamin C. Kuo is professor emeritus, Department of Electrical and Computer Engineering, University of Illinois at UrbanaChampaign. He is a Fellow of the IEEE and has received many awards on his theoretical and applied research on control systems. He has written numerous papers and has authored more than 10 books on control systems. He has consulted extensively in industry.
• SIMLab and Virtual Lab applications – enable students to work on realistic problems and conduct speed and position control labs in a software environment.
SIMLab enables students to see system parameters and alter them (as in any simulation). This lets them observe concepts in action and practice with “whatif” scenarios of their own.
Virtual Lab introduces a blackbox approach, where the students have no access to the plant parameters and have to use some sort of system identification technique to find them. In Virtual Lab, students have a realistic experience of the types of problems they would encounter in a real speed or positioncontrol lab, for example, amplifier saturation, noise, and nonlinearity.
• Additional MATLAB toolboxes and case studies in almost every chapter
• A sample sectionbysection onesemester syllabus is given in the Instructor’s Manual on the Instructors BCS. The manual also contains detailed solutions to all the problems in the book.
• Emphasizes complex, realworld control problems (ABET criteria A and E)
• Matlab tools and case studies provide practical experience with the modern engineering tools required in ABET criterion (k)
• Balanced presentation of principles and applications give students a firm conceptual grounding and robust virtual lab experiences, independent of the hardware and software resources of their university labs
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