Textbook

# Automatic Control Systems, 9th Edition

This thoroughly revised new edition is an outgrowth of senior-level control-system courses taught by the authors at their universities throughout their teaching career. Adopted by hundreds of universities in the United States and around the world, Automatic Control Systems represents the best of Kuo's work combined with additional new material by Farid Golnaraghi to create this exciting revision.
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Preface.

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 Complex-Variable Concept.

2.2 Frequency-Domain Plots.

2.3 Introduction to Differential Equations.

2.4 Laplace Transform.

2.5 Inverse Laplace Transform by Partial-Fraction 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 Bounded-Input, Bounded-Output.

2.10 Relationship between Characteristic Equation Roots and Stability.

2.11 Zero-Input and Asymptotic Stability of Continuous-Data Systems.

2.12 Methods of Determining Stability.

2.13. Routh-Hurwitz Criterion.

2.14 MATLAB Tools and Case Studies.

2.15 Summary.

Chapter 3: Block Diagrams and Signal-Flow Graphs.

3.1 Block Diagrams.

3.2 Signal-Flow 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: Time-Domain Analysis of Control Systems.

5.1 Time Response of Continuous-Data Systems: Introduction.

5.2 Typical Test Signals for the Time Response of Control Systems.

5.3 The Unit-Step Response and Time-Domain Specification.

5.5 Time Response of a Prototype First-Order System.

5.6 Transient Response of a Prototype Second-Order System.

5.7 Speed and Position Control of a DC Moto.

5.8 Time-Domain Analysis of a Position-Control 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—Quarter-Car 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): Multiple-Parameter Variation.

7.6 MATLAB Tools and Case Studies.

7.7 Summary.

Chapter 8: Frequency-Domain Analysis.

8.1 Introduction.

8.2 Mr, wr, and Bandwidth of the Prototype Second-Order System.

8.3 Effects of adding a Zero to the Forward-Path Transfer Function.

8.4 Effects of adding a Pole to the Forward-Path Transfer Function.

8.5 Nyquist Stability Criterion: Fundamentals.

8.6 Nyquist Criterion for Systems with Minimum-Phase Transfer Functions.

8.7 Relation between the Root Loci and the Nyquist Plot.

8.8 Illustrative Examples: Nyquist Criterion for Minimum-Phase 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 Magnitude-Phase Plot.

8.14 Constant-M Loci in the Magnitude-Phase Plane: The Nichols Chart Applied to Nonunity-Feedback Systems.

8.15 Nichols Chart Applied to Nonunity-Feedback 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.

9.6 Design with Phase-Lag Controller.

9.8 Pole-Zero-Cancellation Design: Notch Filter.

9.9 Forward and Feedforward Controllers.

9.10 Design of Robust Control Systems.

9.11 Minor-Loop 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 Vector-Matrix Representation of State Equations.

10.4 State-Transition Matrix.

10.5 State-Transition Equation.

10.6 Relationship between State Equations and High-Order 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: Magnetic-Ball Suspension System.

10.16 State-Feedback Control.

10.17 Pole-Placement 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: z-Transform 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: Discrete-Data Control Systems.

Author Information
Dr. Farid Golnaraghi is a professor and the Director of Mechatronic Systems Engineering at the Simon Fraser University in Vancouver since 2006. He also holds a Burnaby Mountain endowed Chair at SFU, and his primary research focus is on Intelligent Vehicle Systems. Prior to joining SFU, he was a professor of Mechanical and Mechatronics Engineering at the University of Waterloo. His pioneering research has resulted in two textbooks, more than a hundred and fifty journal and Conference papers, four patents and two start-up companies.

Dr. Benjamin C. Kuo is professor emeritus, Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign. 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.

New To This Edition
Upgraded ACSYS software– the unique graphical interface of ACSYS enables students to apply MATLAB to control problems more intuitively.  This means they spend less time programming and more time applying concepts and evaluating results.

•     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 “what-if” scenarios of their own.

Virtual Lab introduces a black-box 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 position-control lab, for example, amplifier saturation, noise, and nonlinearity.

•     Additional MATLAB toolboxes and case studies in almost every chapter

•     A sample section-by-section one-semester 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.

Hallmark Features
Balance of applications to both Mechanical and Electrical Engineering (Golnaraghi is a mechanical engineer; most competing authors are in Electrical or Aerospace engineering).

•     Emphasizes complex, real-world 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

## Available Versions

Automatic Control Systems, 9th Edition
by Farid Golnaraghi, Benjamin C. Kuo
ISBN 978-0-470-04896-2