Control System
CONTENTS
| 1. | Introduction of Control System | ||
| 1.1 | Servomechanism | ||
| 1.2 | Historical Development of Automatic Control | ||
| 1.3 | Digital Computer Control | ||
| 1.4 | Application of Control Theory in Non-Engineering Fields | ||
| 2. | MATHEMATICAL MODELS OF PHYSICAL SYSTEM | ||
| 2.1 | Differential Equations of Physical Systems | ||
| 2.2 | Dynamics of Robotic Mechanisms | ||
| 2.3 | Transfer Functions | ||
| 2.4 | Block Diagram Algebra | ||
| 2.5 | Signal Flow Graphs | ||
| 3. | FEEDBACK CHARACTERISTICS OF CONTROL SYSTEM | ||
| 3.1 | Feedback and Non-feedback Systems | ||
| 3.2 | Reduction of Parameter Variations by Use of Feedback | ||
| 3.3 | Control over System Dynamics by Use of Feedback | ||
| 3.4 | Control of the Effects of Disturbance Signals by Use of Feedback | ||
| 3.5 | Linearizing Effect of Feedback | ||
| 3.6 | Regenerative Feedback | ||
| 4. | CONTROL SYSTEMS AND COMPONENTS | ||
| 4.1 | Linear Approximation of Nonlinear Systems | ||
| 4.2 | Control Components | ||
| 4.3 | Stepper Motors | ||
| 4.4 | Hydraulic Systems | ||
| 4.5 | Pneumatic Systems | ||
| 5. | TIME RESPONSE ANALYSIS, DESIGN SPECIFICATIONS AND PERFORMANCE INDICES | ||
| 5.1 | Standard Test Signals | ||
| 5.2 | Time Response of First-order Systems | ||
| 5.3 | Time Response of Second-order Systems | ||
| 5.4 | Steady-state Errors and Error Constants | ||
| 5.5 | Effect of Adding a Zero to a Systems | ||
| 5.6 | Design Specifications of Second-order Systems | ||
| 5.7 | Design Considerations for Higher-order Systems | ||
| 5.8 | Performance Indices | ||
| 5.9 | Illustrative Examples | ||
| 5.10 | Robotic Control Systems | ||
| 5.11 | State Variable Analysis ? Laplace Transform Technique | ||
| 5.12 | The Approximation of Higher-order Systems by Lower-order | ||
| 6. |
CONCEPTS OF STABILITY AND ALGEBRAIC CRITERIA |
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| 6.1 | The Concept of Stability | ||
| 6.2 | Necessary Conditions for Stability | ||
| 6.3 | Hurwitz Stability Criterion | ||
| 6.4 | Routh Stability Criterion | ||
| 6.5 | Relative Stability Analysis | ||
| 6.6 | More on the Routh Stability Criterion | ||
| 6.7 | Stability of Systems Modelled in State Variable Form | ||
| 7. |
THE ROOT LOCUS TECHNIQUE |
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| 7.1 | The Root Locus Concept | ||
| 7.2 | Construction Root Loci | ||
| 7.3 | Root Contours | ||
| 7.4 | System with Transportation Lag | ||
| 7.5 | Sensitivity of the Roots of the Characteristic Equation | ||
| 8. |
FREQUENCY RESPONSE ANALYSIS |
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| 8.1 | Correlation between Time and Frequency Response | ||
| 8.2 | Polll Plots | ||
| 8.3 | Bode Plots | ||
| 8.4 | All pass and Minimum-phase Systems | ||
| 8.5 | Experimental Determination of Transfer Functions | ||
| 8.6 | Iog-magnitude versus Phase Plots | ||
| 9. | STABILITY IN FREQUENCY DOMAIN | ||
| 9.1 | Mathematical Preliminaries | ||
| 9.2 | Nyquist Stability Criterion | ||
| 9.3 | Assessment of Relative Stability Using Nyquist Criterion | ||
| 9.4 | Closed-loop Frequency Response | ||
| 9.5 | Sensitivity Analysis in Frequency Domain | ||
| 10. |
INTRODUCTION TO DESIGN |
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| 10.1 | The Design Problem | ||
| 10.2 | Preliminary Considerations of Classical Design | ||
| 10.3 | Realization of Basic Compensators | ||
| 10.4 | Cascade Compensation in Time Domain | ||
| 10.5 | Cascade Compensation in Frequency Domain | ||
| 10.6 | Turning of PID Controllers | ||
| 10.7 | Feedback Compensation | ||
| 10.8 | Robust Control System Design | ||
| 11. |
DIGITAL CONTROL SYSTEM |
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| 11.1 | Spectrum Analysis of Sampling Process | ||
| 11.2 | Signal Reconstruction | ||
| 11.3 | Difference Equations | ||
| 11.4 | The z-transform | ||
| 11.5 | The z-transfer Function (Pulse Transfer Function) | ||
| 11.6 | The Inverse z-transform and Response of Linear Discrete Systems | ||
| 11.7 | The z-transform Analysis of Sampled-data Control Systems | ||
| 11.8 | The z- and s-domain Relationship | ||
| 11.9 | Stability Analysis | ||
| 11.10 | Compensation Techniques | ||
| 12. |
STATE VARIABLE ANALYSIS AND DESIGN |
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| 12.1 | Concepts of State, State Variables and State Model | ||
| 12.2 | State Models for Linear Continuous-time Systems | ||
| 12.3 | State Variables and Linear Discrete-time Systems | ||
| 12.4 | Diagonalization | ||
| 12.5 | Solution of State Equations | ||
| 12.6 | Concept of Controllability and Observability | ||
| 12.7 | Pole Placement by State Feedback | ||
| 12.8 | Observer Systems | ||
| 13. |
NONLINEAR SYSTEMS |
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| 13.1 | Common Physical Nonlinearities | ||
| 13.2 | The Phase-plane Method: Basic Concepts | ||
| 13.3 | Singular Points | ||
| 13.4 | Stability of Nonlinear Systems | ||
| 13.5 | Construction of Phase-trajectories | ||
| 13.6 | The Describing Function Method: Basic Concepts | ||
| 13.7 | Derivation of Describing Functions | ||
| 13.8 | Stability Analysis by Describing Function Method | ||
| 13.9 | Jump Resonance | ||
| 13.10 | Liapunov's Stability Criterion | ||
| 14. | ADVANCES IN CONTROL SYSTEM | ||
| 14.1 | Adaptive Control | ||
| 14.2 | Fuzzy Logic Control | ||
| 14.3 | Neural Networks |