现代控制系统

CHAPTER 1 Introduction to Control Systems

1.1 Introduction

1.2 Brief History of Automatic Control

1.3 Examples of Control Systems

1.4 Engineering Design

1.5 Control System Design

1.6 Mechatronic Systems

1.7 Green Engineering

1.8 The Future Evolution of Control Systems

1.9 Design Examples

1.10 Sequential Design Example: Disk Drive Read System

1.11 Summary

CHAPTER 2 Mathematical Models of Systems

2.1 Introduction

2.2 Differential Equations of Physical Systems

2.3 Linear Approximations of Physical Systems

2.4 The Laplace Transform

2.5 The Transfer Function of Linear Systems

2.6 Block Diagram Models

2.7 Signal-Flow Graph Models

2.8 Design Examples

2.9 The Simulation of Systems Using Control Design Software

2.10 Sequential Design Example: Disk Drive Read System

2.11 Summary

CHAPTER 3 State Variable Models

3.1 Introduction

3.2 The State Variables of a Dynamic System

3.3 The State Differential Equation

3.4 Signal-Flow Graph and Block Diagram Models

3.5 Alternative Signal-Flow Graph and Block Diagram Models

3.6 The Transfer Function from the State Equation

3.7 The Time Response and the State Transition Matrix

3.8 Design Examples

3.9 Analysis of State Variable Models Using Control Design Software

3.10 Sequential Design Example: Disk Drive Read System

3.11 Summary

CHAPTER 4 Feedback Control System Characteristics

4.1 Introduction

4.2 Error Signal Analysis

4.3 Sensitivity of Control Systems to Parameter Variations

4.4 Disturbance Signals in a Feedback Control System

4.5 Control of the Transient Response

4.6 Steady-State Error

4.7 The Cost of Feedback

4.8 Design Examples

4.9 Control System Characteristics Using Control Design Software

4.10 Sequential Design Example: Disk Drive Read System

4.11 Summary

CHAPTER 5 The Performance of Feedback Control Systems

5.1 Introduction

5.2 Test Input Signals

5.3 Performance of Second-Order Systems

5.4 Effects of a Third Pole and a Zero on the Second-Order System Response

5.5 The s-Plane Root Location and the Transient Response

5.6 The Steady-State Error of Feedback Control Systems

5.7 Performance Indices

5.8 The Simplification of Linear Systems

5.9 Design Examples

5.10 System Performance Using Control Design Software

5.11 Sequential Design Example: Disk Drive Read System

5.12 Summary

CHAPTER 6 The Stability of Linear Feedback Systems

6.1 The Concept of Stability

6.2 The Routh–Hurwitz Stability Criterion

6.3 The Relative Stability of Feedback Control Systems

6.4 The Stability of State Variable Systems

6.5 Design Examples

6.6 System Stability Using Control Design Software

6.7 Sequential Design Example: Disk Drive Read System

6.8 Summary

CHAPTER 7 The Root Locus Method

7.1 Introduction

7.2 The Root Locus Concept

7.3 The Root Locus Procedure

7.4 Parameter Design by the Root Locus Method

7.5 Sensitivity and the Root Locus

7.6 PID Controllers

7.7 Negative Gain Root Locus

7.8 Design Examples

7.9 The Root Locus Using Control Design Software

7.10 Sequential Design Example: Disk Drive Read System

7.11 Summary

CHAPTER 8 Frequency Response Methods

8.1 Introduction

8.2 Frequency Response Plots

8.3 Frequency Response Measurements

8.4 Performance Specifications in the Frequency Domain

8.5 Log Magnitude and Phase Diagrams

8.6 Design Examples

8.7 Frequency Response Methods Using Control Design Software

8.8 Sequential Design Example: Disk Drive Read System

8.9 Summary

CHAPTER 9 Stability in the Frequency Domain

9.1 Introduction

9.2 Mapping Contours in the s-Plane

9.3 The Nyquist Criterion

9.4 Relative Stability and the Nyquist Criterion

9.5 Time-Domain Performance Criteria in the Frequency Domain

9.6 System Bandwidth

9.7 The Stability of Control Systems with Time Delays

9.8 Design Examples

9.9 PID Controllers in the Frequency Domain

9.10 Stability in the Frequency Domain Using Control Design Software

9.11 Sequential Design Example: Disk Drive Read System

9.12 Summary

CHAPTER 10 The Design of Feedback Control Systems

10.1 Introduction

10.2 Approaches to System Design

10.3 Cascade Compensation Networks

10.4 Phase-Lead Design Using the Bode Diagram

10.5 Phase-Lead Design Using the Root Locus

10.6 System Des