Design and Analysis of Control Systems

829 Pages·1999·21.001 MB·English

by  Arthur G.O. Mutambara

DESIGN and
ANALYSIS
of
CONTROL SYSTEMS

DESIGN
and
ANALYSIS
of CONTROL SYSTEMS
Arthur G.O. Mutambara
CRC Press
Boca Raton London New York Washington, D.C.
Library of Congress Cataloging-in-Publication Data
Mutambara, Arthur G.O.
Design and analysis of control systems I Arthur G.O. Mutambara.
p. em.
Includes bibliographical references (p.
ISBN 0-8493-1898-X
1. Automatic control. 2. System design. I. Title.
TJ213.M85 1999
629.8-dc21 99-25429
CIP
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© 1999 by CRC Press LLC
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International Standard Book Number 0-8493-1898-X
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Preface
This book covers the principles and challenges involved in the design and
analysis of control systems. A control system is an interconnection of in-
teracting components forming a configuration that will provide a desired
system response. Feedback is a part of the control system and consists of
the process of measuring the controlled variable and using that informa-
tion to influence the controlled variable. The material presented in this
book is of practical interest because it provides insight into the fundamen-
tal nature of control systems and enables the reader to engineer effective
controllers. The motivation of the book is to imbue the reader with skills
to design and analyze implementable control algorithms for a wide range
of real engineering applications.
The book is divided into nine chapters that can be grouped into three
parts. The first part of the book (Chapters 1, 2, and 3) introduces the prin-
ciples involved in control systems, discusses various applications, develops
mathematical models for dynamic systems, and shows how the models are
used to obtain and study the system response (behavior). This material
is useful in a Dynamic Systems II class, which serves as a basis for a first
course in Control Systems, whose material is covered in the second part
of the book (Chapters 4, 5, and 6). This part of the book covers the
basic characteristics of control systems, root locus design methods, and
frequency-response design methods. The last part of the book (Chapters
7, 8, and 9) deals with subjects suitable for an Advanced Control Systems
class: state space design methods, digital control systems, state and infor-
mation space estimation, and nonlinear control systems.
The three integrated and overlapping classes that can be taught and
studied using this book are suitable for both undergraduate and graduate
students with no background in control systems. Control system practice
cuts across aerospace, chemical, electrical, industrial, and mechanical en-
gineering, therefore this text is useful in all these fields. Although written
ostensibly as a classroom textbook, the book can also serve as an indis-
pensable tool for self-study and reference for engineering professionals.

Key Features of the Book
• Covers the theoretical and practical principles involved in the design
and analysis of control systems applicable to a broad spectrum of
engineering disciplines.
• Develops mathematical models for different types of dynamic sys-
tems such as mechanical, electrical, electromechanical, mechatronic,
thermal-fluid, chemical, hydraulic, and pneumatic systems.
• Illustrates how system models are used to study the system response
(behavior), and how the models are employed to achieve system
control.
• Presents standard control systems material in a systematic and easy-
to-follow fashion.
• Introduces and develops advanced control systems concepts on a well
established foundation of standard control system principles.
• Employs "just-in-time ·learning" where concepts are introduced and
developed as they become relevant. This fosters a better understand-
ing of the concepts and their engineering applications.
• Uses many worked examples, design problems, and a wide range of
illustrative applications from aerospace, robotics, mechatronics, and
manufacturing.
• Makes extensive use of MATLAB to clearly demonstrate control sys-
tem concepts and their implementation.
• Includes descriptions of a number of new demonstrative modern con-
trol systems laboratory experiments such as Magnetic Levitation, the
Inverted Pendulum, the 3-DOF Helicopter, the 2-DOF Robot, and the
Pendubot.

Key Benefits for the User
• One textbook usable for three different but overlapping courses: Dy-
namic Systems II, A First Course in Control Systems, and Advanced
Control Systems. It offers a more economical option than using three
different textbooks.
• A textbook that emphasizes and embraces the multidisciplinary na-
ture of control system engineering and employs "justJin-time learning
and teaching." The user follows and learns the material better than
from a conventional control system text.
• All the relevant principles and concepts (standard and advanced) in-
volved in the control of dynamic systems are covered in one textbook.
• Detailed descriptions of a range of new control systems laboratory
experiments that can be incorporated into the controls curriculum.
• The extensive use of worked examples and illustrations, and the text
structure (just-in-time philosophy) make the book easy to read and
understand. The practical examples used to demonstrate the concepts
and show their application are from different fields of engineering.
This promotes holistic engineering education.
• The use of MATLAB throughout the textbook helps to strengthen
the grasping of concepts and solidify the development of a thorough
understanding of computer implementation of control systems.
• A comprehensive appendix containing the essential basics of MAT-
LAB, including laboratory exercises.
• There is a move to a new engineering curriculum (emphasizing the
multidisciplinary nature of engineering practice and the need for just-
in-time learning) sweeping throughout engineering schools in the USA,
Europe, and Japan. This book is written with the specific objective
of satisfying this new curriculum. None of the current books (the
competition) satisfy the requirements of this new curriculum so well.