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a PNUivelgat-ii(e bn Oe) al igo) M—)"s-)\— gal) THIRD EDITION a) OneuwUo}Y SUIGISAG [O4JUOH : QYIHL “NOILIGA Automatic Control Systems Third Edition PRENFICEUALL INC, Foienonl Cis, Pow Jere {10S ay ereanee BD re Bylenoed Chit ow foes Albeighs year No ax of tis nok faye eprduand 0 ane frm OF yay esas ‘thou peusoa ie orang feo the peli. wearesa Prine the United State Amen PRENTICE-HALL INTERNANONAL, INC, Zonran PRENTICE-HALL OF AUSTRALIA PTY LID. Sor PACNTICE-WALY OF INDIA. PRITE LIMITED, aw Del Contents Preface 1. Ioteoduetlan 2. Mathomatios! Foundation 23 Laance Hasta 78 25 Agpleotim a teptionPuotersthe Ston of reat Ores Bites! Egutions75 2 San ites 26 enw 39 6 13. Transfer Function and Signal Flow Graphs or 35 Sanrio apne 88 39 bation for Signal Fow Dios BE Tig Fow-iaph Aeiry 69 ‘S71 apoio te Gast Gan Form to ik Diagre 80 4, Btate-Variabla Charseterization of Dynamic Systeme 9% 4% Sone Fava nd he Dyan Saimians 87 Higcoraer entero Eaton, 107 {UNF finch Avon Canvetastey, Doser, 5, Mathematical Modeling of Physical Systams 19 a Medi ot Anchors’ Se Comanty 150 S17 Elprcuide Conta Stam 287 BAS SumseaterSyton 24 ‘Time-Domain Analysia of Control Systems 250 Stability of Control Systems ae 27 Ayptenton af te Mygut Coo 348 YA Ble ational Poison 2088 Gi) onthe Shnoe Root Locus Techniques a8 129 Aap of the Root Loe tocbngon 28 Soutien of R009 atm Babette 48 Reintionaic Batwasn fott Loci sod the Polir ad 486 0 " Frequency-Bomain Analysis of Controt Systeme EY Heqwonp-benia Chacon 482 533 esby ont Bandwstn of «Second Ore Satan 454 85 heel et tengo onthe Open Lon Tah Fon 122 Efeer of Ancng# Pole tothe Qour-Leun Tanta Fanton 28 stn Stity-ain Say, Pave Magn 208 Hy 4/9 27 Rothe Sianiay As Relaade he Sd ine Hapa Sarvs sf te Bat Plt 22 26 Contre M Lovin te Gle)-Pane 405 29. Contant Phase Lsiin the Gtity-rane #09 Foote Ono 20 Introduction to Gonteal Syacems Design 102 Gact orga of Cot Spats 510 105 Lap-teed conmeostan 582 108 Sroge.r Mepcok Compensation S57 Introduction to Optimal Control S12 Aowntea asin 578 353 Parmetn Optiminton 58S S14. Dos ef Syn wity Sect Eizenrelat—An Anton of Cnvuttte 145 psi of Rte Denes 588 HS Onin! Liner Raper Dvign 599. APPENDIKA Frequency-Domsin Plots AL Poly tof Taster urine 627 12 Bode Pa (Come Pt of e Tate Furcion 622 APPENDIX 8 Laplace Transform Table APPENDIX Laprange’s Muttipl F Method Index ” 489 572 28 445 60 Preface ‘Tas frst elon ofthis hook, published in 1962, was ebucaetsized by having apters un sampled-data and nonlinear contol wets, The @oatnent ofthe analysis dod design a eoutrol ayaa as wl lsc ‘The two major changes m the cevond scion, published :n 1969, wer she Inclusion ofthe sate salable tcbniquo and ibe Pegation nthe atcotedaia ‘ystems withthe euntioueus dats sven. The chapter on noalinea ste ‘was eliminated inthe secood sdition fo the dissepeintntat of some vaste ‘ha es Ache tine of the zevsion the nthe Ft that comprehensive tea sent on Ih subjtt of aonlioear systems could nok be yade efoccvly with (be availible spe ‘The hi edivon is sd: wrtt a anutrotutory txt for & seer ours cen contol systems. Althobgh a great dal Hus bnppen inthe are of mudern conto! theory in the pas fan vents, proparie suitable satel for a modern ‘nurse on inUeduciony contol systema emis a eliiule ae, The problen 7 8 compLeated wie becouse its eieah to teah the fopics concerned with act sdelupmentsin modern gontaltheor atthe undergziatetevel The uvigoe situadon in control syste hus hoe hal many ofthe rail problenn ee still berg solved in the ‘adustry by the canal metals, While some ofthe techuiques in inoder vontol theaey ae much more peer and can ole mors complet protleras,thewe see ofles moe resiistions whew comes £0 isle! aplcations of the solutions, However, it should be rues that modern contol engnrer should Have an understating of the eax ws villas the modern zontal methods. The flr wil exhanae ane broaden anes Petssetive im solving & prarlcal problem. iti ihe authors opicon that nae sould sre bulanee in the leabigor coool eens theory at he besa ad inteemodiac Levels, Phefore in this easel enn, qual ems is placed on tae Casal rveids upd the modern control theory "A umber ef intuctory books with ties insairg sera contro! tncory have boon published i roe! years. Some wutho's ise wlteend es tify an incogenrs the atic conte ith the moder emt. but aseording to the eities and reviews moet fave fled, Athoe: «ach 2 youl is highly tlesrele, only {tow eke standpnne uf posenation, the? doesnot seem 0 ba goed sluton, Tis posible that te ofrerlive may’ nese uelived al fiw theories and ew secinigues ae deselora (oF this parpos. ‘Te tact onaine tht envio! sys, some way, ea be Tegan 6 a sense of earning hess to cove ove problemcom, 39 many eilrent ways. Thexe {Gifsent nays af ealuon may be compared aad seighec ngaist each ether ‘ur it muy mot bo posable tw unity wl Une approaches. The app-oach used in Ahi contr preent the casa) metbod sl the madsen pprosch talepete Geutps ard whooever posible, che tro apnvaashes are cessive as ule vers and the agvantagae abd Gvelvattagss of ech ors sighed, Many Hnwativs examples ste eacriod cu hy bath ethos ‘Meany exiting text beohs on coral apleny have bese ceil fr rae inctading veguat: practical problems, One reson for ti i, perhaps, that Iman rout fgk weitees ae ait, who Lal es prs! bach yuound and Caperenoe necesary to provule rea-He examples, Ano:ter seus is chat the icuty i the contol syster ata is compo by se Het ul os = Tie probes ars bighy comple and ae roel suitable cs leative exams ec ineodactony level. Usually, zu wf the eels > Wt oy simpliving the prose to Hi the aise ehsorens avd dssion techn veloped in the Teet materi, Nevéchslen, the anjorigy of se tuden asia conirl sgt Course atthe sein Teel do no parsbe «ral cae ca hey lst put thar baostedge 0 imate #0 i thet nee eaplosne 1 extsenely Thvperont Sr rhe sadentsy wll af ose who Il cextiey tn gtin an stole? of what a ral seal sport Ike. Theelor, the author has inuroduorl a momber of pravtal snamples in vatious Belts iq th text, The homework probleros ako refct i ulept of fet 1 provide wore rene ‘le probes. Ths following features of this wew edition are sniphas.2ed hy vompatson svith elas 9 eden: 1. Fagus) empbisis on asiol ang nodem conte! Crees 1 aotesion of ampled-S4 aed nosinsae sn 5 Praha peta extrplc abd Romeverk probs ‘The mateial agvernbld in this Book is an outgrots nf sonfortevel onal stem coun taught by Up author at the University of inate mt {Ceiea-Champaign for many see, Moreover, thi bon’ ct syle sntaplable for sella and reference “Ghaper 1 present the bie conaoptofcrntolsstese. The dein of sowie and iv eats ar voversd. Chaper 2 prescars "a tema fountae ion and pretiminariss ‘the subjets includ are Loplacetrasfoem, trans: Sons, matin ulge, an the applzaions of the icanstorm snibde, Truncer funtion sad sighel flow waphs are discnsed in Canptcr > Chapter 4 Inve les the state varabla appwoa:b to demamci ssteras. The woncept at shefoitonsn€cootrellaiily ana abserabity ae inirodueed at he eaey sags ‘These sobees ane ltr bir usd fr the amalyis an desigo of line venta ‘golem, Chapter 5 ceases the matiersaient modeling of phen system, Here, the crphins ison ehsteamechaniglaytems, Typical cansdaces and onto) stats sd in price are ilustrated. The treatment eamnot Be ‘shsussive a8 thee are numernos types af dite and onttl ates, Chapeer 6 ves th time response considerltons uf ental sprit Hoth the clade) fd the modern approach are used Sons simple design consi the time dumvin urs pind aut. Chapter 7, §, and 9 eal with topes ou seit Foot Inv, aad Cequeney response nif woncl sss In Cher 10, the cesgn of eontealssten ie dienes’. and the approach is basics eisial. Chaper 11 canting vom of che cptinal concrl subjsct ‘hich ne eathor's open. can be tga atthe urergndats feel finns remit. ‘he text coos conan mote wetiad thu can he coved #1 00s ‘One of the dliculcs in prepiting thr: hock was the weghuse of what subsets to cover. Te keep the book sm a txsonable length, some suo, Seb were inthe orgll dra, ad toe Ife oul oF the fal mune ‘These invuded the feaurent af Signa? Rov graphs so tine denmiin anal, of dereteduta gyslens ihe aocnad mend of Liammor'sstdilc ethod, eseibing fontion analy state plane aout, an lew elected laps on Implementing optinal wana. The auijor fle that The yclusion of These Subjeots woul ade matraly co the spi OF the est, Pot othe east of bigher pie. The author wishes uv express bis sirsee appreciation to ean W. 1 veri fmetitun, Profsaove # dota, O. ls Gadey, aml 12 W. Eva, ofthe Livery of Minos, fo tu encoaragement und sna nthe prec. ‘The cutbor is graf to Dr. Andrew Sage oF the Luiversy of V noi aod Dr. Singh ofthe Uoivesty af lies Loe thlrvalibe suggestions, Seal tans also goes to Mies. sae Carlton who psd & gud potton of the wan seript and give be inatimbleasstaney fu proofreading, estima ©. Kia etna ne