Feedback Control of Dynamic Systems (What's New in Engineering)

1046 Pages·2018·11.584 MB·English

by  Gene Franklin, J. Powell, Abbas Emami-Naeini

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TableofLaplaceTransforms
Number F(s) f(t),t 0
≥
1 1 δ(t)
1
2 1(t)
s
1
3 t
s2
2!
4 t2
s3
3!
5 t3
s4
6 m! tm
sm+1
7 1 e−at
(s+a)
8 1 te−at
(s+a)2
9 1 1t2e−at
(s+a)3 2!
10 1 1 tm−1e−at
(s+a)m (m−1)!
a
11 1−e−at
s(s+a)
12 a 1(at−1+e−at)
s2(s+a) a
b−a
13 e−at−e−bt
(s+a)(s+b)
s
14 (1−at)e−at
(s+a)2
a2
15 1−e−at(1+at)
s(s+a)2
16 (b−a)s be−bt−ae−at
(s+a)(s+b)
a
17 sinat
(s2+a2)
s
18 cosat
(s2+a2)
s+a
19 e−atcosbt
(s+a)2+b2
b
20 e−atsinbt
(s+a)2+b2
(cid:29) (cid:28)
a2+b2 a
21 (cid:31) (cid:30) 1−e−at cosbt+ sinbt
s (s+a)2+b2 b
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ChronologicalHistoryofFeedbackControl
Driverless cars
Drones
Automotive stability augmentation systems
Farm tractor auto-steering via GPS
GPS
Unmanned aircraft
High precision disk drive control
Computer-aided control design
Internal model control
Feedback control of automotive engines
Aircraft auto-landing
Microprocessor
Apollo digital autopilot
Aircraft stability augmentation
LQG design
Inertial navigation
Maximum principle
Dynamic programming
Numerical optimization
Optimal filtering
Sampled data systems
Root locus
Nyquist stability
Frequency-response tools
Feedback amplifier
Autopilot
Stability analysis of governor
Routh stability
Fly-ball governor
Incubator
1600s 1700s 1800s 1910 1920 1930 1940 1950 1960 1970 1980 1990 2000 2010 2020
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Feedback Control
of Dynamic Systems
Eighth Edition
Global Edition
Gene F. Franklin
StanfordUniversity
J. David Powell
StanfordUniversity
Abbas Emami-Naeini
SCSolutions,Inc.
330 Hudson Street, NY, NY 10013
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To Valerie, Daisy, Annika, Davenport, Malahat, Sheila, Nima, and to
the memory of Gene
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Contents
Preface 15
1
AnOverviewandBrief
HistoryofFeedbackControl 23
APerspectiveonFeedbackControl 23
ChapterOverview 24
1.1 ASimpleFeedbackSystem 25
1.2 AFirstAnalysisofFeedback 28
1.3 FeedbackSystemFundamentals 32
1.4 ABriefHistory 33
1.5 AnOverviewoftheBook 40
Summary 41
ReviewQuestions 42
Problems 42
2
DynamicModels 46
APerspectiveonDynamicModels 46
ChapterOverview 47
2.1 DynamicsofMechanicalSystems 47
2.1.1 TranslationalMotion 47
2.1.2 RotationalMotion 54
2.1.3 CombinedRotationandTranslation 65
2.1.4 ComplexMechanicalSystems(W)** 68
2.1.5 DistributedParameterSystems 68
2.1.6 Summary: Developing Equations of Motion
forRigidBodies 70
2.2 ModelsofElectricCircuits 71
2.3 ModelsofElectromechanicalSystems 76
2.3.1 Loudspeakers 76
2.3.2 Motors 78
(cid:2) 2.3.3 Gears 82
(cid:2) 2.4 HeatandFluid-FlowModels 83
2.4.1 HeatFlow 84
2.4.2 IncompressibleFluidFlow 88
2.5 HistoricalPerspective 95
Summary 98
ReviewQuestions 98
Problems 99
**Sections with (W) indicates that additional material is located on the web at
www.pearsonglobaleditions.com.
7
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8 Contents
3
DynamicResponse 111
APerspectiveonSystemResponse 111
ChapterOverview 112
3.1 ReviewofLaplaceTransforms 112
3.1.1 ResponsebyConvolution 113
3.1.2 TransferFunctionsandFrequencyResponse 118
3.1.3 TheL−LaplaceTransform 128
3.1.4 PropertiesofLaplaceTransforms 130
3.1.5 InverseLaplace Transformby Partial-Fraction
Expansion 132
3.1.6 TheFinalValueTheorem 134
3.1.7 UsingLaplaceTransformstoSolveDifferential
Equations 136
3.1.8 PolesandZeros 138
3.1.9 LinearSystemAnalysisUsingMatlab 139
3.2 SystemModelingDiagrams 145
3.2.1 TheBlockDiagram 145
3.2.2 Block-DiagramReductionUsingMatlab 149
3.2.3 Mason’sRuleandtheSignalFlowGraph(W) 150
3.3 EffectofPoleLocations 150
3.4 Time-DomainSpecifications 159
3.4.1 RiseTime 159
3.4.2 OvershootandPeakTime 160
3.4.3 SettlingTime 161
3.5 EffectsofZerosandAdditionalPoles 164
3.6 Stability 174
3.6.1 BoundedInput–BoundedOutputStability 174
3.6.2 StabilityofLTISystems 176
3.6.3 Routh’sStabilityCriterion 177
(cid:2) 3.7 Obtaining Models from Experimental Data:
SystemIdentification(W) 184
(cid:2) 3.8 AmplitudeandTimeScaling(W) 184
3.9 HistoricalPerspective 184
Summary 185
ReviewQuestions 187
Problems 187
4
AFirstAnalysisofFeedback 208
APerspectiveontheAnalysisofFeedback 208
ChapterOverview 209
4.1 TheBasicEquationsofControl 210
4.1.1 Stability 211
4.1.2 Tracking 212
4.1.3 Regulation 213
4.1.4 Sensitivity 214