Fundamentals of linear control

317 Pages·2017·1.832 MB·English

by  De Oliveira M.C

FundamentalsofLinearControl
AConciseApproach
Taking a different approach from standard thousand-page reference-style control text-
books,FundamentalsofLinearControlprovidesaconciseyetcomprehensiveintroduc-
tiontotheanalysisanddesignoffeedbackcontrolsystemsinfewerthan300pages.
The text focuses on classical methods for dynamic linear systems in the frequency
domain.Thetreatmentis,however,modernandthereaderiskeptawareofcontempo-
rarytoolsandtechniques,suchasstate-spacemethodsandrobustandnonlinearcontrol.
Featuringfullyworkeddesignexamples,richlyillustratedchapters,andanextensive
setofhomeworkproblemsandexamplesspanningacrossthetextforgradualchallenge
andperspective,thistextbookisanexcellentchoiceforsenior-levelcoursesinsystems
andcontrolorasacomplementaryreferenceinintroductorygraduate-levelcourses.The
text isdesigned to appeal toabroad audience of engineers and scientistsinterestedin
learningthemainideasbehindfeedbackcontroltheory.
Maurício C.de Oliveira is Adjunct Professor of Dynamic Systems and Control in the
DepartmentofMechanicalandAerospaceEngineeringattheUniversityofCalifornia,
SanDiego.

Fundamentals of Linear Control
A Concise Approach
MAURÍCIO C. DE OLIVEIRA
UniversityofCalifornia,SanDiego
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DOI:10.1017/9781316941409
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Title:Fundamentalsoflinearcontrol:aconciseapproach/Maurbiciode
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UniversityPress,[2017]|Includesbibliographicalreferencesandindex.
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ToBeatrizandVictor

Contents
Preface pagexi
Overview xiii
1 Introduction 1
1.1 ModelsandExperiments 1
1.2 CautionaryNote 5
1.3 AControlProblem 6
1.4 SolutionwithoutFeedback 6
1.5 SolutionwithFeedback 7
1.6 Sensitivity 10
1.7 Disturbances 11
Problems 13
2 DynamicSystems 17
2.1 DynamicModels 18
2.2 Block-DiagramsforDifferentialEquations 19
2.3 DynamicResponse 20
2.4 ExperimentalDynamicResponse 22
2.5 DynamicFeedbackControl 24
2.6 NonlinearModels 27
2.7 DisturbanceRejection 30
2.8 IntegralAction 33
Problems 35
3 Transfer-FunctionModels 47
3.1 TheLaplaceTransform 47
3.2 Linearity,Causality,andTime-Invariance 52
3.3 DifferentialEquationsandTransfer-Functions 55
3.4 IntegrationandResidues 57
3.5 RationalFunctions 63
3.6 Stability 69
3.7 TransientandSteady-StateResponse 71
3.8 FrequencyResponse 73
viii Contents
3.9 NormsofSignalsandSystems 75
Problems 78
4 FeedbackAnalysis 91
4.1 Tracking,Sensitivity,andIntegralControl 93
4.2 StabilityandTransientResponse 97
4.3 IntegratorWind-up 102
4.4 FeedbackwithDisturbances 105
4.5 Input-DisturbanceRejection 106
4.6 MeasurementNoise 111
4.7 Pole–ZeroCancellationsandStability 111
Problems 117
5 State-SpaceModelsandLinearization 126
5.1 RealizationofDynamicSystems 126
5.2 State-SpaceModels 133
5.3 MinimalState-SpaceRealizations 139
5.4 NonlinearSystemsandLinearization 141
5.5 SimplePendulum 143
5.6 PenduluminaCart 146
5.7 CarSteering 148
5.8 LinearControlofNonlinearSystems 150
Problems 154
6 ControllerDesign 165
6.1 Second-OrderSystems 165
6.2 DerivativeAction 172
6.3 Proportional–Integral–DerivativeControl 174
6.4 Root-Locus 175
6.5 ControloftheSimplePendulum–PartI 183
Problems 192
7 FrequencyDomain 201
7.1 BodePlots 201
7.2 Non-Minimum-PhaseSystems 213
7.3 PolarPlots 216
7.4 TheArgumentPrinciple 218
7.5 StabilityintheFrequencyDomain 223
7.6 NyquistStabilityCriterion 227
7.7 StabilityMargins 235
Contents ix
7.8 ControloftheSimplePendulum–PartII 238
Problems 246
8 PerformanceandRobustness 255
8.1 Closed-LoopStabilityandPerformance 255
8.2 Robustness 261
8.3 SmallGain 262
8.4 ControloftheSimplePendulum–PartIII 266
8.5 CircleCriterion 271
8.6 FeedforwardControlandFiltering 278
Problems 284
References 293
Index 295