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Tables of Contents for System Dynamics and Control
Chapter/Section Title
Page #
Page Count
Preface
xi
Part I Physical Modelling and Model Construction
1
266
Chapter 1 Introduction
2
28
1.1 CONCEPT OF DYNAMIC AND STATIC SYSTEMS
3
6
Basic Dynamic Operators
5
1
Units and Dimensions
6
3
1.2 FEEDBACK CONTROL CONCEPT
9
11
Feedback Control Structure
11
3
Other Types of Control
14
1
Nature of Loop: Feed-Forward Control System
15
1
Nature of Controller: Discontinuous versus Control Control
16
4
1.3 DEFINITION OF A SYSTEM
20
4
Purpose of a Dynamic Study
20
1
Stages of a Dynamic Study
20
1
Introducing the Block Diagram
21
3
1.4 STAGE ONE: PHYSICAL MODELING
24
2
Systems Concept: Illustration
25
1
1.5 PRACTICE PROBLEMS
26
4
Chapter 2 Specification of Dynamic Systems and Behavior
30
49
2.1 INTRODUCING MECHANICAL BEHAVIOR COMPONENTS
30
9
Compliance and Inertia
30
1
The Translational Spring
30
2
The Torsional Spring
32
1
The Translational Mass
33
2
Rotary Inertia
35
2
Mechanical Damping
37
1
Other Types of Mechanical Resistance
38
1
2.2 SOME ELECTRICAL BEHAVIOR COMPONENTS
39
3
Ideal Resistor
40
1
Voltage and Current Sources
40
1
Ideal Capacitor and Inductor
41
1
2.3 PHYSICAL MODELING EXAMPLES
42
4
Simple Mechanical Systems
42
3
Some Examples of Electrical Networks
45
4
Series and Parallel Combinations of R, C, and L Elements
49
2
Practical R, RC, and RCL Networks
51
5
2.4 STAGE TWO-MODEL CONSTRUCTION: PRELIMINARIES
56
13
System Decomposition
57
5
Lumping, Linearity, and Stationarity
62
6
Uncertainty, Continuous and Sampled Data
68
1
2.5 PRACTICE PROBLEMS
69
10
Chapter 3 Engineering System Models in State Space
79
70
3.1 THE STATE SPACE APPROACH
79
8
The Concept and Definition of State
79
4
The State Modeling Procedure
83
1
Assigning State Variables and Causality
84
3
3.2 MECHANICAL SYSTEMS
87
14
One-Dimensional Examples
87
4
Cables: Length and Stretch
91
3
Multidimensional Examples
94
2
Gyroscopic Action and Gyroscopes
96
5
3.3 INCOMPRESSIBLE FLUID SYSTEMS
101
13
Short and Long Constrictions
102
4
Fluid Storage and Fluid Inertia
106
1
Examples in Fluid Systems
107
7
3.4 ELECTRICAL SYSTEMS
114
24
Some Electronic Circuit Components
117
13
Further Examples in Electrical Engineering
130
8
3.5 PRACTICE PROBLEMS
138
11
Chapter 4 Other System Models in State Space
149
44
4.1 THERMAL SYSTEMS
149
8
Conduction, Convection, and Radiation
149
2
Heat Energy Storage
151
1
Examples in Thermal Systems
152
5
4.2 PROCESS ENGINEERING SYSTEMS
157
19
Simple Material Transport
157
3
Compressible, Mixing, and Reacting Systems
160
16
4.3 EXAMPLES OF DISTRIBUTED-PARAMETER MODELS
176
7
Longitudinal and Torsional Vibration in Thin Rods
176
2
One-Dimensional Heat Conduction
178
1
Lumped-Parameter Alternatives
179
4
4.4 NONENGINEERING SYSTEMS EXAMPLES
183
4
4.5 PRACTICE PROBLEMS
187
6
Chapter 5 Generalized System Models and Analogs
193
74
5.1 THE CONCEPT OF ENERGETIC SYSTEMS
193
14
Generalized Signal Variables and Elements
194
2
Kinetic and Potential Energy
196
3
Transformers and Gyrators, Transducers, and Example Systems
199
8
5.2 ELECTROMECHANICAL SYSTEMS
207
23
Electrical Transducers
208
3
Introducing Electromechanical Energy Conversion Principles
211
11
DC Motor Control
222
4
Introducing Stepping Motors and Drives
226
4
5.3 OTHER HYBRID AND INTEGRATED SYSTEM EXAMPLES
230
12
Transducers in Mechanical Systems
231
2
Integrated System Examples
233
9
5.4 INTRODUCING MICROMACHINED DEVICES
242
16
Microsensors and Acutuators
242
16
5.5 PRACTICE PROBLEMS
258
7
References for Part I
265
2
Part II Model Solution
267
330
Chapter 6 Response of Lumped-Parameter Systems
268
70
6.1 STAGE THREE: MODEL SOLUTION
268
19
Free Response, Time Constant, and Stability of First-Order Systems
268
5
Forced Motion, Linearity, and Superposition
273
4
Forced Response to Some Special Input Functions
277
5
Impulse Response and Convolution
282
5
6.2 REVIEW OF COMPLEX NUMBERS AND THEIR REPRESENTATIONS
287
6
The Complex Plane
288
1
Exponential Representation
289
1
Sinusoids and Phasors
290
3
6.3 TIME-DOMAIN SOLUTION OF THE VECTOR STATE EQUATION
293
21
State Vector and Vector Differential (or Difference) Equation
293
3
First-Order System Analogy and State Transition Matrix
296
3
Eigenvalues, Eigenvectors, and Response Modes
301
3
Forced Response and Application of Linear Transformations
306
8
6.4 SOLUTION OF THE LINEAR DISCRETE-TIME MODEL
314
4
Response Modes
315
1
Computation of Discrete-Time System Response
316
2
6.5 DIGITAL COMPUTER SIMULATION OF DYNAMIC SYSTEMS
318
15
Introducing Some Math Packages
319
2
Digital Computer Solution of Continuous-Time Systems
321
12
6.6 PRACTICE PROBLEMS
333
9
Chapter 7 Solution of Higher-Order Scalar Systems
338
67
7.1 RESPONSE OF SECOND-ORDER SYSTEMS
338
18
Free Response: Natural Frequency and Damping
340
8
Forced Response to Special Inputs
348
8
7.2 PHASOR TRANSFORM SOLUTION AND SINUSOIDAL STEADY STATE
356
10
The Phasor Transform
356
3
Phasor Transfer Function: Impedance/Admittance
359
1
Resonance, Quality Factor, and Bandwidth
360
6
7.3 INTRODUCING MECHANICAL VIBRATIONS
366
18
Single-Degree-of-Freedom Examples
367
6
Eliminating Excess Vibration
373
3
Two-Degrees-of-Freedom Systems: Vibration Absorber
376
8
7.4 FORCED RESPONSE TO NONSINUSOIDAL PERIODIC INPUTS
384
13
Introducing Fourier Series
384
11
The Complex Fourier Series
395
2
7.5 PRACTICE PROBLEMS
397
8
Chapter 8 Further Solution by Transformation
405
67
8.1 THE FOURIER TRANSFORM SOLUTION
406
20
Properties of the Fourier Transform
408
6
Signal Processing
414
5
Discrete Fourier Transform and Computation with Fast Fourier Transform
419
3
Discrete Fourier Transform
422
4
8.2 INTRODUCING THE LAPLACE TRANSFORM METHOD
426
28
Transform Properties: Initial-and Final-Value Theorems
434
6
Transfer Functions, Impulse Response, Convolution
440
5
The Inverse Transform and Partial Fraction Expansions
445
4
Applications to Nonstationary and Distributed Systems
449
5
8.3 LAPLACE DOMAIN SOLUTION OF THE VECTOR STATE EQUATION
454
4
The State Transition Matrix Revisited
455
1
The Matrix Transfer Function
456
2
8.4 z-DOMAIN SOLUTION OF DISCRETE-TIME SYSTEMS
458
8
Introducing the z-Transform
459
2
Pulse Transfer Functions and Recurrence Solutions
461
2
z-Domain to Discrete-time Domain
463
3
8.5 PRACTICE PROBLEMS
466
6
Chapter 9 Representation of System Dynamics
472
63
9.1 OPERATIONAL BLOCK DIAGRAMS AND RELATED ALGEBRA
472
11
Canonical Scalar Feedback
474
3
Application to Mixed Component Systems
477
2
Application to Reverse Reaction Processes
479
2
z-Transform Block Diagrams
481
2
9.2 IDENTIFICATION AND FREQUENCY RESPONSE
483
16
Frequency Domain Identification
483
1
Bode and Nyquist Diagrams
484
2
Frequency Response Computation
496
3
9.3 RELATIONS BETWEEN TRANSFER FUNCTIONS AND STATE MODELS
499
10
Signal Flow Graphs
501
3
The Companion Form
504
5
9.4 CONCEPTS IN STATE SPACE
509
19
State Trajectories for Second-Order Systems
509
4
Application to Some Nonlinear Control Systems
513
4
Controllability and Observability and Dynamic Systems
517
11
9.5 PRACTICE PROBLEMS
528
7
Chapter 10 Stability of Dynamic Systems
535
62
10.1 STABILITY CONCEPTS IN STATE SPACE
536
8
Stability in the Sense of Lyapunov
539
1
Lyapunov Method of Stability Analysis
539
5
10.2 STABILITY AND EIGENVALUE PLACEMENT
544
14
The Root Lucas Technique
544
9
The Routh Stability Test
553
5
10.3 STABILITY OF DISCRETE-TIME SYSTEMS
558
6
Stability by Transformation to s-Plane
560
3
Jury's Inners Stability Tests
563
1
10.4 STABILITY IN THE FREQUENCY DOMAIN
564
12
The Closed-Loop Frequency Response
565
5
Relative Stability and Gain and Phase Margins
570
4
Nyquist Stability Criterion
574
2
10.5 STABILITY AND NONLINEAR SYSTEMS
576
13
The Describing Function and Kochenburger Criterion
578
6
Stability of Limit Cycle of a Nonlinear System
584
2
Circle Criterion
586
3
10.6 PRACTICE PROBLEMS
589
7
References for Part II
596
1
Part III System Design
597
382
Chapter 11 Introducing Automatic Control Systems Design
599
51
11.1 STAGE FOUR: DESIGN
599
16
Continuous-Time Single-Loop Feedback Control
600
2
Stability and Sensitivity
602
3
Time Response Performance and Design
605
10
11.2 CLASSICAL FEEDBACK CONTROLLERS
615
12
One-, Two- and Three-Mode Process Controllers
615
4
Controller Selection and Tuning
619
4
Computer-Assisted Design of a Nonlinear System
623
4
11.3 ROOT LOCUS AND ROUTH TEST DESIGN
627
17
Design Using the Rooth Locus Method
628
5
Application to Dead Time and Other Nonlinear Systems
633
3
Second-Order Dominance
636
4
Design Using the Routh Criterion
640
4
11.4 PRACTICE PROBLEMS
644
6
Chapter 12 Design in the Frequency Domain
650
46
12.1 DESIGN FOR SPECIFIED PERFORMANCE
650
21
Design for Given Frequency/Bandwidth and Resonance Peak
651
7
Design Based on Gain-and Phase-Margin Criteria
658
2
Correlation between Transient and Frequency Response
660
11
12.2 DESIGN BY FREQUENCY DOMAIN COMPENSATION
671
14
The Problem of Pole-Zero Cancellation
671
2
Gain-Factor Compensation
673
1
Lead and Lag Compensation
674
8
Lag-Lead and Cascade Compensation
682
3
12.3 CLASSICAL MODE CONTROLLERS AND NONLINEAR EXAMPLES
685
8
Proportional, Reset, and Rate Compensation
685
4
Rate Feedback Compensation
689
4
12.4 PRACTICE PROBLEMS
693
3
Chapter 13 Multiloop and Other Control Configurations
696
118
13.1 FEEDFORWARD AND CASCADE CONFIGURATIONS
697
18
Introducing Feedforward Control Systems
697
3
Comparative Design Examples of Feedforward Control
700
7
Cascade Control Systems
707
7
Tuning the Cascade Controller
714
1
13.2 MULTIVARIABLE CONTROL SYSTEMS
715
21
The Concept of Decoupling Control
715
7
State Vector Feedback and Eigenvalue Assignment
722
5
Scalar Controlling Input and Integral Action
727
6
Extension to a Vector Controlling Input
733
3
13.3 INTRODUCING STATE OBSERVERS AND ADAPTIVE CONTROL
736
20
Design of State Observers
737
7
Application to State Vector Feedback Systems
744
3
Adaptive Control Concepts
747
3
Signal-Synthesis MRAS Design Illustration
750
6
13.4 INTRODUCING CONTINUOUS-TIME OPTIMAL CONTROL AND THE H(XXX) CONTROL CONCEPT
756
50
Nature of the Optimal Control Problem
757
3
Some Basic Concepts of Calculus of Variations
760
10
The Maximum (Minimum) Principle and Time-Optimal Control
770
12
Optimal Linear Quadratic Regulator
782
8
Performance Robustness and the H(XXX) Norm
790
7
An H(XXX) Control Problem and Solution
797
9
13.5 PRACTICE PROBLEMS
806
8
Chapter 14 Discrete-Time Control Systems
814
70
14.1 DIGITAL COMPUTERS IN CONTROL LOOPS
815
5
Supervisory Control
815
2
Hierarchical and Distributed Controls
817
1
Sequence and Numerical Control Systems
818
1
Direct Digital Control Systems
819
1
14.2 SINGLE-LOOP DIGITAL CONTROLLERS
820
23
Two-Term (PI) and Three-Term(PID) Control
820
2
Sampled-Data Systems and Parameters Tuning
822
13
Minimal Response Algorithms in the z-Domain
835
8
14.3 DISCRETE-TIME STATE SPACE DESIGN
843
12
Finite-Time Settling State Vector Feedback Control
843
6
State Vector Feedback with Eigenvalue Assignment Method
849
1
Finite-Time Settling Observer
850
5
14.4 INTRODUCING DISCRETE-TIME OPTIMAL CONTROL
855
25
Elements of Dynamics Programming
855
3
The Discrete-Time Optimal Control Problem
858
2
Computing a Solution
860
11
The Discrete-Time Linear Quadratic Problem
871
9
14.5 PRACTICE PROBLEMS
880
4
Chapter 15 Realization of Microcomputer Control Systems
884
51
15.1 INTERFACING WITH EXTERNAL EQUIPMENT
885
8
Digital-to-Analog Conversion
885
2
Analog-to-Digital Conversion
887
2
Digital Input/Output
889
4
15.2 COMPUTER DATA ACQUISITION AND CONTROL
893
12
Pulse Measurements and Commands
893
4
Pulse Outputs and the Stepping Motor
897
2
Features of Analog Data Acquisition
899
4
Analog Outputs and Pulse Modulation
903
2
15.3 ILLUSTRATION OF A COMPUTER IMPLEMENTATION: PRELIMINARIES
905
8
Process Control Valves Revisited
905
5
Commercial Interface and Signal-Conditioning Instrument Modules
910
1
The Implemented Interface Hardware and Software
911
2
15.4 MICROCOMPUTER REALIZATION OF A LIQUID LEVEL/FLOW CONTROL SYSTEM
913
19
Physical Elements and Configuration of Control System
914
2
Component Calibrations
916
7
Analytical Design and Computer Simulation
923
5
Main Control Experiment
928
4
15.5 PRACTICE PROBLEMS
932
1
References for Part III
933
2
Appendix A Selected Constants, Properties, and Conversion Factors
935
3
SELECTED CONSTANTS
935
1
Table A1 Some Fundamental Constants
935
1
TYPICAL VALUES OF SELECTED PROPERTIES
936
Table A2 Selected Properties of Some Gases
936
1
Table A3 Selected Properties of Some Liquids
936
1
Table A4 Selected Properties of Some Solids
937
1
SELECTED CONVERSION FACTORS
Table A5 Conversion Factors from SI to U.S. Customary Units
938
1
Table A6 Conversion Factors from U.S. Customary to SI Units
939
1
Appendix B Some Elements of Linear Algebra
940
28
B.1 MATRICES: DEFINITIONS
940
7
Vectors
941
3
Other Special Types of Matrices
944
3
B.2 MATRIX ALGEBRA
947
5
Equality, Addition, and Multiplication of Matrices
947
1
Determination of Rank (in Inverse) of a Matrix
948
4
B.3 EIGENVALUES AND DIAGONALIZATION
952
7
Eigen Problem
952
1
Diagnalization
953
2
Quadratic and Definite Forms
955
4
B.4 FUNCTIONS OF A SQUARE MATRIX
959
9
Conversion of Continuous Vector State Model to Discrete Time
960
1
Cayley-Hamilton Theorem and Sylvester's Formula
961
2
Zeros of a Polynomial Matrix
963
5
Appendix C Answers to Selected (*) Problems
968
11
Index
979