Control Systems Does ety BE IAG WB el OYE CO) PAE Ze Present position of beam Launch command Power amplifier Gl NEW.AGE INTERNATIONAL PUBLISHERSCopyright © 2006, 1998, 1982, 1975, New Age International (P) Ltd., Publishers Published by New Age International (P) Lid., Publishers First Edition : 1975 Fourth Edition : 2006 Allrights reserved. ‘No part of this book may be reproduced in any form, by photostat, microfilm, xerography, or any othor means, or incorporated into any information retrieval system, electronic or ‘mechanical, without the written permission of the copyright owner. ISBN:81-224-1775-2 Rs. 695.00 C-05-07-261 Printed in India at Ajit Printers, Delhi. ‘Typeset at Goswami Printers, Delhi. PUBLISHING FOR ONE WORLD NEW AGE INTERNATIONAL (P) LIMITED, PUBLISHERS (ormerly Wiley Eastern Limited) 4835/24, Ansari Road, Daryaganj, New Delhi - 110002 Visit us at www-newagepublishers.comCONTENTS Preface to the Fourth Edition v Preface to the Third Edition vii 1._Inrropucrion = 1-20 1.1 The Control System 2 fa Wrewieha teas Bi 13 _ History and Development of Automatic Control_10 15 ication of Control Theory in Non-engineoring Fields 18 16 ‘The Conteal Problem 19° Feedback and Nox ferdbac Siaieas 92 a of: : Variations by Use of Feedback 93 83 Control Over System Dynamics by Use of Feedback 97 3.4 Control of the Effects of Disturbance Signals by Use of Feedback 100 3.5 Linearizing Effect of Feedback 102 3.6 Regenerative Feedback 103 3.7 jes 104 Copyrighted material5. 4.3 Controller Components 184 4.4 Stepper Motors 154 4.5 Hydraulic Systems _163 4.6 Pneumatic Systems 177 Problems 185. ‘Tive Response Anacysis, Desicn SPECIFICATIONS 193-268 AND PERFORMANCE INDICES 5.1__Introductian 194 5.2 Standard Test Signals 195 5.3 __ Time Response of First-order Systems 197 5.4 Time of Second-order 8} 199 55 -state Errors and Error Constants 210 5.6 Effect of Adding a Zero toa System 214 5.7 Design Specifications of Second-order Systems 215 5.8 Design Considerations for Higher-order Systems 221 5.9 Performance Indices 223. 5.10 Illustrative Examples 227 5.11 Robotic Control Systems 237 5.12 State Variable Anslysis—Laplace Transform Technique 245 5.13_The Approximation of Higher-order Systems by Lower-order_ 248 6.3 Hurwitz Stability Criterion 277 6.4 Routh Stability Criterion 278 6.5 Relative Stability Analysis 287 6.6__ More on the Routh Stability Criterion 290 6.7 Stability of Systems Modelled in State Variable Form 291 Problems 293 7. Tue Roor Locus Tecunique 297-343 7.1 Introduction 298 7.2 The Root Locus Concepts 299 4 eitial dn ‘L4___Root Contours 327 15 ms with Transportation Lag 332 7.6__ Sensitivity of the Roots of the Characteristic Equation 334 7.1__ MATLAB: Tool for Design and Analysis of Control Systems— ix INT_340 Problems 240CONTENTS x Frequency Response ANALYSIS 345-376 &.1_ Introduction 246 8.2 Correlation between Time and Frequency Response 347 83 Polar Plots 352 84 Bode Plots 355 8.5 All-pass and Minimum-phase Systems 366 8.6 Experimental Determination of Transfer Functions 367 8.7 Log-magnitude versus Phase Plots 370 8.8 MATLAB: Tool for Design and Analysis of Control Systems—Appendix III 371 Problems 274 “ 9, Srapmurry in Frequency Domaw CC C“‘“‘;CCST-4D 10. iL 9.1 Introduction 378 9.2___Mathematical Preliminaries 378 9.3 Nyquist Stability Criterion 381 9.4 Assessment of Relative Stability Using Nyquist Criterion 394 9.5 Closed-loop Frequency Response 409 9.6 Sensitivity Analysis in Frequency Domsin 417 Problems 420 IntRopuction To Drsicn 425-511 10.1 The Design Problem 426 10.2 Preliminary Considerations of Classical Design 428 10.3 Realization of Basie Compensators 435 10.4 Cascade Compensation in Time Domain 440 10.5 Cascade Compensation in Frequency Domain 459 10.6 Tuning of PID Controllers 477 10.7 Feedback Compensation 483 10.8 Robust Control System Design 490 Problems 506 Drier Conrson Systems 513-568 11.1 Introduction 514 1L2_ Spectrum Analysis of Sampling Process _517 118 Signal Reconstruction 619 114 Difference Equations 519 11.5 Theztransform 621 116 The z-transfer Function (Pulse Transfer Function) 531 11.7 The Inverse z-transform and Response of Linear Discrete Systems 535 11.8 The z-transform Analysis of Sampled-data Control Systems 538 1L9 The z- and s-domain Relationship 648