Contents
Preface to the Second Edition
Preface to the First Edition
1 Introduction
1.1 What Is Feedback?
1.2 What is Feedforward?
1.3 What Is Control?
1.4 Uses of Feedback and Control
1.5 Feedback Properties
1.6 Simple Forms of Feedback
1.7 Combining Feedback with Logic
1.8 Control System Architectures
1.9 Further Reading
Exercises
2 Feedback Principles
2.1 Nonlinear Static Models
2.2 Linear Dynamical Models
2.3 Using Feedback to Attenuate Disturbances
2.4 Using Feedback to Track Reference Signals
2.5 Using Feedback to Provide Robustness
2.6 Positive Feedback
2.7 Further Reading
Exercises
3 System Modeling
3.1 Modeling Concepts
3.2 State Space Models
3.3 Modeling Methodology
3.4 Modeling Examples
3.5 Further Reading
Exercises
4 Examples
4.1 Cruise Control
4.2 Bicycle Dynamics
4.3 Operational Amplifier Circuits
4.4 Computing Systems and Networks
4.5 Atomic Force Microscopy
4.6 Drug Administration
4.7 Population Dynamics
Exercises
5 Dynamic Behavior
5.1 Solving Differential Equations
5.2 Qualitative Analysis
5.3 Stability
5.4 Lyapunov Stability Analysis
5.5 Parametric and Nonlocal Behavior
5.6 Further Reading
Exercises
6 Linear Systems
6.1 Basic Definitions
6.2 The Matrix Exponential
6.3 Input/Output Response
6.4 Linearization
6.5 Further Reading
Exercises
7 State Feedback
7.1 Reachability
7.2 Stabilization by State Feedback
7.3 Design Considerations
7.4 Integral Action
7.5 Linear Quadratic Regulators
7.6 Further Reading
Exercises
8 Output Feedback
8.1 Observability
8.2 State Estimation
8.3 Control Using Estimated State
8.4 Kalman Filtering
8.5 State Space Controller Design
8.6 Further Reading
Exercises
9 Transfer Functions
9.1 Frequency Domain Modeling
9.2 Determining the Transfer Function
9.3 Laplace Transforms
9.4 Block Diagrams and Transfer Functions
9.5 Zero Frequency Gain, Poles, and Zeros
9.6 The Bode Plot
9.7 Further Reading
Exercises
10 Frequency Domain Analysis
10.1 The Loop Transfer Function
10.2 The Nyquist Criterion
10.3 Stability Margins
10.4 Bode's Relations and Minimum Phase Systems
10.5 Generalized Notions of Gain and Phase
10.6 Further Reading
Exercises
11 PID Control
11.1 Basic Control Functions
11.2 Simple Controllers for Complex Systems
11.3 PID Tuning
11.4 Integral Windup
11.5 Implementation
11.6 Further Reading
Exercises
12 Frequency Domain Design
12.1 Sensitivity Functions
12.2 Performance Specifications
12.3 Feedback Design via Loop Shaping
12.4 Feedforward Design
12.5 The Root Locus Method
12.6 Design Example
12.7 Further Reading
Exercises
13 Robust Performance
13.1 Modeling Uncertainty
13.2 Stability in the Presence of Uncertainty
13.3 Performance in the Presence of Uncertainty
13.4 Design for Robust Performance
13.5 Further Reading
Exercises
14 Fundamental Limits
14.1 System Design Considerations
14.2 Bode's Integral Formula
14.3 Gain Crossover Frequency Inequality
14.4 The Maximum Modulus Principle
14.5 Robust Pole Placement
14.6 Nonlinear Effects
14.7 Further Reading
Exercises
15 Architecture and System Design
15.1 Introduction
15.2 System and Control Design
15.3 Top-Down Architectures
15.4 Bottom-Up Architectures
15.5 Interaction
15.6 Adaptation and Learning
15.7 Control Design in Common Application Fields
15.8 Further Reading
Bibliography
Index