1　BASIC CONCEPTS

Introduction

Control Terminology

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序

PREFACE

Functioning of a Control System 　

Examples of Closed-Loop Control Systems 　

Problems

2　BLOCK DIAGRAMS

Introduction

Definition of a Block Diagram

Summing Point

Takeoff Point

Block Diagram Representation of an Equation

Block Diagram Representation of Control Systems

General Transfer Function

Transfer Functions

Transfer Function of a Closed-Loop System

Comparison of Positive-Feedback and Negative-Feedback Systems

Unity Feedback Systems

Conversion to a Unity Feedback System

Block Diagram Simplification

Op-Amp Simulation of a Block Diagram

Summing Point

Summing Point with Adjustable SP Input

Gain Block

Constant-Gain(Noninverting)Block

Constant-Gain(Inverting)Block

Takeoff Point 　

Summing Point with Multiple Inputs　

Problems

Transformations

3　LAPLACE TRANSFORMS

Introduction

Laplace Transform Integral

Transform Notation

Rules of Transformation 　

Forward Transformation Procedure

Inverse Transformation Procedure

Partial-Fraction Expansion 　

Distinct Roots 　

Repeated Roots 　

Applications of Laplace Transforms:Difierential Equations 　

Problems

4　MATHEMATICAL MODELING

Introduction

Mathematical Model

Nonlinear Behavior

Transfer Functions

Electrical Networks

Resistor

Capacitor

Inductor

Series RC Circuit

Series RL Circuit

Series RLC Circuit

Mechanical Systems

Mass

Spring

Damper

Spring Mass Damper System

Analogy Between Physical Systems

Fluid Systems

Single-Tank Fluid-Level System

Two-Tank Fluid-Level System

Thermal Systems

Heating Systems

Problems

5　TRANSIENT RESPONSE

Introduction

Time Response

Input Functions

Step Function

Pulse Function

Impulse Function

Delayed Impulse Function

Ramp Function

Sinusoidal Function

Types of Transient Responses

Overdamped Response

Underdamped Response

Critically Damped Response

Constant Oscillations

Increasing Oscillations

Exponential Rise

Transient Response Through Laplace Transformation

Impulse Function Response 　

Characteristic Equation 　

Poles and Zeros of the Transfer Function 　

s-Plane and Pole-Zero Map

Pole Location and Transient Response

Problems

6　FREQUENCY RESPONSE

Introduction

Methods Used for Frequency Response Representation

Frequency Response Determination

Problems

Introduction

7　COMMON TRANSFER FUNCTIONS

Common Blocks(Transfer Functions)

Constant Block

Time Response of a Constant TF

Frequency Response of a Constant Block

Integral Block

Time Response of an Integral Block

Frequency Response of an Integral Block

Derivative Block

Time Response of a Derivative Block

Frequency Response of a Derivative Block

The Relationship Between Integral and Derivative Blocks

First-Order Lag Block

Time Response to a Unit Step Input

Frequency Response of a First-Order Lag Block

First-Order Lead Block

Frequency Response of a First-Order Lead Block

Time Response to a Unit Step Input

Second-Order Lag Block

Time Response to a Unit Step Input

Characteristics of Underdamped Response

Frequency Response of a Second-Order Lag Block

Second-Order Lead Block

Time Response to a Unit Step Input

Frequency Response of a Second-Order Lead Block

Dead Time:Transportation Lag Block

Time Response to a Unit Step Input

Frequency Response of a Dead-Time Block

Problems

8 STABILITY

Introduction

Concept of Stability

Stability and the Open-Loop Transfer Function

Open-Loop Gain and Operating Frequency

Stability from a Bode Plot

Gain and Phase Margins

Gain and Phase Crossover Frequencies

Gain Margin(GM)

Phase Margin(PM)

Desired Gain and Phase Margins

Stability from the Characteristic Equation

Routh Criterion for Stability

Root Locus Analysis

Root Locus Through MATLAB

Problems

9 CONTROLLERS:THE ON-OFF CONTROLLER

Introduction

Role of a Controller

Types of Controllers

Use of a Percent as Input and Output

Measured Value as a Percentage Value

Set Point as a Percentage Value

Error as a Percentage Value

On-Off Control

Types of On-Off Control

Electronic Implementation(Analog)

Two-Position Control

Neutral Zone

Controller Action

Applications

Electronic Implementation

Multiposition(Floating)Control

Problems

Introduction

Proportional Controller(P)

10 ANALOG CONTROLLER Ⅰ

Transfer Characteristic

Proportional Band

Relationship Between Percent Output and Physical Controller Output

Electronic Implementation

Frequency Response of a Proportional Controller

Proportional Control of a Closed Loop

Steady-State Operation with Zero Error

Proportional Controller with Offset

Offset Voltage Adjustment

Integral Controller(Ⅰ)

Electronic Implementation

Limiting DC Gain

Frequency Response of an Ideal Integral Controller

Frequency Response of a DC Gain-Limited Integral Controller

Derivative Controller(D)

Electronic Implementation

Frequency Response of a Derivative Controller

Limiting High-Frequency Gain

Problems

11 ANALOG CONTROLLER Ⅱ

Introduction

Composite Controller Modes

Serial Implementation

Parallel Implementation

PI Controller

Electronic Implementation of a PI Controller

Frequency Response of a PI Controller

PD Controller

Electronic Implementation of a PD Controller

Frequency Response of a PD Controller

PID Controller

Electronic Implementation

Frequency Response of a PID Controller 　

Changing the Operating Mode 　

Problems 　

12　DIGITAL CONTROLLER 　

Introduction 　

Digital Controller

Controller Sequence of Operation 　

Considerations for Digital Control

Digital Two-Position Control

Sequence of Operation 　

Microcontroller Implementation of a Two-Position Controller 　

Digital PID Controller 　

Analog PID Algorithm 　

Digital PID Algorithm

Zero-Order Hold(ZOH)

Ideal Digital PID Algorithm 　

Discrete PID Algorithm—BASIC Language 　

Manual Control Mode 　

Velocity Algorithm 　

Improved Derivative Term 　

Microcontroller Implementation of a PID Controller 　

DC Motor Control 　

Control Software Description 　

Problems　

13　FUZZY CONTROLLER 　

Introduction 　

Continuum World 　

Conventional Logic 　

Fuzzy Logic and Fuzzy Logic Terminology 　

Fuzzy Control System 　

Problem Identification 　

Conceptual Design 　

Problems 　

Introduction 　

14　CONTROLLER TUNING AND SYSTEM DESIGN 　

Controller Tuning 　

Performance Criteria 　

Controller Tuning:Known Plant Model 　

Plant Model from Experimental Response Testing 　

Step Response Test

Graphical Analysis

Computational Method

Frequency Response Test

Experimental Determination of Controller Setting

Continuous Cycling Method

Reaction Curve Method

Case Study:Machine Positional Control System

Drive Mechanism

Position Transducer

Problems 　

Feedforward Control

15　ADDITIONAL CONTROL TECHNIQUES

Introduction

Disturbance Signal

Ratio Control

Cascade Control

Autotuning Controller

State-Space Techniques

State Variables

State Equations

Transfer Function to State-Space Representation

Problems

BIBLIOGRAPHY

APPENDIX A MATLAB

GLOSSARY

INDEX