【内容简介】
This comprehensive textbook provides an accessible introduction to control theory for undergraduate students. In addition to the fundamental concepts highlighted early in the book, later chapters provide solid grounding in control techniques and applications, making it an excellent refresher for practicing engineers. The mathematical equations and numerical methods that are essential to control theory are presented gradually throughout the text. In a logically flowing manner, the author covers a wide range of topics, including feedback theory, frequency domain methods, discrete time computer control, and transducers. A solutions manual is also provided for instructors.
【目次】

ESSENTIALS OF CONTROL TECHNIQUES?WHAT YOU NEED TO KNOW

Introduction: Control in a Nutshell, History, Theory, Art, and Practice

The Origins of Control

Early Days of Feedback

The Origins of Simulation

Discrete Time

Modeling Time

Introduction

A Simple System

Simulation

Choosing a Computing Platform

An Alternative Platform

Solving the First Order Equation

A Second Order Problem

Matrix State Equations

Analog Simulation

Closed Loop Equations

Simulation with JavaScript "On-Line Learning Interactive Environment for Simulation" (Jollies)Introduction

How a Javascript On-Line Learning Interactive Environment for Simulation (Jollies) Is Made Up

Moving Images without an Applet

A Generic Simulation

Practical Control Systems

Introduction

The Nature of Sensors

Velocity and Acceleration

Output Transducers

A Control Experiment

Adding Control

Introduction

Vector State Equations

Feedback

Another Approach

A Change of Variables

Systems with Time Delay and the PID Controller

Simulating the Water Heater Experiment

Systems with Real Components and Saturating Signals?Use of the Phase Plane

An Early Glimpse of Pole Assignment

The Effect of Saturation

Meet the Phase Plane

Phase Plane for Saturating Drive

Bang-Bang Control and Sliding Mode

Frequency Domain Methods

Introduction

Sine-Wave Fundamentals

Complex Amplitudes

More Complex Still-Complex Frequencies

Eigenfunctions and Gain

A Surfeit of Feedback

Poles and Polynomials

Complex Manipulations

Decibels and Octaves

Frequency Plots and Compensators

Second Order Responses

Excited Poles

Discrete Time Systems and Computer Control

Introduction

State Transition

Discrete Time State Equations and Feedback

Solving Discrete Time Equations

Matrices and Eigenvectors

Eigenvalues and Continuous Time Equations

Simulation of a Discrete Time System

A Practical Example of Discrete Time Control

And There’s More

Controllers with Added Dynamics

Controlling an Inverted Pendulum

Deriving the State Equations

Simulating the Pendulum

Adding Reality

A Better Choice of Poles

Increasing the Realism

Tuning the Feedback Pragmatically

Constrained Demand

In Conclusion

ESSENTIALS OF CONTROL THEORY?WHAT YOU OUGHT TO KNOW

More Frequency Domain Background Theory

Introduction

Complex Planes and Mappings

The Cauchy?Riemann Equations

Complex Integration

Differential Equations and the Laplace Transform

The Fourier Transform

More Frequency Domain Methods

Introduction

The Nyquist Plot

Nyquist with M-Circles

Software for Computing the Diagrams

The "Curly-Squares" Plot

Completing the Mapping

Nyquist Summary

The Nichols Chart

The Inverse-Nyquist Diagram

Summary of Experimental Methods

The Root Locus

Introduction

Root Locus and Mappings

A Root Locus Plot

Plotting with Poles and Zeroes

Poles and Polynomials

Compensators and Other Examples

Conclusions

Fashionable Topics in Control

Introduction

Adaptive Control

Optimal Control

Bang-Bang, Variable Structure, and Fuzzy Control

Neural Nets

Heuristic and Genetic Algorithms

Robust Control and H-infinity

The Describing Function

Lyapunov Methods

Conclusion

Linking the Time and Frequency Domains

Introduction

State-Space and Transfer Functions

Deriving the Transfer Function Matrix

Transfer Functions and Time Responses

Filters in Software

Software Filters for Data

State Equations in the Companion Form

Time, Frequency, and Convolution

Delays and the Unit Impulse

The Convolution Integral

Finite Impulse Response Filters

Correlation

Conclusion

More about Time and State Equations

Introduction

Juggling the Matrices

Eigenvectors and Eigenvalues Revisited

Splitting a System into Independent Subsystems

Repeated Roots

Controllability and Observability

Practical Observers, Feedback with Dynamics

Introduction

The Kalman Filter

Reduced-State Observers

Control with Added Dynamics

Conclusion

Digital Control in More Detail

Introduction

Finite Differences?The Beta-Operator

Meet the z-Transform

Trains of Impulses

Some Properties of the z-Transform

Initial and Final Value Theorems

Dead-Beat Response

Discrete-Time Observers

Relationship between z- and Other Transforms

Introduction

The Impulse Modulator

Cascading Transforms

Tables of Transforms

The Beta and w Transforms

Design Methods for Computer Control

Introduction

The Digital-to-Analog Convertor (DAC) as Zero Order Hold

Quantization

A Position Control Example, Discrete Time Root Locus

Discrete Time Dynamic Control-Assessing Performance

Errors and Noise

Disturbances

Practical Design Considerations

Delays and Sample Rates

Conclusion

Optimal Control?Nothing but the Best

Introduction: The End Point Problem

Dynamic Programming

Optimal Control of a Linear System

Time Optimal Control of a Second Order System

Optimal or Suboptimal?

Quadratic Cost Functions

In Conclusion

Index