Â  Â 1.1 Introduction

Â  Â 1.2 A history of control systems

Â Â Â 1.3 System configurations

Â Â Â 1.4 Analysis and design objectives

Â Â Â 1.5 The design process

Â Â Â 1.6 Computer-aided design

Â Â Â 1.7 The control systems engineer

Â Â Â 1.8 Summary

Â Â Â 1.9 Review questions

Â Â Â 1.10 Cyber exploration laboratory

Â Â Â 1.11 Bibliography

Â Â Â 1.12 Problems

Â  Â 1.13 LAB: Getting started with MATLAB Grader

Â Â Â 2.1 Introduction

Â Â Â 2.2 Laplace transform review

Â Â Â 2.3 The transfer function

Â Â Â 2.4 Electrical network transfer functions, Part 1

Â Â Â 2.5 Electrical network transfer functions, Part 2

Â Â Â 2.6 Translational mechanical system transfer functions

Â Â Â 2.7 Rotational mechanical system transfer functions

Â Â Â 2.8 Transfer functions for systems with gears

Â Â Â 2.9 Electromechanical system transfer functions

Â Â Â 2.10 Electric circuit analogs

Â Â Â 2.11 Nonlinearities

Â Â Â 2.12 Linearization

Â Â Â 2.13 Summary

Â Â Â 2.14 Review questions

Â Â Â 2.15 Cyber exploration laboratory

Â Â Â 2.16 Hardware interface laboratory

Â Â Â 2.17 Bibliography

Â Â Â 2.18 Problems

Â  Â 2.19 LAB: Partial fraction expansion and inverse Laplace transforms

Â  Â 2.20 LAB: Solving mesh equations with symbolic variables

Â Â Â 3.1 Introduction

Â Â Â 3.2 Some observations

Â Â Â 3.3 The general state-space representation

Â Â Â 3.4 Applying the state-space representation

Â Â Â 3.5 Converting a transfer function to state space

Â Â Â 3.6 Converting from state space to a transfer function

Â Â Â 3.7 Linearization

Â Â Â 3.8 Summary

Â Â Â 3.9 Review questions

Â Â Â 3.10 Cyber exploration laboratory

Â Â Â 3.11 Bibliography

Â Â Â 3.12 Problems

Â  Â 3.13 LAB: State space and transfer function representations of a two mass system

Â Â Â 4.1 Introduction

Â Â Â 4.2 Poles, zeros, and system response

Â Â Â 4.3 First-order systems

Â Â Â 4.4 Second-order systems: introduction

Â Â Â 4.5 The general second-order system

Â Â Â 4.6 Underdamped second-order systems

Â Â Â 4.7 System response with additional poles

Â Â Â 4.8 System response with zeros

Â Â Â 4.9 Effects of nonlinearities upon time response

Â Â Â 4.10 Laplace transform solution of state equations

Â Â Â 4.11 Time domain solution of state equations

Â Â Â 4.12 Summary

Â Â Â 4.13 Review questions

Â Â Â 4.14 Cyber exploration laboratory

Â Â Â 4.15 Hardware interface laboratory

Â Â Â 4.16 Bibliography

Â Â Â 4.17 Problems

Â  Â 4.18 LAB: First order response characteristics of an RC circuit

Â  Â 4.19 LAB: Second order response characteristics of a mass-spring-damper system

Â Â Â 5.1 Introduction

Â Â Â 5.2 Block diagrams

Â Â Â 5.3 Analysis and design of feedback systems

Â Â Â 5.4 Signal-flow graphs

Â Â Â 5.5 Mason’s rule

Â Â Â 5.6 Signal-flow graphs of state equations

Â Â Â 5.7 Alternative representations in state space

Â Â Â 5.8 Similarity transformations

Â Â Â 5.9 Summary

Â Â Â 5.10 Review questions

Â Â Â 5.11 Cyber exploration laboratory

Â Â Â 5.12 Bibliography

Â Â Â 5.13 Problems

Â  Â 5.14 LAB: Block diagram algebra and transient responses for higher order systems

Â  Â 5.15 LAB: State space models of a double mass-spring-damper system

Â Â Â 6.1 Introduction

Â Â Â 6.2 Routh-Hurwitz criterion

Â Â Â 6.3 Routh-Hurwitz criterion: special cases

Â Â Â 6.4 Routh-Hurwitz criterion: additional examples

Â Â Â 6.5 Stability in state space

Â Â Â 6.6 Summary

Â Â Â 6.7 Review questions

Â Â Â 6.8 Cyber exploration laboratory

Â Â Â 6.9 Bibliography

Â Â Â 6.10 Problems

Â  Â 6.11 LAB: Stability of a DC motor with position control

Â Â Â 7.1 Introduction

Â Â Â 7.2 Steady-state error for unity-feedback systems

Â Â Â 7.3 Static error constants and system type

Â Â Â 7.4 Steady-state error specifications

Â Â Â 7.5 Steady-state error for disturbances

Â Â Â 7.6 Steady-state error for nonunity-feedback systems

Â Â Â 7.7 Sensitivity

Â Â Â 7.8 Steady-state error for systems in state space

Â Â Â 7.9 Summary

Â Â Â 7.10 Review questions

Â Â Â 7.11 Cyber exploration laboratory

Â Â Â 7.12 Bibliography

Â Â Â 7.13 Problems

Â  Â 7.14 LAB: Steady-state analysis of a motor speed controller

Â Â Â 8.1 Introduction

Â Â Â 8.2 Defining the root locus

Â Â Â 8.3 Properties of the root locus

Â Â Â 8.4 Sketching the root locus

Â Â Â 8.5 Refining the sketch

Â Â Â 8.6 An example

Â Â Â 8.7 Transient response design via gain adjustment

Â Â Â 8.8 Generalized root locus

Â Â Â 8.9 Root locus for positive-feedback systems

Â Â Â 8.10 Pole sensitivity

Â Â Â 8.11 Summary

Â Â Â 8.12 Review questions

Â Â Â 8.13 Cyber exploration laboratory

Â Â Â 8.14 Hardware interface laboratory

Â Â Â 8.15 Bibliography

Â Â Â 8.16 Problems

Â  Â 8.17 LAB: Using root locus to select feedback gains and evaluate system stability

Â Â Â 9.1 Introduction

Â Â Â 9.3 Improving transient response via cascade compensation

Â Â Â 9.4 Improving steady-state error and transient response

Â Â Â 9.5 Feedback compensation

Â Â Â 9.6 Physical realization of compensation

Â Â Â 9.7 Summary

Â Â Â 9.8 Review questions

Â Â Â 9.9 Cyber exploration laboratory

Â Â Â 9.10 Hardware interface laboratory

Â Â Â 9.11 Bibliography

Â Â Â 9.12 Problems

Â  Â 9.13 LAB: PI compensator design using root locus

Â Â Â 10.1 Introduction

Â Â Â 10.2 Asymptotic approximations: Bode plots, Part 1

Â Â Â 10.3 Asymptotic approximations: Bode plots, Part 2

Â Â Â 10.4 Introduction to the Nyquist criterion

Â Â Â 10.5 Sketching the Nyquist diagram

Â Â Â 10.6 Stability via the Nyquist diagram

Â Â Â 10.7 Gain margin and phase margin via the Nyquist diagram

Â Â Â 10.8 Stability, gain margin, and phase margin via Bode plots

Â Â Â 10.9 Relation between closed-loop transient and closed-loop frequency responses

Â Â Â 10.10 Relation between closed- and open-loop frequency responses

Â Â Â 10.11 Relation between closed-loop transient and open-loop frequency responses

Â Â Â 10.12 Steady-state error characteristics from frequency response

Â Â Â 10.13 Systems with time delay

Â Â Â 10.14 Obtaining transfer functions experimentally

Â Â Â 10.15 Summary

Â Â Â 10.16 Review questions

Â Â Â 10.17 Cyber exploration laboratory

Â Â Â 10.18 Bibliography

Â Â Â 10.19 Problems

Â  Â 10.20 LAB: Frequency response of a flexible link

Â Â Â 11.1 Introduction

Â Â Â 11.2 Transient response via gain adjustment

Â Â Â 11.3 Lag compensation

Â Â Â 11.4 Lead compensation

Â Â Â 11.5 Lag-lead compensation

Â Â Â 11.6 Summary

Â Â Â 11.7 Review questions

Â Â Â 11.8 Cyber exploration laboratory

Â Â Â 11.9 Bibliography

Â Â Â 11.10 Problems

Â  Â 11.11 LAB: Lag compensator design via Bode plots

Â Â Â 12.1 Introduction

Â Â Â 12.2 Controller design

Â Â Â 12.3 Controllability

Â Â Â 12.4 Alternative approaches to controller design

Â Â Â 12.5 Observer design

Â Â Â 12.6 Observability

Â Â Â 12.7 Alternative approaches to observer design

Â Â Â 12.8 Steady-state error design via integral control

Â Â Â 12.9 Summary

Â Â Â 12.10 Review questions

Â Â Â 12.11 Cyber exploration laboratory

Â Â Â 12.12 Bibliography

Â Â Â 12.13 Problems

Â  Â 12.14 LAB: State feedback using an observer

Â Â Â 13.1 Introduction

Â Â Â 13.2 Modeling the digital computer

Â Â Â 13.3 The z-transform

Â Â Â 13.4 Transfer functions

Â Â Â 13.5 Block diagram reduction

Â Â Â 13.6 Stability

Â Â Â 13.7 Steady-state errors

Â Â Â 13.8 Transient response on the z-plane

Â Â Â 13.9 Gain design on the z-plane

Â Â Â 13.10 Cascade compensation via the s-plane

Â Â Â 13.11 Implementing the digital compensator

Â Â Â 13.12 Summary

Â Â Â 13.13 Review questions

Â Â Â 13.14 Cyber exploration laboratory

Â Â Â 13.15 Bibliography

Â Â Â 13.16 Problems

Â  Â 13.17 LAB: Digital controller design using the Tustin transformation

14.1 List of symbols

15.1 Antenna azimuth position control system

16.1 Unmanned free-swimming submersible vehicle

17.1 Key equations

Â Â Â 18.1 Introduction

Â Â Â 18.2 MATLAB examples

Â Â Â 18.3 Command summary

Â Â Â 18.4 Bibliography

Â Â Â 19.1 Introduction

Â Â Â 19.2 Using Simulink

Â Â Â 19.3 Examples

Â Â Â 19.4 Using Simulink for control system design

Â Â Â 19.5 Summary

Â Â Â 19.6 Bibliography

Â Â Â 20.1 Introduction

Â Â Â 20.2 Control systems analysis, design, and simulation

Â Â Â 20.3 Using LabVIEW

Â Â Â 20.4 Analysis and design examples

Â Â Â 20.5 Simulation examples

Â Â Â 20.6 Interfacing with external hardware

Â Â Â 20.7 Summary

Â Â Â 20.8 Bibliography

Â Â Â 21.1 Introduction

Â Â Â 21.2 The Linear System Analyzer: description

Â Â Â 21.3 Using the Linear System Analyzer

Â Â Â 21.4 Linear System Analyzer examples

Â Â Â 21.5 Simulink and the Linear Analysis Tool

Â Â Â 21.6 Using the Linear Analysis Tool with Simulink to analyze a response

Â Â Â 21.7 The Control System Designer: description

Â Â Â 21.8 Using the Control System Designer

Â Â Â 21.9 Summary

Â Â Â 21.10 Bibliography

Â Â Â 22.1 Introduction

Â Â Â 22.2 Symbolic Math Toolbox examples

Â Â Â 22.3 Command summary

Â Â Â 22.4 Bibliography

Â Â Â 23.1 Matrix definitions and notations

Â Â Â 23.2 Matrix operations

Â Â Â 23.3 Matrix and determinant identities

Â Â Â 23.4 Systems of equations

Â Â Â 23.5 Bibliography

Â Â Â 24.1 Step response of a system represented in state space

Â Â Â 24.2 Root locus and frequency response

Â Â Â 25.1 Derivation of a schematic for a DC motor

Â Â Â 25.2 Bibliography

Â Â Â 26.1 Derivation of the time domain solution of state equations

Â Â Â 26.2 Bibliography

Â Â Â 27.1 Solution of state equations for a different initial timeÂ

Â Â Â 27.2 Bibliography

Â Â Â 28.1 Introduction

Â Â Â 28.2 Expressing any vector in terms of basis vectors

Â Â Â 28.3 Vector transformations

Â Â Â 28.4 Finding the transformation matrix, P

Â Â Â 28.5 Transforming the state equations

Â Â Â 28.6 Bibliography

Â Â Â 29.1 Derivation of the behavior of the root locus at infinity (Kuo, 1987)

Â Â Â 29.2 Derivation of transition method for breakaway and break-in points

Â Â Â 29.3 Bibliography

## Same Text, More Action

Highly regarded for its accessibility and focus on practical applications, Control Systems Engineering offers students a comprehensive introduction to the design and analysis of feedback systems that support modern technology. Now available in a zyVersion, Control Systems Engineering features:

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## Author

Norman S. Nise
California State Polytechnic University, Pomona