An Introduction to System Modeling and Control
- Length: 752 pages
- Edition: 1
- Language: English
- Publisher: Wiley
- Publication Date: 2022-03-22
- ISBN-10: 1119842891
- ISBN-13: 9781119842897
- Sales Rank: #2489146 (See Top 100 Books)
This book is an introduction to modeling and control for students in electrical and mechanical engineering. It begins by explaining the need for control in the form of a description of how an airplane flies using several figures to illustrate the specifics. It then moves on to a review of Laplace transform theory and the solution of differential equations using it. Later chapters explore concepts in modeling such as a review of Newton’s laws, torque and moment of inertia, two gear systems, and more. The book closes with chapters on the notion of statespace models and their stability, designing trajectory tracking controllers, and state and parameter estimation.
Cover Title Page Copyright Preface About the Companion Website 1 Introduction 1.1 Aircraft 1.2 Quadrotors 1.3 Inverted Pendulum 1.4 Magnetic Levitation 1.5 General Control Problem Notes 2 Laplace Transforms 2.1 Laplace Transform Properties 2.2 Partial Fraction Expansion 2.3 Poles and Zeros 2.4 Poles and Partial Fractions Appendix: Exponential Function Problems Notes 3 Differential Equations and Stability 3.1 Differential Equations 3.2 Phasor Method of Solution 3.3 Final Value Theorem 3.4 Stable Transfer Functions 3.5 Routh–Hurwitz Stability Test Problems Notes 4 Mass–Spring–Damper Systems 4.1 Mechanical Work 4.2 Modeling Mass–Spring–Damper Systems 4.3 Simulation Problems 5 Rigid Body Rotational Dynamics 5.1 Moment of Inertia 5.2 Newton's Law of Rotational Motion 5.3 Gears 5.4 Rolling Cylinder Problems Notes 6 The Physics of the DC Motor 6.1 Magnetic Force 6.2 Single‐Loop Motor 6.3 Faraday's Law 6.4 Dynamic Equations of the DC Motor 6.5 Optical Encoder Model 6.6 Tachometer for a DC Machine* 6.7 The Multiloop DC Motor* Problems Notes 7 Block Diagrams 7.1 Block Diagram for a DC Motor 7.2 Block Diagram Reduction Problems Note 8 System Responses 8.1 First‐Order System Response 8.2 Second‐Order System Response 8.3 Second‐Order Systems with Zeros 8.4 Third‐Order Systems Appendix: Root Locus Matlab File Problems Note 9 Tracking and Disturbance Rejection 9.1 Servomechanism 9.2 Control of a DC Servo Motor 9.3 Theory of Tracking and Disturbance Rejection 9.4 Internal Model Principle 9.5 Design Example: PI‐D Control of Aircraft Pitch 9.6 Model Uncertainty and Feedback* Problems Notes 10 Pole Placement, 2 DOF Controllers, and Internal Stability 10.1 Output Pole Placement 10.2 Two Degrees of Freedom Controllers 10.3 Internal Stability 10.4 Design Example: 2 DOF Control of Aircraft Pitch 10.5 Design Example: Satellite with Solar Panels (Collocated Case) Appendix: Output Pole Placement Appendix: Multinomial Expansions Appendix: Overshoot Appendix: Unstable Pole‐Zero Cancellation Appendix: Undershoot Problems Notes 11 Frequency Response Methods 11.1 Bode Diagrams 11.2 Nyquist Theory 11.3 Relative Stability: Gain and Phase Margins 11.4 Closed‐Loop Bandwidth 11.5 Lead and Lag Compensation 11.6 Double Integrator Control via Lead‐Lag Compensation 11.7 Inverted Pendulum with Output Appendix: Bode and Nyquist Plots in Matlab Problems Notes 12 Root Locus 12.1 Angle Condition and Root Locus Rules 12.2 Asymptotes and Their Real Axis Intersection 12.3 Angles of Departure 12.4 Effect of Open‐Loop Poles on the Root Locus 12.5 Effect of Open‐Loop Zeros on the Root Locus 12.6 Breakaway Points and the Root Locus 12.7 Design Example: Satellite with Solar Panels (Noncollocated) Problems Note 13 Inverted Pendulum, Magnetic Levitation, and Cart on a Track 13.1 Inverted Pendulum 13.2 Linearization of Nonlinear Models 13.3 Magnetic Levitation 13.4 Cart on a Track System Problems Notes 14 State Variables 14.1 Statespace Form 14.2 Transfer Function to Statespace 14.3 Laplace Transform of the Statespace Equations 14.4 Fundamental Matrix 14.5 Solution of the Statespace Equation* 14.6 Discretization of a Statespace Model* Problems Note 15 State Feedback 15.1 Two Examples 15.2 General State Feedback Trajectory Tracking 15.3 Matrix Inverses and the Cayley–Hamilton Theorem 15.4 Stabilization and State Feedback 15.5 State Feedback and Disturbance Rejection 15.6 Similarity Transformations 15.7 Pole Placement 15.8 Asymptotic Tracking of Equilibrium Points 15.9 Tracking Step Inputs via State Feedback 15.10 Inverted Pendulum on an Inclined Track* 15.11 Feedback Linearization Control* Appendix: Disturbance Rejection in the Statespace Problems Notes 16 State Estimators and Parameter Identification 16.1 State Estimators 16.2 State Feedback and State Estimation in the Laplace Domain* 16.3 Multi‐Output Observer Design for the Inverted Pendulum* 16.4 Properties of Matrix Transpose and Inverse 16.5 Duality* 16.6 Parameter Identification Problems Note 17 Robustness and Sensitivity of Feedback 17.1 Inverted Pendulum with Output x 17.2 Inverted Pendulum with Output 17.3 Inverted Pendulum with State Feedback 17.4 Inverted Pendulum with an Integrator and State Feedback 17.5 Inverted Pendulum with State Feedback via State Estimation Problems Notes References Index Wiley End User License Agreement
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