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Chapter 10 deals with the basic and modified PID controls. This chapter gives discus- sions of two-degrees-of-freedom controls and design considerations for robust control. Chapter 11 presents a basic analysis of control systems in state space.
Concepts of controllability and observability are given here. The transformation of system models irom transfer-function model to state-space model, and vice versa by the use of MAT- LAB is included in this chapter. Chapter 12 treats the design of control systems in state space. This chapter begins with pole-placement design problems, followed by the design of state observers. A design of a type 1 servo system based on the pole-placement ap- proach is presented, including a computational solution with MATLAB.
Chapter 13 be- gins with Liapunov stability analysis, followed by design of a model-reference control system, where the conditions for Liapunoy stability are formulated first and then the system is designed within these limitations. Then quadratic optimal control problems are treated.
Here the Liapunov stability equation is used to lead into quadratic optimal control theory. Mathe- matical proofs are provided when they contribute to the understanding of the subjects presented. All the material has been organized toward a gradual development of con- trol theory.
Examples are presented at strategic points throughout the book so that the reader will have a better understanding of the subject matter discussed. In addition, a number of solved problems A-problems are provided at the end of each chapter. These prob- Jems constitute an integral part of the text. It is suggested that the reader study all of these problems carefully to obtain a deeper understanding of the topics discussed.
In addition, many unsolved problems B-problems are provided for use as homework or quiz problems. An instructor using this text can obtain a complete solutions manual for B-problems from the publisher. Most of the materials presented in this book have been class tested in senior and first-year graduate-level courses on control systems at the University of Minnesota. If this book is used as a text for a four-hour quarter course with 40 lecture hours ora three-hour semester course with 42 lecture hours , most of the materials in the first 10 chapters may be covered.
The first 10 chapters cover all basic materials of control systems normally required in a first course on control systems. If this book is used as a text for a four-hour semester course with 52 lecture hours , a good part of the book may be covered with flexibility in omitting certain subjects. For a two-quarter course se- quence with 60 or more lecture hours , the entire book may be covered.
This book can also serve as a self-study book for practicing engineers who wish to study basic materi- als of control theory. Appreciat due to Linda Ratis E for b in publishing the third edition, to the anonymous reviewers who made valuable sug- gestions at the early stage of the revision process, and to my former students who solved many of the A-problems and B-problems included in this book.
In addition to its extreme importance in space-vehicle systems, missile-guidance systems, robotic systems, and the like, automatic control has become an important and integral part of modern manufacturing and industrial processes. For example, automatic control isessential in the numerical control of machine tools in the manufacturing industries, in the design of autopilot systems in the aerospace industries, and in the design of cars and trucks in the automobile industries It is also essential in such industrial operations as controlling pressure, temperature, humidity, viscosity, and flow in the process industries.
Since advances in the theory and practice of automatic control provide the means for attaining optimal performance of dynamic systems, improving productivity, reliev- ing the drudgery of many routine repetitive manual operations, and more, most engi- neers and scientists must now have a good understanding of this field.
Historical review. Other significant works in the carly stages of development of control theory were due to Minorsky, Hazen, and Nyquist, among many others In , Minorsky worked on automatic controllers for steering ships and showed how stability could be determined from the differential equations describing the system.
In , Nyquist developed a relatively simple procedure for determining the stability of closed-loop systems on the basis of open-loop response to steady-state sinusoidal inputs.
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