Derek Atherton

Control Engineering

Control Engineering 2nd edition 2013 Derek Atherton & ISBN 978-87-403-0473-2

Control Engineering

Contents

Contents
Preface About the author 1 1.1 1.2 1.3 2 2.1 2.2 2.3 2.4 2.5 2.6 Introduction What is Control Engineering? Contents of the Book References Mathematical Model Representations of Linear Dynamical Systems Introduction The Laplace Transform and Transfer Functions State space representations Mathematical Models in MATLAB Interconnecting Models in MATLAB Reference 9 10 11 11 12 14 15 15 16 19 22 24 26

Control Engineering

Contents

3 3.1 3.2 3.3 4 4.1 4.2 4.3 4.4 5 5.1 5.2 5.3 5.4 6 6.1 6.2

Transfer Functions and Their Responses Introduction Step Responses of Some Specific Transfer Functions Response to a Sinusoid Frequency Responses and Their Plotting Introduction Bode Diagram Nyquist Plot Nichols Plot The Basic Feedback Loop Introduction The Closed Loop System Specifications Stability More on Analysis of the Closed Loop System Introduction Time Delay

27 27 29 35 38 38 38 44 47 48 48 49 50 54 58 58 58

Control Engineering

Contents

6.3 6.4 6.5 7 7.1 7.2 7.3 7.4 7.5 8 8.1 8.2 8.3 8.4 8.5 8.6

The Root Locus Relative Stability M and N Circles Classical Controller Design Introduction Phase Lead Design Phase Lag Design PID Control References Parameter Optimisation for Fixed Controllers Introduction Some Simple Examples Standard Forms Control of an Unstable Plant Further Comments References

60 63 66 68 68 69 76 79 89 90 90 91 95 98 100 101

Control Engineering

Contents

9 9.1 9.2 9.3 9.4 9.5 9.6 9.7 10 10.1 10.2 10.3 10.4 10.5 10.6 10.7 10.8

Further Controller Design Considerations Introduction Lag-Lead Compensation Speed Control Position Control A Transfer Function with Complex Poles The Effect of Parameter Variations References State Space Methods Introduction Solution of the State Equation A State Transformation State Representations of Transfer Functions State Transformations between Different Forms Evaluation of the State Transition Matrix Controllability and Observability Cascade Connection

102 102 102 105 106 107 111 117 118 118 118 120 121 126 127 128 130

Control Engineering

Contents

11 11.1 11.2 11.3 11.4 11.5 12 13 14 15

Some State Space Design Methods Introduction State Variable Feedback Linear Quadratic Regulator Problem State Variable Feedback for Standard Forms Transfer Function with Complex Poles Appendix A Appendix B Appendix C Appendix D

131 131 131 134 135 140 142 148 149 150