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From the Preface:

Classical Feedback Control describes design and implementation of high-performance feedback controllers for engineering systems. The book emphasizes the frequency-domain approach which is widely used in practical engineering. It presents frequency-domain design methods for high-order SISO and MIMO, linear and nonlinear, analog and digital control systems.

Modern technology allows implementation of high-performance controllers at a very low cost. Conversely, several analysis tools which were previously considered an inherent part of control system courses limit the design to low-order (and therefore low-performance) compensators. Among these are the root-locus method, the detection of right-sided polynomial roots using the Routh-Hurwitz criterion, and manual calculations using the Laplace and Fourier transforms. These methods have been rendered obsolete by computers and are granted only a brief treatment in the book, making room for loop shaping, Bode integrals, structural simulation of complex systems, multiloop systems, and nonlinear controllers, all of which are essential for good design practice.

In the design philosophy adopted by Classical Feedback Control, Bode integral relations play a key role. The integrals are employed to estimate the available system performance and to determine the frequency responses which maximize the disturbance rejection and the feedback bandwidth. This ability to quickly estimate the attainable performance is critical for system-level trades in the design of complex engineering systems, of which the controller is one of many subsystems. Only at the final design stage and only for the finally selected option of the system configuration do the compensators need to be designed in detail, by approximation of the already found optimal frequency responses.

Nonlinear dynamic compensation is employed to provide global and process stability, and to improve transient responses. The nearly-optimal high-order compensators are then economically implemented using analog and digital technology.

The first six chapters support a one-semester course in linear control. The rest of the book considers the issues of complex system simulation, robustness, global stability, and nonlinear control.

It was the authors' intention to make Classical Feedback Control not only a textbook but also a reference for students as they become engineers, enabling them to design high-performance controllers and easing the transition from school to the competitive industrial environment. The methods described in this book were used by the authors and their colleagues as the major design tools for feedback loops of aerospace and telecommunication systems.

MATLAB ® from MathWorks, Inc. is the most popular control CAD software package. Inexpensive student versions of MATLAB with control toolbox and of the associated block diagram simulation package Simulink ® available at university bookstores are more than adequate for the examples in this book and even some professional work. No preliminary knowledge of MATLAB is assumed, and only a small subset of MATLAB commands is used, listed below in the order of their introduction: logspace, bode, conv, tf2zp, zp2tf, step, gtext, title, set, grid, hold on, hold off, rlocus, plot(x,y), inv, linspace, lp2lp, lp2bp, format, roots, poly, inv, bilinear, residue, ezplot, linmod, laplace, invlaplace, impulse. It is standard procedure to do the preliminary design in MATLAB/Simulink since it's quick to code up, and when it's complete, to transfer the code to C.

CONTENTS     (Chapter 4 and Appendices 11 and 14 are on-line)

Preface

To Instructors

Chapter 1  Feedback and Sensitivity
1.1 Feedback control system 1.2 Feedback: positive and negative 1.3 Large feedback 1.4 Loop gain and phase frequency responses   1.4.1 Gain and phase responses   1.4.2 Nyquist diagram   1.4.3 Nichols chart 1.5 Disturbance rejection		1.6 Example of system analysis 1.7 Effect of feedback on the actuator nonlinearity 1.8 Sensitivity 1.9 Effect of finite plant parameter variations 1.10 Automatic volume control 1.11 Lead and PID compensators 1.12 Conclusion and a look ahead 1.13 Problems
Chapter 2  Feedforward, Multiloop, and MIMO Systems
2.1 Command feedforward 2.2 Prefilter and the feedback path equivalent 2.3 Error feedforward 2.4 Black's feedforward method 2.5 Multiloop feedback systems 2.6 Local, common, and nested loops		2.7 Crossed loops and main/vernier loops 2.8 Manipulations of block diagrams and calculations of transfer functions 2.9 MIMO feedback systems 2.10 Problems
Chapter 3  Frequency Response Methods
3.1 Conversion of time-domain requirements to frequency-domain   3.1.1 Approximate relations   3.1.2 Filters 3.2 Closed-loop transient response 3.3 Root locus 3.4 Nyquist stability criterion 3.5 Robustness and stability margins 3.6 Nyquist criterion for unstable plant 3.7 Successive loop closure stability criterion 3.8 Nyquist diagrams for loop transfer functions with poles at the origin 3.9 Bode integrals		3.9.1 Minimum phase functions   3.9.2 Integral of feedback   3.9.3 Integral of resistance   3.9.4 Integral of the imaginary part   3.9.5 Gain integral over finite bandwidth   3.9.6 Phase-gain relations 3.10 Phase calculations 3.11 From the Nyquist diagram to the Bode diagram 3.12 Non-minimum phase lag 3.13 Ladder networks and parallel connections of m.p. links 3.14 Problems
Chapter 4  Shaping the Loop Frequency Response
4.1 Optimality in the compensator design 4.2 Feedback maximization   4.2.1 Structural design   4.2.2 Bode step   4.2.3 Example of a system having loop response with Bode step   4.2.4 Reshaping the feedback response   4.2.5 Bode cutoff   4.2.6 Band-pass systems   4.2.7 Nyquist-stable systems 4.3 Feedback bandwidth limitations		4.3.1 Feedback bandwidth   4.3.2 Sensor noise at the system output   4.3.3 Sensor noise at the system input   4.3.4 Non-minimum phase shift   4.3.5 Plant tolerances   4.3.6 Lightly damped flexible plants; collocated and non-collocated control   4.3.7 Unstable plants 4.4 Coupling in MIMO systems 4.5 Shaping parallel channel responses 4.6 Problems
Chapter 5  Compensator Design
5.1 Accuracy of the loop shaping 5.2 Asymptotic Bode diagram 5.3 Approximation of constant slope gain response 5.4 Lead and lag links 5.5 Complex poles 5.6 Cascaded links 5.7 Parallel connection of links 5.8 Simulation of a PID controller 5.9 Analog and digital controllers 5.10 Digital compensator design		5.10.1 Discrete trapezoid integrator   5.10.2 Laplace and Tustin transforms   5.10.3 Design sequence   5.10.4 Block diagrams, equations, and computer code   5.10.5 Compensator design example   5.10.6 Aliasing and noise   5.10.7 Transfer function for the fundamental 5.11 Command profiling 5.12 Problems
Chapter 6  Analog Controller Implementation
6.1 Active RC circuits   6.1.1 Operational amplifier   6.1.2 Integrator and differentiator   6.1.3 Noninverting configuration   6.1.4 Op-amp dynamic range, noise, and packaging   6.1.5 Transfer functions with multiple poles and zeros   6.1.6 Active RC filters   6.1.7 Nonlinear links 6.2 Design and iterations in the element value domain   6.2.1 Cauer and Foster RC two-poles   6.2.2 RC-impedance chart 6.3 Analog compensator, analog or digitally controlled 6.4 Switched-capacitor filters   6.4.1 Switched-capacitor circuits		6.4.2 Example of compensator design 6.5 Miscellaneous hardware issues   6.5.1 Ground   6.5.2 Signal transmission   6.5.3 Stability and testing issues 6.6 PID tunable controller   6.6.1 PID compensator   6.6.2 TID compensator 6.7 Tunable compensator with one variable parameter   6.7.1 Bilinear transfer function   6.7.2 Symmetrical regulator   6.7.3 Hardware implementation 6.8 Loop response measurements 6.9 Problems
Chapter 7  Linear Links and System Simulation
7.1 Mathematical analogies   7.1.1 Electro-mechanical analogies   7.1.2 Electrical analogy to heat transfer   7.1.3 Hydraulic systems 7.2 Junctions of unilateral links   7.2.1 Structural design   7.2.2 Junction variables   7.2.3 Loading diagram 7.3 Effect of the plant and actuator impedances on the plant transfer function uncertainty 7.4 Effect of feedback on impedance (mobility)   7.4.1 Large feedback with velocity and force sensors   7.4.2 Blackman's formula   7.4.3 Parallel feedback   7.4.4 Series feedback   7.4.5 Compound feedback 7.5 Effect of load impedance on feedback 7.6 Flowchart for the chain connection of bi-directional two-ports   7.6.1 Chain connection of two-ports   7.6.2 DC motors   7.6.3 Motor output mobility		7.6.4 Piezoelements   7.6.5 Drivers, transformers, and gears   7.6.6 Coulomb friction 7.7 Examples of system modeling 7.8 Flexible structures   7.8.1 Impedance (mobility) of a lossless system   7.8.2 Lossless distributed structures   7.8.3 Collocated control   7.8.4 Non-collocated control 7.9 Sensor noise   7.9.1 Motion sensors     7.9.1.1 Position and angle sensors     7.9.1.2 Rate sensors     7.9.1.3 Accelerometers     7.9.1.4 Noise responses   7.9.2 Effect of feedback on the signal-to-noise ratio 7.10 Mathematical analogies to the feedback system   7.10.1 Feedback to parallel channel analogy   7.10.2 Feedback to two-pole connection analogy 7.11 Linear time-variable systems 7.12 Problems
Chapter 8  Introduction to Alternative Methods of Controller Design
8.1 QFT 8.2 Root locus and pole placement methods 8.3 State-space methods and full-state feedback		8.4 LQR and LQG 8.5 H , µ-synthesis, and LMI
Chapter 9  Adaptive Systems
9.1 Benefits of adaptation to the plant parameter variations 9.2 Static and dynamic adaptation 9.3 Plant transfer function identification 9.4 Flexible and n.p. plants		9.5 Disturbance and noise rejection 9.6 Pilot signals and dithering systems 9.7 Adaptive filters
Chapter 10  Provision of Global Stability
10.1 Nonlinearities of the actuator, feedback path, and plant 10.2 Types of self-oscillation 10.3 Stability analysis of nonlinear systems   10.3.1 Local linearization   10.3.2 Global stability 10.4 Absolute stability 10.5 Popov criterion   10.5.1 Analogy to passive two-poles' connection   10.5.2 Different forms of the Popov criterion		10.6 Applications of the Popov criterion   10.6.1 Low-pass system with maximum feedback   10.6.2 Band-pass system with maximum feedback 10.7 Absolutely stable systems with nonlinear dynamic compensation   10.7.1 Nonlinear dynamic compensator   10.7.2 Reduction to equivalent system   10.7.3 Design examples 10.8 Problems
Chapter 11  Describing Functions
11.1 Harmonic balance   11.1.1 Harmonic balance analysis   11.1.2 Harmonic balance accuracy 11.2 Describing functions 11.3 Describing functions for symmetrical piece-linear characteristics   11.3.1 Exact expressions   11.3.2 Approximate formulas 11.4 Hysteresis 11.5 Nonlinear links yielding phase advance for large amplitude signals 11.6 Two nonlinear links in the feedback loop 11.7 NDC with a single nonlinear nondynamic link		11.8 NDC with parallel channels 11.9 NDC made with local feedback 11.10 Negative hysteresis and Clegg Integrator 11.11 Nonlinear interaction between the local and common feedback loops 11.12 NDC in multiloop systems 11.13 Harmonics and intermodulation   11.13.1 Harmonics   11.13.2 Intermodulation 11.14 Verification of global stability 11.15 Problems
Chapter 12  Process Instability
12.1 Process instability 12.2 Absolute stability of the output process 12.3 Jump-resonance 12.4 Subharmonics		12.4.1 Odd subharmonics   12.4.2 Even subharmonics 12.5 Nonlinear dynamic compensation 12.6 Problems
Chapter 13  Multi-window Compensators
13.1 Composite nonlinear controllers 13.2 Multi-window control 13.3 Switching between hot and between cold controllers 13.4 Windup, and anti-windup controllers 13.5 Selection order		13.6 Acquisition and tracking 13.7 Time-optimal control 13.8 Examples 13.9 Problems
Appendices
Appendix 1  Feedback control, elementary treatment
A1.1 Introduction A1.2 Feedback control, elementary treatment   A1.2.1 Feedback block diagram   A1.2.2 Feedback control   A1.2.3 Links A1.3 Why control cannot be perfect   A1.3.1 Dynamic links   A1.3.2 Control accuracy limitations A1.4 NDC with parallel channels		A1.4.1 Self-oscillation   A1.4.2 Loop frequency response   A1.4.3 Control system design using frequency responses   A1.4.4 Some algebra   A1.4.5 Disturbance rejection   A1.4.6 Conclusion A1.5 New words
Appendix 2  Frequency responses
A2.1 Frequency responses A2.2 Complex transfer function A2.3 Laplace transform and the s-plane A2.4 Laplace transfer function		A2.5 Poles and zeros of transfer functions A2.6 Pole-zero cancellation, dominant poles and zeros A2.7 Time-responses A2.8 Problems
Appendix 3  Causal systems, passive systems, and positive real functions Appendix 4  Derivation of Bode integrals
A4.1 Integral of the real part A4.2 Integral of the imaginary part		A4.3 General relation
Appendix 5  Program for phase calculation Appendix 6  Generic single-loop feedback system Appendix 7  Effect of feedback on mobility, derivation Appendix 8  Dependence of a function on a parameter Appendix 9  Balanced bridge feedback Appendix 10  Phase-gain relation for describing functions
Appendix 11  Discussions
A11.1 Compensator implementation A11.2 Feedback: positive and negative A11.3 Tracking systems A11.4 Elements (links) of the feedback system A11.5 Plant transfer function uncertainty A11.6 The Nyquist stability criterion A11.7 Actuator's output impedance A11.8 Integral of feedback A11.9 Bode integrals A11.10 The Bode phase-gain relation A11.11 What limits the feedback?		A11.12 Feedback maximization A11.13 Feedback maximization in multi-loop systems A11.14 Nonminimum phase function A11.15 Feedback control design procedure A11.16 Global stability and absolute stability A11.17 Describing function and nonlinear dynamic compensation A11.18 Multi-loop system A11.19 MIMO system A11.20 Bode's book
Appendix 12  Design sequence Appendix 13  Examples
A13.1 Industrial furnace temperature control A13.2 Scanning mirror of a mapping spectrometer A13.3 Rocket booster nutation control A13.4 Telecommunication repeater with an NDC A13.5 Multi-loop pointing system with a resonant plant A13.6 Voltage regulator with a main, vernier and local loops A13.7 Telecommunication repeater A13.8 Distributed regulators		A13.9 Saturn V flight control system A13.10 PLL computer clock with duty cycle adjustment A13.11 Attitude control of solar panels A13.12 Conceptual design of an antenna attitude control A13.13 Pathlength control of an optical delay line A13.14 MIMO motor control system with responses with Bode step A13.15 Mechanical snake control
Appendix 14  Bode Step toolbox

Bibliography

Notation

Index

Errata

Downloads: Scripts from all chapters and Appendices 1 - 13, and the Bode Step Toolbox.