Feedback Systems: An Introduction for Scientists and Engineers

Description

Contents Preface to the Second Edition Preface to the First Edition 1 Introduction 1.1 What Is Feedback? 1.2 What is Feedforward? 1.3 What Is Control? 1.4 Use of Feedback and Control 1.5 Feedback Properties 1.6 Simple Forms of Feedback 1.7 Combining Feedback with Logic 1.8 Control System Architectures 1.9 Further Reading Exercises 2 Feedback Principles 2.1 Nonlinear Static Models 2.2 Linear Dynamical Models 2.3 Using Feedback to Improve Disturbance Attenuation 2.4 Using Feedback to Track Reference Signals 2.5 Using Feedback to Provide Robustness 2.6 Positive Feedback 2.7 Further Reading Exercises 3 System Modeling 3.1 Modeling Concepts 3.2 State Space Models 3.3 Modeling Methodology 3.4 Modeling Examples 3.5 Further Reading Exercises 4 Examples 4.1 Cruise Control 4.2 Bicycle Dynamics 4.3 Operational Amplifier Circuits 4.4 Computing Systems and Networks 4.5 Atomic Force Microscopy 4.6 Drug Administration 4.7 Population Dynamics Exercises 5 Dynamic Behavior 5.1 Solving Differential Equations 5.2 Qualitative Analysis 5.3 Stability 5.4 Lyapunov Stability Analysis 5.5 Parametric and Nonlocal Behavior 5.6 Further Reading Exercises 6 Linear Systems 6.1 Basic Definitions 6.2 The Matrix Exponential 6.3 Input/Output Response 6.4 Linearization 6.5 Further Reading Exercises 7 State Feedback 7.1 Reachability 7.2 Stabilization by State Feedback 7.3 Design Considerations 7.4 Integral Action 7.5 Linear Quadratic Regulators 7.6 Further Reading Exercises 8 Output Feedback 8.1 Observability 8.2 State Estimation 8.3 Control Using Estimated State 8.4 Kalman Filtering 8.5 State Space Controller Design 8.6 Further Reading Exercises 9 Transfer Functions 9.1 Frequency Domain Modeling 9.2 Determining the Transfer Function 9.3 Laplace Transforms 9.4 Block Diagrams and Transfer Functions 9.5 Zero Frequency Gain, Poles, and Zeros 9.6 The Bode Plot 9.7 Further Reading Exercises 10 Frequency Domain Analysis 10.1 The Loop Transfer Function 10.2 The Nyquist Criterion 10.3 Stability Margins 10.4 Bode's Relations and Minimum Phase Systems 10.5 Generalized Notions of Gain and Phase 10.6 Further Reading Exercises 11 PID Control 11.1 Basic Control Functions 11.2 Simple Controllers for Complex Systems 11.3 PID Tuning 11.4 Integral Windup 11.5 Implementation 11.6 Further Reading Exercises 12 Frequency Domain Design 12.1 Sensitivity Functions 12.2 Performance Specifications 12.3 Feedback Design via Loop Shaping 12.4 Feedforward Design 12.5 The Root Locus Method 12.6 Design Example 12.7 Further Reading Exercises 13 Robust Performance 13.1 Modeling Uncertainty 13.2 Stability in the Presence of Uncertainty 13.3 Performance in the Presence of Uncertainty 13.4 Design for Robust Performance 13.5 Further Reading Exercises 14 Fundamental Limits 14.1 System Design Considerations 14.2 Bode's Integral Formula 14.3 Gain Crossover Frequency Inequality 14.4 The Maximum Modulus Principle 14.5 Robust Pole Placement 14.6 Nonlinear Effects 14.7 Further Reading Exercises 15 Architecture and System Design 15.1 Introduction 15.2 System and Control Design 15.3 Top-Down Architectures 15.4 Bottom-Up Architectures 15.5 Interaction 15.6 Adaptation and Learning 15.7 Control Design in Common Application Fields 15.8 Further Reading Bibliography Index