Automatic Control with Experiments

Description

This textbook presents theory and practice in the context of automatic control education. It presents the relevant theory in the first eight chapters, applying them later on to the control of several real plants. Each plant is studied following a uniform procedure: a) the plant’s function is described, b) a mathematical model is obtained, c) plant construction is explained in such a way that the reader can build his or her own plant to conduct experiments, d) experiments are conducted to determine the plant’s parameters, e) a controller is designed using the theory discussed in the first eight chapters, f) practical controller implementation is performed in such a way that the reader can build the controller in practice, and g) the experimental results are presented. Moreover, the book provides a wealth of exercises and appendices reviewing the foundations of several concepts and techniques in automatic control. The control system construction proposed is based on inexpensive, easy-to-use hardware. An explicit procedure for obtaining formulas for the oscillation condition and the oscillation frequency of electronic oscillator circuits is demonstrated as well. Front Matter ....Pages i-xvi Introduction (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 1-24 Physical System Modeling (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 25-85 Ordinary Linear Differential Equations (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 87-191 Stability Criteria and Steady-State Error (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 193-234 Time Response-Based Design (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 235-318 Frequency Response-Based Design (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 319-443 The State Variables Approach (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 445-509 Advanced Topics in Control (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 511-546 Feedback Electronic Circuits (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 547-603 Velocity Control of a Permanent Magnet Brushed Direct Current Motor (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 605-644 Position Control of a PM Brushed DC Motor (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 645-695 Control of a Servomechanism with Flexibility (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 697-759 Control of a Magnetic Levitation System (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 761-824 Control of a Ball and Beam System (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 825-867 Control of a Furuta Pendulum (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 869-919 Control of an Inertia Wheel Pendulum (Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza)....Pages 921-950 Back Matter ....Pages 951-992