Control Systems Engineering, 6th Edition

Highly regarded for its accessible writing and practical case studies, Control Systems Engineering is the most widely adopted textbook for this core course in Mechanical and Electrical engineering programs. This new sixth edition has been revised and updated with 20% new problems and greater emphasis on computer-aided design.Close the loop between your lectures and the lab!Integrated throughout the Nise text are 10 virtual experiments, which enable students to implement the design-simulate-prototype workflow of practicing engineers. Powered by LabVIEW software and simulations of Quanser’s lab plants, the virtual labs enable students to apply concepts to virtual systems, implement control solutions and evaluate their results. The virtual labs deepen the homework learning experience and prepare students to make more effective use of their time in the lab. Empower your students to take control of their learning with virtual labs accessible anywhere internet is available!Visit www.quansercontrollabs.com for additional information related to Quanser. COVER......Page 1 TITLE PAGE......Page 7 COPYRIGHT......Page 8 CONTENTS......Page 9 PREFACE......Page 13 1. INTRODUCTION......Page 23 Control System Definition......Page 24 Advantages of Control Systems......Page 25 Speed Control......Page 26 Contemporary Applications......Page 27 1.3 System Configurations......Page 29 Open-Loop Systems......Page 30 Computer-Controlled Systems......Page 31 Transient Response......Page 32 Stability......Page 33 Case Study......Page 34 1.5 The Design Process......Page 37 Step 3: Create a Schematic......Page 38 Step 4: Develop a Mathematical Model (Block Diagram)......Page 39 Step 6: Analyze and Design......Page 40 MATLAB......Page 42 1.7 The Control Systems Engineer......Page 43 Review Questions......Page 45 Problems......Page 46 Cyber Exploration Laboratory......Page 52 Bibliography......Page 53 2. MODELING IN THE FREQUENCY DOMAIN......Page 55 2.1 Introduction......Page 56 2.2 Laplace Transform Review......Page 57 Partial-Fraction Expansion......Page 59 2.3 The Transfer Function......Page 66 2.4 Electrical Network Transfer Functions......Page 69 Simple Circuits via Mesh Analysis......Page 70 Simple Circuits via Nodal Analysis......Page 72 Complex Circuits via Mesh Analysis......Page 73 Complex Circuits via Nodal Analysis......Page 76 A Problem-Solving Technique......Page 78 Inverting Operational Amplifier......Page 80 Noninverting Operational Amplifier......Page 81 2.5 Translational Mechanical System Transfer Functions......Page 83 2.6 Rotational Mechanical System Transfer Functions......Page 91 2.7 Transfer Functions for Systems with Gears......Page 96 2.8 Electromechanical System Transfer Functions......Page 101 2.9 Electric Circuit Analogs......Page 106 Series Analog......Page 107 Parallel Analog......Page 108 2.10 Nonlinearities......Page 110 2.11 Linearization......Page 111 Case Studies......Page 116 Review Questions......Page 119 Problems......Page 120 Cyber Exploration Laboratory......Page 134 Bibliography......Page 137 3. MODELING IN THE TIME DOMAIN......Page 139 3.1 Introduction......Page 140 3.2 Some Observations......Page 141 3.3 The General State-Space Representation......Page 145 3.4 Applying the State-Space Representation......Page 146 Minimum Number of State Variables......Page 147 3.5 Converting a Transfer Function to State Space......Page 154 3.6 Converting from State Space to a Transfer Function......Page 161 3.7 Linearization......Page 163 Case Studies......Page 166 Summary......Page 170 Problems......Page 171 Cyber Exploration Laboratory......Page 179 Bibliography......Page 181 4. TIME RESPONSE......Page 183 4.2 Poles, Zeros, and System Response......Page 184 Poles and Zeros of a First-Order System: An Example......Page 185 Time Constant......Page 188 First-Order Transfer Functions via Testing......Page 189 4.4 Second-Order Systems: Introduction......Page 190 Underdamped Response, Figure 4.7 (c)......Page 192 Critically Damped Response, Figure 4.7 (e)......Page 193 Natural Frequency, ωn......Page 195 Damping Ratio, ζ......Page 196 4.6 Underdamped Second-Order Systems......Page 199 Evaluation of Tp......Page 201 Evaluation of Tr......Page 203 4.7 System Response with Additional Poles......Page 208 4.8 System Response With Zeros......Page 213 4.9 Effects of Nonlinearities Upon Time Response......Page 218 4.10 Laplace Transform Solution of State Equations......Page 221 Eigenvalues and Transfer Function Poles......Page 222 4.11 Time Domain Solution of State Equations......Page 225 Case Studies......Page 229 Summary......Page 235 Review Questions......Page 236 Problems......Page 237 Cyber Exploration Laboratory......Page 250 Bibliography......Page 254 5. REDUCTION OF MULTIPLE SUBSYSTEMS......Page 257 5.2 Block Diagrams......Page 258 Cascade Form......Page 259 Parallel Form......Page 261 Feedback Form......Page 262 Moving Blocks to Create Familiar Forms......Page 263 5.3 Analysis and Design of Feedback Systems......Page 267 5.4 Signal-Flow Graphs......Page 270 Definitions......Page 273 Mason’s Rule......Page 274 5.6 Signal-Flow Graphs of State Equations......Page 276 5.7 Alternative Representations in State Space......Page 278 Cascade Form......Page 279 Parallel Form......Page 281 Controller Canonical Form......Page 282 Observer Canonical Form......Page 284 5.8 Similarity Transformations......Page 288 Definitions......Page 290 Case Studies......Page 294 Summary......Page 300 Review Questions......Page 301 Problems......Page 302 Cyber Exploration Laboratory......Page 319 Bibliography......Page 321 6. STABILITY......Page 323 6.1 Introduction......Page 324 6.2 Routh-Hurwitz Criterion......Page 327 Generating a Basic Routh Table......Page 328 Interpreting the Basic Routh Table......Page 329 Zero Only in the First Column......Page 330 Entire Row is Zero......Page 332 6.4 Routh-Hurwitz Criterion: Additional Examples......Page 336 6.5 Stability in State Space......Page 342 Case Studies......Page 345 Review Questions......Page 347 Problems......Page 348 Cyber Exploration Laboratory......Page 357 Bibliography......Page 358 7. STEADY-STATE ERRORS......Page 361 Definition and Test Inputs......Page 362 Evaluating Steady-State Errors......Page 363 7.2 Steady-State Error for Unity Feedback Systems......Page 365 Steady-State Error in Terms of T(s)......Page 366 Steady-State Error in Terms of G(s)......Page 367 7.3 Static Error Constants and System Type......Page 371 System Type......Page 374 7.4 Steady-State Error Specifications......Page 375 7.5 Steady-State Error for Disturbances......Page 378 7.6 Steady-State Error for Nonunity Feedback Systems ......Page 380 7.7 Sensitivity......Page 384 Analysis via Final Value Theorem......Page 386 Analysis via Input Substitution......Page 388 Case Studies......Page 390 Summary......Page 393 Review Questions......Page 394 Problems......Page 395 Cyber Exploration Laboratory......Page 406 Bibliography......Page 408 8. ROOT LOCUS TECHNIQUES......Page 409 The Control System Problem......Page 410 Vector Representation of Complex Numbers......Page 411 8.2 Defining the Root Locus......Page 414 8.3 Properties of the Root Locus......Page 416 8.4 Sketching the Root Locus......Page 419 8.5 Refining the Sketch......Page 424 The jω-Axis Crossings......Page 427 Angles of Departure and Arrival......Page 429 Plotting and Calibrating the Root Locus......Page 432 Basic Rules for Sketching the Root Locus......Page 433 Additional Rules for Refining the Sketch......Page 434 8.7 Transient Response Design via Gain Adjustment......Page 437 8.8 Generalized Root Locus......Page 441 8.9 Root Locus for Positive-Feedback Systems......Page 443 8.10 Pole Sensitivity......Page 446 Case Studies......Page 448 Summary......Page 453 Problems......Page 454 Cyber Exploration Laboratory......Page 472 Bibliography......Page 474 9. DESIGN VIA ROOT LOCUS......Page 477 Improving Transient Response......Page 478 Improving Steady-State Error......Page 479 Compensators......Page 480 Ideal Integral Compensation (PI)......Page 481 Lag Compensation......Page 486 9.3 Improving Transient Response via Cascade Compensation......Page 491 Ideal Derivative Compensation (PD)......Page 492 Lead Compensation......Page 499 PID Controller Design......Page 504 Lag-Lead Compensator Design......Page 509 Notch Filter......Page 514 9.5 Feedback Compensation......Page 517 Approach 1......Page 518 Approach 2......Page 522 9.6 Physical Realization of Compensation......Page 525 Active-Circuit Realization......Page 526 Passive-Circuit Realization......Page 528 Case Studies......Page 530 Summary......Page 535 Review Questions......Page 536 Problems......Page 537 Cyber Exploration Laboratory......Page 552 Bibliography......Page 553 10. FREQUENCY RESPONSE TECHNIQUES......Page 555 10.1 Introduction......Page 556 The Concept of Frequency Response......Page 557 Analytical Expressions for Frequency Response......Page 558 Plotting Frequency Response......Page 559 10.2 Asymptotic Approximations: Bode Plots......Page 562 Bode Plots for G(s) = (s + a)......Page 563 Bode Plots for G(s) =1/(s+a)......Page 566 Bode Plots for G(s)=1/s......Page 567 Bode Plots for G(s)= s2 + 2ζωnS + ωn2......Page 571 Corrections to Second-Order Bode Plots......Page 572 Bode Plots for G(s) = 1/(s2+ + 2ζωnS + ωn2)......Page 574 Bode Plots for Ratio of First- and Second-Order Factors......Page 578 10.3 Introduction to the Nyquist Criterion......Page 581 Derivation of the Nyquist Criterion......Page 582 Applying the Nyquist Criterion to Determine Stability......Page 585 10.4 Sketching the Nyquist Diagram......Page 586 10.5 Stability via the Nyquist Diagram......Page 591 Stability via Mapping Only the Positive jω-Axis......Page 593 10.6 Gain Margin and Phase Margin via the Nyquist Diagram......Page 596 Determining Stability......Page 598 Evaluating Gain and Phase Margins......Page 600 Damping Ratio and Closed-Loop Frequency Response......Page 602 Response Speed and Closed-Loop Frequency Response......Page 603 Constant M Circles and Constant N Circles......Page 605 Nichols Charts......Page 609 Damping Ratio from Phase Margin......Page 611 Response Speed from Open-Loop Frequency Response......Page 613 Position Constant......Page 615 Velocity Constant......Page 616 Acceleration Constant......Page 617 Modeling Time Delay......Page 619 10.13 Obtaining Transfer Functions Experimentally......Page 624 Case Study......Page 628 Summary......Page 629 Review Questions......Page 631 Problems......Page 632 Cyber Exploration Laboratory......Page 643 Bibliography......Page 645 11. DESIGN VIA FREQUENCY RESPONSE......Page 647 11.1 Introduction......Page 648 Design Procedure......Page 649 Visualizing Lag Compensation......Page 652 Design Procedure......Page 653 Visualizing Lead Compensation......Page 657 Lead Compensator Frequency Response......Page 658 Design Procedure......Page 659 11.5 Lag-Lead Compensation......Page 663 Design Procedure......Page 665 Case Studies......Page 672 Summary......Page 674 Problems......Page 675 Cyber Exploration Laboratory......Page 682 Bibliography......Page 683 12. DESIGN VIA STATE SPACE......Page 685 12.1 Introduction......Page 686 12.2 Controller Design......Page 687 Topology for Pole Placement......Page 688 Pole Placement for Plants in Phase-Variable Form......Page 690 12.3 Controllability......Page 694 Controllability by Inspection......Page 695 The Controllability Matrix......Page 696 12.4 Alternative Approaches to Controller Design......Page 698 12.5 Observer Design......Page 704 12.6 Observability......Page 711 Observability by Inspection......Page 712 The Observability Matrix......Page 713 12.7 Alternative Approaches to Observer Design......Page 715 12.8 Steady-State Error Design Via Integral Control......Page 722 Case Study......Page 726 Summary......Page 731 Review Questions......Page 732 Problems......Page 733 Cyber Exploration Laboratory......Page 741 Bibliography......Page 743 13. DIGITAL CONTROL SYSTEMS......Page 745 13.1 Introduction......Page 746 Advantages of Digital Computers......Page 747 Analog-to-Digital Conversion......Page 748 13.2 Modeling the Digital Computer......Page 749 Modeling the Sampler......Page 750 Modeling the Zero-Order Hold......Page 751 13.3 The z-Transform......Page 752 The Inverse z-Transform......Page 755 13.4 Transfer Functions......Page 757 Derivation of the Pulse Transfer Function......Page 758 13.5 Block Diagram Reduction......Page 761 Digital System Stability via the z-Plane......Page 764 Bilinear Transformations......Page 768 Digital System Stability via the s-Plane......Page 769 13.7 Steady-State Errors......Page 771 Unit Step Input......Page 772 Summary of Steady-State Errors......Page 773 13.8 Transient Response on the z-Plane......Page 775 13.9 Gain Design on the z-Plane......Page 777 13.10 Cascade Compensation via the s-Plane......Page 780 Cascade Compensation......Page 781 13.11 Implementing the Digital Compensator......Page 784 Case Studies......Page 787 Summary......Page 791 Review Questions......Page 792 Problems......Page 793 Cyber Exploration Laboratory......Page 800 Bibliography......Page 802 Appendix A: List of Symbols......Page 805 B.1 Introduction......Page 809 B.2 MATLAB Examples......Page 810 B.3 Command Summary......Page 855 Bibliography......Page 858 C.2 Using Simulink......Page 859 C.3 Examples......Page 864 Summary......Page 878 Bibliography......Page 879 D.1 Introduction......Page 881 D.2 Control Systems Analysis, Design, and Simulation......Page 882 D.3 Using LabVIEW......Page 883 D.4 Analysis and Design Examples......Page 886 D.5 Simulation Examples......Page 900 Summary......Page 909 Bibliography......Page 910 Glossary......Page 911 Answers to Selected Problems......Page 921 Credits......Page 927 Index......Page 931 Key Equations......Page 952 Solutions to Skill-Assessment Exercises......Page 953 Highly regarded for its accessible writing and practical case studies, Control Systems Engineering is the most widely adopted textbook for this core course in Mechanical and Electrical engineering programs. This new sixth edition has been revised and updated with 20% new problems and greater emphasis on computer-aided design.

Close the loop between your lectures and the lab!

Integrated throughout the Nise text are 10 virtual experiments, which enable students to implement the design-simulate-prototype workflow of practicing engineers. Powered by LabVIEW software and simulations of Quanser’s lab plants, the virtual labs enable students to apply concepts to virtual systems, implement control solutions and evaluate their results. The virtual labs deepen the homework learning experience and prepare students to make more effective use of their time in the lab.  Empower your students to take control of their learning with virtual labs accessible anywhere internet is available!

Visit www.quansercontrollabs.com for additional information related to Quanser.

Completely updated, this new edition of Nise's popular book on the design of control systems shows how to use MATLAB to perform control-system calculations. Designed for the professional or engineering student who wants a quick and readable update on designing control systems, the text features a series of tightly focused and superbly crafted examples that make each concept of designing control systems easily and quickly understandable to the reader.