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Modern Control Engineering
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Table of Contents

Contents Preface Chapter 1 Introduction to Control Systems 1-1 Introduction 1-2 Examples of Control Systems 1-3 Closed-Loop Control versus Open-Loop Control 1-4 Outline of the Book Chapter 2 Mathematical Modeling of Control Systems 2-1 Introduction 2-2 Transfer Function and impulse Response Function 2-3 Atomatic Control Systems 2-4 Modeling in state space 2-5 State-Space Representation of Scalar Differential Equation System 2-6 Transformation of Mathematical models with MATLAB 2-7 Linearization of Nonlinear Mathematical Models Example Problems and Solutions Problems Chapter 3 Mathematical Modeling of Mechanical Systems and Electrical Systems 3-1 Introduction 3-2 Mathematical Modeling of Mechanical Systems 3-3 Mathematical Modeling of Electrical Systems Example Problems and Solutions Problems Chapter 4 Mathematical Modeling of Fluid Systems and Thermal Systems 4-1 Introduction 152 4-2 Liquid-Level Systems 4-3 Pneumatic Systems 4-4 Hydraulic Systems 4-5 Thermal Systems Example Problems and Solutions Problems Chapter 5 Transient and Steady-State Response Analyses 5-1 Introduction 5-2 First-Order Systems 5-3 Second-Order Systems 5-4 Higher Order Systems 5-5 Transient-Response Analysis with MATLAB 5-6 Routh's Stability Criterion 5-7 Effects of Integral and Derivative Control Actions on System Performance 5-8 Steady-State Errors in Unity-Feedback Control Systems Example Problems and Solutions Problems Chapter 6 Control Systems Analysis and design by the Root-Locus Method 6-1 Introduction 6-2 Root-Locus Plots 6-3 plotting Root Loci with MATLAB 6-4 Root-Locus Plots of Positive Feedback Systems 6-5 Root-Locus Approach to control Systems Design 6-6 Lead Compensation 6-7 Lag Compensation 6-8 Lag-Lead Compensation Example Problems and Solutions Problems Chapter 7 Control Systems Analysis and Design by the Frequency Response Method 7-1 Introduction 7-2 Bode Digrams 7-3 Polar Plots 7-4 Log-Magnitude-versus-Phase plots 7-5 Nyquist Stability Criterion 7-6 Stability Analysis 7-7 Relative Stability Analysis 7-8 Closed-Loop Frequency Response of Unity-feedback Systems 7-9 Experimental Determination of Transfer functions 7-10 Control Systems design by Frequency Response Approach 7-11 Lead Compensation 7-12 Lag Compensation 7-13 Lag-Lead Compensation Example Problems and Solutions Problems Chapter 8 PID Controllers and Modified PID Controllers 8-1 Introduction 8-2 Ziegler- Nichols Rules for tuning PID controllers 8-3 Design of PID Controllers with Frequency Response Approach 8-4 Design of PID Controllers with Computational Optimization Approach 8-5 Modification of PID Control Schemes 8-6 Two-Degrees-of-freedom PID Control Schemes 8-7 Zero Placement Approach to Improve Response Example Problems and Solutions Problems Chapter 9 Control Systems Analysis in State Space 9-1 Introduction 9-2 State-space Representations of Transfer-Function Systems 9-3 Transformation of System Models with MATLAB 9-4 Solving the Time-Invariant State Equation 9-5 Some Useful Results in vector-Matrix Analysis 9-6 Controllability 9-7 Observability Example Problems and Solutions Problems Chapter 10 Control Systems Design of in State Space 10-1 Introduction 10-2 Pole Placement 10-3 Solving Pole-Placement Problems with MATLAB 10-4 Design of Servo Systems 10-5 State Observers 10-6 Design of Regulator Systems with Observers 10-7 Design of Control Systems with Observers 10-8 Quadratic Optimal Regulator Systems 10-9 Robust Control Solutions Example Problems and Solutions Problems Appendix A Appendix B Appendix C References Index

About the Author

Dr. Katsuhiko Ogata graduated from the University of Tokyo (BS), earned an MS degree from the University of Illinois, and his Ph.D from the University of California, Berkeley. He is Professor Emeritus at the University of Minnesota.

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