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PART 11

1 Introduction and Linearized Dynamic Models1

1.1 Introduction1

1.2 Examples and Classifications of Control Systems1

1.3 Open-Loop Control and Closed-Loop Control3

1.4 Control System Analysis and Design6

1.5 Linearized Dynamic Models8

1.6 Laplace Transforms11

1.7 Transfer Functions and System Response15

1.8 Block Diagram Reduction20

1.9 Conclusion24

2 Transfer Function Models of Physical Systems29

2.1 Introduction29

2.2 Mechanical Systems29

2.3 Electrical Systems：Circuits34

2.4 Electromechanical Systems：Transfer Functions of Motors and Generators39

2.5 Thermal Systems43

2.6 Fluid Systems47

2.7 Fluid Power Control Elements54

2.8 Conclusion58

3 Transient Performance and the S-Plane65

3.1 Introduction65

3.2 The S-Plane，Pole-Zero Patterns，and Residue Calculation65

3.3 Transient Response，Including Repeated and Complex Poles69

3.4 Simple Lag：First-Order Systems76

3.5 Quadratic Lag：Second-Order Systems78

3.6 Performance and Stability of Higher-Order Systems85

3.7 Routh-Hurwitz Stability Criterion88

3.8 Effect of System Zeros92

3.9 Conclusion99

4 Feedback System Modeling and Performance104

4.1 Introduction104

4.2 Feedback System Model Examples104

4.3 Direct Block Diagram Modeling of Feedback Systems108

4.4 Effect of Feedback on Parameter Sensitivity and Disturbance Response111

4.5 Steady-State Errors in Feedback Systems117

4.6 Transient Response versus Steady-State Errors120

4.7 Conclusion125

PART 2130

1 Robustness in Multivariable Control System Design130

1.1 Introduction130

1.2 Sensitivity of the Characteristic Gain Loci132

1.3 Uncertainty in a Feedback System135

1.4 Relative Stability Matrices137

1.5 Multivariable Gain and Phase Margins139

1.6 Conclusion144

2 The Inverse Nyquist Array Design Method148

2.1 Introduction148

2.2 The Multivariable Design Problem149

2.3 Stability152

2.4 Design Technique158

2.5 Conclusion162

3 Optimal Control166

3.1 The Calculus of Variations：Classical Theory166

3.2 The Optimal Control Problem168

3.3 Singular Control Problems172

3.4 Dynamic Programming176

3.5 The Hamilton-Jacobi Approach178

4 Optimisation in Multivariable Design184

4.1 Introduction184

4.2 Problem Formulation185

4.3 Allocation Problem188

4.4 Scaling Problem190

4.5 Compensator Design192

4.6 Design Example194

4.7 Discussion196

5 Pole Assignment200

5.1 Introduction200

5.2 State-Feedback Algorithms201

5.3 Output-Feedback Algorithms208

5.4 Concluding Remarks216

PART 3221

1 Multivariable Frequency Domain Design Method for Disturbance Minimization221

1.1 Introduction221

1.2 Statement of the Problem222

1.3 Design Scheme for Disturbance Minimization223

1.4 Illustrative Example228

1.5 Conclusion230

2 Application of the Robust Servomechanism Controller to Systems with Periodic Tracking Disturbance Signals237

2.1 Introduction237

2.2 Development239

2.3 Numerical Examples244

2.4 Conclusion248

3 Regulator Design with Poles in a Specified Region253

3.1 Introduction253

3.2 Preliminaries254

3.3 Pole Assignment in a Specified Region258

3.4 Optimal Regulator with its Poles in a Specified Region264

3.5 Conclusion272

4 Direct Adaptive Output Tracking Control Using Multilayered Neural Networks275

4.1 Introduction275

4.2 Nonlinear Control Formulation276

4.3 Adaptive Tracking Using Multilayered Neural Networks279

4.4 Results on Convergence of Weight Learning283

4.5 Results on Feedback Stability284

4.6 Simulation Results289

4.7 Concluding Remarks289

5 Genetic Algorithms-A Robust Optimization Tool294

5.1 Introduction294

5.2 Genetic Algorithms295

5.3 GA in Aerospace System Optimization305

5.4 Summary and Discussion307