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... since it minimizes
and expedites the tedious andrepetitive calculations involved inthe design of a
satisfactory control system.To understand and use a computer-aided analysis
and design package, ... Inc.
8.18StabilityCharacteristicsoftheLogMagnitude
andPhaseDiagram331
8.19StabilityfromtheNicholsPlot
(LogMagnitude^AngleDiagram)332
8.20Summary335
9Closed-LoopTrackingPerformanceBasedonthe
FrequencyResponse339
9.1Introduction339
9.2DirectPolarPlot340
9.3DeterminationofM
m
ando
m
foraSimple
Second-OrderSystem341
9.4CorrelationofSinusoidalandTimeResponses345
9.5ConstantM(o )and (o)ContoursofC(jo)/R(jo)on
theComplexPlane(DirectPlot)346
9.6Constant1/MandContours(UnityFeedback)inthe
InversePolarPlane353
9.7GainAdjustmentofaUnity-FeedbackSystemfora
DesiredM
m
:DirectPolarPlot355
9.8ConstantMandCurvesontheLogMagnitude^Angle
Diagram(NicholsChart)358
9.9GenerationofMATLABBodeandNyquistPlots361
9.10AdjustmentofGainbyUseoftheLogMagnitude^Angle
Diagram(NicholsChart)363
9.11CorrelationofPole-ZeroDiagramwithFrequencyand
TimeResponses366
9.12Summary368
10Root-LocusCompensation :Design3 71
10.1IntroductiontoDesign371
10.2TransientResponse:DominantComplexPoles374
10.3AdditionalSignificantPoles379
10.4Root-LocusDesignConsiderations382
10.5ReshapingtheRootLocus384
10.6CADAccuracyChecks(CADAC)385
10.7IdealIntegralCascadeCompensation(PIController)385
10.8CascadeLagCompensationDesignUsing
PassiveElements386
10.9IdealDerivativeCascadeCompensation
(PDController)391
10.10LeadCompensationDesignUsingPassiveElements393
Copyright © 2003 Marcel Dekker, Inc.
14.
Linear Control System Analysis and Design with MATLAB: Fifth Edition,
Revised and Expanded,
John J.
D’Azzo, ... Inc.
obtainingatimeresponse,andROOTLforobtainingroot-locusdataand
plots.TheseCADpackagesbecamethebasisforthepracticalcontrol
systemdesignCADpackagecalledTOTAL,theforerunnerofTOTAL-PC
[8],whichwasdevelopedin1978atAFIT.TOTALbecamethecatalyst,
alongwithothercontrolCADpackagesdevelopedbyotherindividuals,
forthedevelopmentofthecurrenthighlydevelopedcommercialcontrol
systemdesignCADpackagesthatarenowreadilyavailable.Oneofthese
CADpackagesisMATLAB,whichhasbecomeavaluabletoolforacontrol
engineerandisillustratedinthistext.ThedetailedcontentsoftheTOTAL-
PCCADpackagearedescribedinAppendixD.Theprogramiscontainedin
thediskwhichisincludedwiththisbook.
Becomingproficient(computerliterate)intheuseoftheseCAD
packages(tools)isessentialforacontrolsystemsengineer.Itisalsoessential
todevelopproceduresforcheckingtheCADresultsateachstageofthe
analysisanddesign.ThisisnecessaryinordertoverifythattheseCADtools
havegeneratedresultswhichareconsistentwiththeory.Wheneverindoubt,
concerningtheoperationofaspecificCADtool,applytheCADtooltoa
simpleproblemwhoseknownanalyticalsolutioncanbereadilycomparedto
thecomputergeneratedoutput.
1.9OUTLINEOFTEXT
Thetextisessentiallydividedintothreeparts.Thefirstpart,consistingof
Chapters2through4,providesthemathematicalfoundationformodeling
physicalsystemsandobtainingtimesolutionsusingclassicalorLaplace
transformmethods.ThesecondpartconsistsofChapters5through9that
providethefundamentalsofconventionalcontroltheoryandstate-variable
concepts.Theremainingportionofthetextrepresentsmaterialthatisusually
coveredinthefirstorsecondundergraduatecourseincontroltheoryand
controlsystemdesign.
Thefirstfewchaptersdealwiththemathematicsandphysicalsystem
modelingthatunderlietheanalysisofcontrolsystems.Oncethetechniqueof
writingthesystemequations (and, inturn,theirLaplacetransforms)that
describetheperformanceofadynamicsystemhasbeenmastered,theideas
ofblockandsimulationdiagramsandtransferfunctionsaredeveloped.
Whenphysicalsystemsaredescribedintermsofblockdiagramsandtransfer
functions,theyexhibitbasicservocharacteristics.Thesecharacteristicsare
describedanddiscussed.Theconceptofstateisintroduced,andthesystem
equationsaredevelopedinthestandardmatrixformat.Thenecessarylinear
algebrarequiredtomanipulatethematrixequationsisincluded.Apresenta-
tionofthevariousmethodsofanalysisisnextpresentedthatcanbeusedinthe
studyoffeedbackcontrolsystems.SISOsystemsareusedinitiallytofacilitate
26Chapter1
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