Marquette University

e-Publications@Marquette
Books by Marquette University Faculty

1995

Modern Control Systems, 7th edition

Richard C. Dorf
University of California - Davis

Follow this and additional works at: http://epublications.marquette.edu/marq_fac-book

Part of the Mechanical Engineering Commons

Recommended Citation
Dorf, Richard C., "Modern Control Systems, 7th edition" (1995). Books by Marquette University Faculty. Book 184.
http://epublications.marquette.edu/marq_fac-book/184
SEVENTH EDITION

Modern
Control
Systems
RICHARD C. DORF
UniversitY of California, Davis

ROBERT H. BISHOP
The University of Texas at Austin

....
••
ADDISON-WESLEY PUBLISHING COMPANY
Reading, Massachusetts Menlo Park, California
New York Don Mills, Ontario Wokingham, England
Amsterdam Bonn Sydney Singapore Tokyo Madrid
San Juan Milan Paris
Contents

CHAPTER 1 INTRODUCTION TO CONTROL SYSTEMS 1

1.1 Introduction
1.2 History of Automatic Control 4
1.3 Two Examples of Engineering Creativity 7
1.4 Control Engineeri ng Practice 8
1.5 Examples of Modern Control Systems 9
1.6 Automatic Assembly and Robots 16
1.7 The Future Evolution of Control Systems 16
1.8 Engineering Design 17
1.9 Control System Design 19
1.10 Design Example: Turntable Speed Control 19
1.11 Design Example: Insulin Delivery Control System 21
Exercises 23
Problems 24
Design Problems 28
Terms and Concepts 29

CHAPTER 2 MATHEMATICAL MODELS OF SYSTEMS 30

2.1 Introduction 30
2.2 Differential Equations of Physical Systems 31
2.3 Linear Approximations of Physical Systems 36
2.4 The Laplace Transform 39
2.5 The Transfer Function of Linear Systems 45
2.6 Block Diagram Models 58
2.7 Signal-Flow Graph Models 63
2.8 Computer Analysis of Control Systems 69
2.9 Design Examples 71
2.10 The Simulation of Systems Using Matiah 78
2.11 Summary 91
Exercises 92
Problems 98
Advanced Problems 110

xiii
xiv Contents

Design Problems 111

Matiab Problems III
Terms and Concepts 113

CHAPTER 3 STATE VARIABLE MODELS 114

3.1 Introduction 114
3.2 The State Variables of a Dynamic System 115
3.3 The State Differential Equation 118
3.4 Signal-Flow Graph State Models 121
3.5 Alternative Signal-Flow Graph State Models 127
3.6 The Transfer Function from the State Equation 131
3.7 The Time Response and the State Transition Matrix 133
3.8 A Discrete-Time Evaluation of the Time Response 137
3.9 State Variable Equations for a Spacecraft 142
3.10 Design Example: Printer Belt Drive 145
3.11 Analysis of State Variable Models Using Matiab 150
3.12 Summary 154
Exercises 155
Problems 157
Advanced Problems 165
Design Problems 166
Matiab Problems 167
Terms and Concepts 168

CHAPTER 4 FEEDBACK CONTROL SYSTEM CHARACTERISTICS 169

4.1 Open- and Closed-Loop Control Systems 170
4.2 Sensitivity of Control Systems to Parameter Variations 172
4.3 Control of the Transient Response of Control Systems 175
4.4 Disturbance Signals in a Feedback Control System 178
4.5 Steady-State Error 183
4.6 The Cost of Feedback 186
4.7 Design Example: English Channel Boring Machines 187
4.8 Design Example: Mars Rover Vehicle 189
4.9 Control System Characteristics Using Matlab 191
4.10 Summary 198
Exercises 199
Problems 201
Advanced Problems 208
Design Problems 211
Matiab Problems 214
Terms and Concepts 215
 Contents xv

CHAPTERS THEPERFORMANCEOFFEEDBACK
CONTROL SYSTEMS 216
5.1 Introduction 217
5.2 Test Input Signals 218
5.3 Performance of a Second-Order System 220
5.4 Effects of a Third Pole and a Zero on the
Second-Order System Response 226
5.5 Estimation of the Damping Ratio 231
5.6 The s-Plane Root Location and the Transient Response 232
5.7 The Steady-State Error of Feedback Control Systems 233
5.8 Steady-State Error of Nonunity Feedback Systems 237
5.9 Performance Indices 240
5.10 The Simplification of Linear Systems 248
5.11 Design Example: Hubble Telescope Pointing Control 251
5.12 System Performance Using Matiab 254
5.13 Summary 258
Exerci ses 260
Problems 263
Advanced Problems 268
Design Problems 270
Matiab Problems 272
Terms and Concepts 273

CHAPTER 6 THE STABILITY OF LINEAR FEEDBACK SYSTEMS 274

6.1 The Concept of Stability 274
6.2 The Routh- Hurwitz Stability Criterion 278
6.3 The Relative Stability of Feedback Control Systems 286
6.4 The Stability of State Variable Systems 287
6.5 The Determination of Root Locations in the s-Plane 290
6.6 Design Example: Tracked Vehicle Turning Control 293
6.7 System Stability Using Matiab 295
6.8 Summary 304
Exercises 304
Problems 306
Advanced Problems 310
Design Problems 311
M atlab Problems 313
Terms and Concepts 314

CHAPTER7 THEROOTLOCUSMETHOD 315

7.1 Introduction 316
7.2 The Root Locus Concept 316
7.3 The Root Locus Procedure 320
xvi Contents

7.4 An Example of a Control System Analysis and

Design Utilizing the Root Locus Method 335
7.S Parameter Design by the Root Locus Method 338
7.6 Sensitivity and the Root Locus 343
7.7 Gain Plots 350
7.8 Design Example: Laser Manipulator Control System 353
7.9 The Design of a Robot Control System 356
7.10 The Root Locus Using Matlah 358
7.11 Summary 363
Exercises 364
Problems 367
Advanced Problems 377
Design Problems 379
Matlah Problems 385
Terms and Concepts 386

CHAPTER 8 FREQUENCY RESPONSE METHODS 387

8.1 Introduction 387
8.2 Frequency Response Plots 390
8.3 An Example of Drawing the Bode Diagram 407
8.4 Frequency Response Measurements 410
8.S Performance Specifications in the Frequency Domain 412
8.6 Log Magnitude and Phase Diagrams 415
8.7 Design Example: Engraving Machine Control System 416
8.8 Frequency Response Methods Using Matlah 419
8.9 Summary 425
Exercises 426
Problems 429
Advanced Problems 437
Design Problems 439
MarIah Problems 442
Terms and Concepts 443

CHAPTER 9 STABILITY IN THE FREQUENCY DOMAIN 444

9.1 Introduction 445
9.2 Mapping Contours in the s-Plane 446
9.3 The Nyquist Criterion 451
9.4 Relative Stability and the Nyquist Criterion 462
9.S Time-Domain Performance Criteria Specified
in the Frequency Domain 469
9.6 System Bandwidth 475
9.7 The Stability of Control Systems with Time Delays 477
9.8 Design Example: Remotely Controlled
Reconnaissance Vehicle 480
 Contents xvii

9.9 Stability in the Frequency Domain Using Matlab 483

9.10 Summary 492
Exercises 500
Problems 506
Advanced Problems 516
Design Problems 518
Matlab Problems 523
Terms and Concepts 524

CHAPTER 10 THE DESIGN OF FEEDBACK CONTROL SYSTEMS 526

10.1 Introduction 527
10.2 Approaches to System Design 528
10.3 Cascade Compensation Networks 530
10.4 Phase-Lead Design Using the Bode Diagram 534
10.5 Phase-Lead Design Using the Root Locus 540
10.6 System Design Using Integration Networks 546
10.7 Phase-Lag Design Using the Root Locus 549
10.8 Phase-Lag Design Using the Bode Diagram 553
10.9 System Design on the Bode Diagram Using Analytical
and Computer Methods 558
10.10 System s with a Prefilter 559
10.11 Design for Deadbeat Response 562
10.12 Design Example: Rotor Winder Control System 565
10.13 Design Example: The X- Y Plotter 568
10.14 System Design Using Matlah 570
10.15 Summary 577
Exercises 579
Problems 582
Advanced Problems 593
Design Problems 596
Matlah Problems 600
Terms and Concepts 601

CHAPTER 11 THE DESIGN OF STATE VARIABLE

FEEDBACK SYSTEMS 603
11.1 Introduction 603
11.2 Controllability 604
11.3 Observability 605
11.4 Optimal Control Systems 607
11.5 Pole Placement Using State Feedback 616
11.6 Ackermann's Formula 622
11.7 Limitations of State Variable Feedback 623
11.8 Internal Model Design 623
11.9 Design Example: Automatic Test System 627
xviii Contents

11.10 State Variable Design Using Matiah 629

11.11 Summary 634
Exercises 634
Problems 635
Advanced Problems 639
Design Problems 641
Matlah Problems 644
Terms and Concepts 646

CHAPTER 12 ROBUST CONTROL SYSTEMS 647

12.1 Introduction 648
12.2 Robust Control Systems and System Sensitivity 648
12.3 Analysis of Robustness 652
12.4 Systems with Uncertain Parameters 655
12.5 The Design of Robust Control Systems 656
12.6 Three-Term (PID) Controllers 662
12.7 The Design of Robust PID Controlled Systems 665
12.8 Design Example: Aircraft Autopilot 670
12.9 The Design of a Space Telescope Control System 671
12.10 The Design of a Robust Bobbin Drive 673
12.11 The Robust Internal Model Control System 676
12.12 The Design of an Ultra-Precision Diamond
Turning Machine 678
12.13 The Pseudo-Quantitative Feedback System 681
12.14 Robust Control Systems Using Matlah 683
12.15 Summary 686
Exercises 688
Problems 689
Advanced Problems 696
Design Problems 700
Matlah Problems 708
Terms and Concepts 709

CHAPTER 13 DIGITAL CONTROL SYSTEMS 710

13.1 Introduction 711
13.2 Digital Computer Control System Applications 711
13.3 Sampled-Data Systems 712
13.4 The z-Transform 716
13.5 Closed-Loop Feedback Sampled-Data Systems 720
13.6 Stability Analysis in the z-Plane 722
13.7 Performance of a Sampled-Data Second-Order System 723
13.8 Closed-Loop Systems with Digital
Computer Compensation 726
13.9 The Design of a Worktable Motion Control System 729
 Contents xix

13.10 The Root Locus of Digital Control Systems 730

13.11 Implementation of Digital Controllers 734
13.12 Digital Control Systems Using Matlab 735
13.13 Summary 740
Exercises 741
Problems 742
Advanced Problems 744
Design Problems 746
Matlab Problems 747
Terms and Concepts 748

APPENDIX A LAPLACE TRANSFORM PAIRS 751

APPENDIX B SYMBOLS, UNITS, AND CONVERSION FACTORS 753

APPENDIX C AN INTRODUCTION TO MATRIX ALGEBRA 755

APPENDIX D DECIBEL CONVERSION 764

APPENDIX E COMPLEX NUMBERS 766

APPENDIX F MATLAB BASICS 770

REFERENCES 789

INDEX 800