控制系統

An Understandable Introduction to Digital Control

• Feedback Control of Dynamic Systems provides enough information, early and simply, so that a student can implement a controller in a digital computer, and an instructor can cover it in one lecture.
• This text is devoted to supporting students equally in their need to grasp both traditional and more modern topics of digital control. With this approach, students will understand how control systems are being implemented in most cases today, and instructors will have a method of teaching modern design and implementation at an undergraduate-level course.
• To help students understand that computer control is widely used and that the most basic techniques of computer control are easily mastered, an early introduction to data sampling and discrete controllers is included.
• NEW: New treatment of Digital Control
  • NEW: The sections on digital control in Chapters 4, 5, 6, and 7 of the previous edition are now featured solely on a dedicated website for the book (www.FPE7e.com).
  • NEW: Chapter 8 is modified so that it now provides a stand-alone introduction to Digital Control.
  • NEW: For those instructors wanting to include the digital implementation of controllers early in their teaching, the material can be downloaded and used without change from the order that existed in the 6th edition or the students can be directed to the material in Chapter 8.

Real-world Perspective

• Comprehensive Case Studies: An entire chapter devoted to case studies covers real problems in a variety of fields that draw on all the design methods covered in the book.
• Historical Perspectives: Interesting but concise historical background sections for the material are included in each chapter.
• Extensive Integrated MATLAB Examples: Throughout the book, MATLAB is closely integrated to illustrate how calculations are made as the concepts are introduced.
  • A collection of all the MATLAB files used to produce the figures in the book are available at: www.FPE7e.com
  • NEW: MATLAB commands are updated throughout the book to utilize the current capabilities of the software.

Focus on Design

• Design is emphasized throughout the text so that confidence in solving design problems is developed from the start
• The emphasis on design begins in Chapter 4 following the development of modeling and dynamic response.
• The design orientation continues with uniform treatments of the root locus, frequency response, and state variable feedback techniques.
• All the treatments are aimed at providing the knowledge necessary to find a good feedback control design with no more complex mathematical development than is essential to clear understanding.
• Throughout the text, examples are used to compare and contrast the design techniques afforded by the different design methods and, in the capstone case studies of Chapter 10, complex real-world design problems are attacked using all the methods in a unified way.
• Relationships used in design and throughout the book are collected inside the back cover for easy reference.

Keep Your Course Current

• NEW: A new section on Fundamentals is included in Chapter 1
• NEW: A new section on Gears is included in Chapter 2
• UPDATED: The section on the Laplace transform and frequency response in Chapter 3 is rewritten
• NEW: A new section on Feedforward Control is included in Chapter 4
• UPDATED: The section on PID control in Chapter 4 is rewritten.
• UPDATED: The section in Chapter 4 on the effect of zeros on a system is rewritten.
• UPDATED: Sections on stability and compensation are rewritten in Chapter 6 for clarity and consistency with current standards in the industry.
• UPDATED: An expanded discussion of Nichols plots is included in Chapter 6.
• UPDATED: Revised notation of the state-space system from F, G, H, J to A, B, C, D in Chapters 7, 9, & 10.
• UPDATED: To prevent any ambiguity, the notation for the compensation was changed from D(s) to Dc(s) throughout the text because of the change in the state-space notation.
• NEW: The model following procedure is now included in Chapter 7.
• UPDATED: Several sections were rewritten in Chapter 8 for clarity.
• NEW: A new section on the ZOH Equivalent method is included in Chapter 8.
• UPDATED: In Chapter 10, the engine control example is updated and the biology example is substantially revised.
• NEW: Approximately 20% of the Problems in the book are revised or new in all chapters.

Gene F. Franklin - Stanford University
J. David Powell - Stanford University
Abbas Emami-Naeini - SC Solutions, Inc.

1 An Overview and Brief History of Feedback Control
2 Dynamic Models
3 Dynamic Response
4 A First Analysis of Feedback
5 The Root-Locus Design Method
6 The Frequency-Response Design Method
7 State-Space Design
8 Digital Control
9 Nonlinear Systems
10 Control System Design: Principles and Case Studies
Appendix A Laplace Transforms
Appendix B Solutions to the Review Questions
Appendix C Matlab Commands

List of Appendices on the web at www.fpe7e.com
Appendix WA: A Review of Complex Variables
Appendix WB: Summary of Matrix Theory
Appendix WC: Controllability and Observability
Appendix WD: Ackermann’s Formula for Pole Placement
Appendix W2.1.4: Complex Mechanical Systems
Appendix W3.2.3: Mason’s Rule and Signal Flow Graph
Appendix W3.6.3.1: Routh Special Cases
Appendix W3.7: System Identification
Appendix W3.8: Amplitude and Time Scaling
Appendix W4.1.4.1: The Filtered Case
Appendix W4.2.2.1: Truxal’s Formula for the Error Constants
Appendix W4.5: Introduction to Digital Control
Appendix W4.6: Sensitivity of Time Response to Parameter Change
Appendix W5.4.4: Analog and Digital Implementations
Appendix W5.6.3: Root Locus with Time Delay
Appendix W6.7.2: Digital Implementation of Example 6.15
Appendix W6.8.1: Time Delay via the Nyquist Diagram
Appendix W6.9.2: The Inverse Nyquist Diagram
Appendix W7.8: Digital Implementation of Example 7.31
Appendix W7.9: Digital Implementation of Example 7.33
Appendix W7.14: Solution of State Equations
Appendix W8.7: Discrete State-Space Design Methods