本书为英文板教材，共分四个板块：“引论和准备知识板块”包括第1章控制系统引论和第2章拉普拉斯变换。“系统建模板块”分成两章论述，以突出建模问题的重要性和强调背景系统的多样性，第3章动态系统的数学建模属于基础部分并讨论了机械系统和电系统的建模，第4章流体系统和热系统的数学建模属于扩展部分，推进讨论了液动系统、气动系统和热力系统的建模，这种做法有利于适应不同专业学科的教学需要。“系统分析板块”按方法由两个部分所构成，经典方法部分包括第5章暂态和稳态响应分析、第6章根轨迹分析和第8章频率特性分析，状态空间方法部分包括第11章状态空间中控制系统的分析。“系统设计板块”则由四章组成，第7章基于根轨迹法的控制系统设计和第9章基于频率特性的控制系统设计属于经典控制理论设计方法，第12章状态空间中控制系统的设计属于现代控制理论设计方法，第10章PID控制器和两自由度控制系统则属于专题内容。

Preface

Chapter 1 Introduction to Control Systems

1-1 Introduction  

1-2 Examples of Control Systems  

1-3 Closed-Loop Controlversus Open-Loop Control  

1-4 Outline of the Book  

Chapter 2 The Laplace Transform

2-1 Introduction  

2-2 Review of Complex Variables and Complex Functions

2-3 Laplace Transformation  

2-4 Laplace Transform Theorems  

2-5 Inverse Laplace Transformation  

2-6 Partial-Fraction Expansion with MATLAB  

2-7 Solving Linear, Time-Invariant, Differential Equations

  Example Problems and Solutions  

  Problems  

Chapter 3 Mathematical Modeling of Dynamic Systems

3-1 Introduction  

3-2 Transfer Function and Impulse-Response Function  

3-3 Automatic Control Systems  

3-4 Modeling in State Space  

3-5 State-Space Representation of Dynamic Systems  

3-6 Transformation of Mathematical Models with MATLAB  

3-7 Mechanical Systems 

3-8 Electrical and Electronic Systems 

3-9 Signal Flow Graphs 

3-10 Linearization of Nonlinear Mathematical Models  

  Example Problems and Solutions 

  Problems  

Chapter 4 Mathematical Modeling of Fluid Systems and Thermal Systems

4-1 Introduction  

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 An Example Problem Solved with MATLAB 

5-7 Routh's Stability Criterion 

5-8 Effects of Integral and Derivative Control Actions on System Performance  

5-9 Steady-State Errors in Unity-Feedback Control Systems  

  Example Problems and Solutions  

  Problems  

Chapter 6 Root-Locus Analysis

6-1 Introduction 

6-2 Root-Locus Plots 

6-3 Summary of General Rules for Constructing Root Loci  

6-4 Root-Locus Plots with MATLAB  

6-5 Positive-Feedback Systems  

6-6 Conditionally Stable Systems  

6-7 Root Loci for Systems with Transport Lag 

  Example Problems and Solutions  

  Problems 

Chapter 7 Control Systems Design by the Root-Locus Method

7-1 Introduction  

7-2 Preliminary Design Considerations  

7-3 Lead Compensation  

7-4 Lag Compensation  

7-5 Lag-Lead Compensation 

7-6 Parallel Compensation  

  Example Problems and Solutions 

  Problems  

Chapter 8 Frequency-Response Analysis

8-1 Introduction  

8-2 Bode Diagrams  

8-3 Plotting Bode Diagrams with MATLAB  

8-4 Polar Plots  

8-5 Drawing Nyquist Plots with MATLAB 

8-6 Log-Magnitude-versus-Phase Plots  

8-7 Nyquist Stability Criterion 

8-8 Stability Analysis 

8-9 Relative Stability 

8-10 Closed-Loop Frequency Response of Unity-Feedback Systems  

8-11 Experimental Determination of Transfer Functions  

  Example Problems and Solutions  

  Problem

Chapter 9 Control Systems Design by Frequency Response

9-1 Introduction  

9-2 Lead Compensation  

9-3 Lag Compensation 

9-4 Lag-Lead Compensation  

9-5 Concluding Comments  

  Example Problems and Solutions 

  Problems  

Chapter 10 PID Controls and Two-Degrees-of-Freedom Control Systems

10-1 Introduction  

10-2 Tuning Rules for PID Controllers  

10-3 Computational Approach to Obtain Optimal Sets of Parameter Values  

10-4 Modifications of PID Control Schemes  

10-5 Two-Degrees-of-Freedom Control 

10-6 Zero-Placement Approach to Improve Response

  Characteristics  

  Example Problems and Solutions  

  Problems  

Chapter 11 Analysis of Control Systems in State Space

11-1 Introduction 

11-2 State-Space Representations of Transfer-Function Systems 

11-3 Transformation of System Models with MATLAB 

11-4 Solving the Time-lnvariant State Equation  

11-5 Some Useful Results in Vector-Matrix Analysis  

11-6 Controllability 

11-7 Observability  

  Example Problems and Solutions 

  Problems 

Chapter 12 Design of Control Systems in State Space

12-1 Introduction  

12-2 Pole Placement  

12-3 Solving Pole-Placement Problems with MATLAB 

12-4 Design of Servo Systems  

12-5 State Observers  

12-6 Design of Regulator Systems with Observers 

12-7 Design of Control Systems with Observers 

12-8 Quadratic Optimal Regulator Systems  

  Example Problems and Solutions  

  Problems  

References

Index