Modern Control Engineering by P.N Paraskevopoulos pdf
Chapter 1 is an introduction to automatic control systems. Chapter 2 presents the Laplace transform and matrix theory, which is a necessary mathematical background for studying continuous-time systems. Chapter 3 describes and analyzes linear time-invariant systems by using the following mathematical models: differential equations, transfer functions, impulse response, and state-space equations; the topics of block diagrams and signal-flow graphs are also covered.
Chapter 4 describes classical time-domain analysis, covering topics such as time response, model simplification, comparison of open- and closed-loop systems, model reduction, sensitivity analysis, steady-state errors, and disturbance rejection. Chapter 5 describes state-space analysis of linear systems and discusses the important concepts of controllability and observability, along with their relation to the transfer function. Chapter 6 discusses the important problem of stability. It covers the algebraic criteria of Ruth, Hurwitz, and continuous fraction, and provides an introduction to the stability of nonlinear and linear systems using the Lyapunov methods.
Chapter 7 covers the popular root locus method. Chapter 8 describes the frequency response of linear time-invariant systems, introducing the three well-known frequency domain methods: those of Nyquist, Bode, and Nichols. Chapter 9 is devoted to the classical design techniques, emphasizing controller design methods using controllers of the following types: PID, phase-lead, phase-lag, and phase lead-lag. The chapter also presents an introduction to classical optimal control.
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Chapters 10 and 11 focus on modern controller design techniques carried out in state-space. Chapter 10 covers the design problems of pole assignment, input-output decoupling, model matching, and state observers. Closed-loop system design using state observers is also explained. Chapter 11 elucidates the problem of optimal control, as illustrated in the optimal regulator and servomechanism problems. Chapter 12 is an introduction to digital control that provides extensive coverage of basic problems in discrete-time system description, analysis, stability, controllability, observability, and classical control techniques. Chapter 13 explains discrete-time system identification and gives the basic algorithms for off-line and on-line parametric identification. Chapter 14 covers discrete-time system adaptive control. The following four adaptive schemes are presented: the gradient method (MIT rule), model reference, adaptive control, and self-tuning regulators. Chapter 15 is an introduction to robust control, focusing on topics such as model uncertainty, robust stability, robust performance, and Kharitonov s theorem. Chapter 16 is an introduction to fuzzy control, emphasizing the design of fuzzy controllers.
The book concludes with three appendixes that provide useful background information. Appendix A presents the Laplace transform tables, Appendix B demonstrates the Z-transform technique necessary for analyzing and designing the discrete-time (or digital) control systems presented in Chapter 12, and Appendix C gives the Transform tables.
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