01 control system fundamentals, Thesis of Advanced Control Systems

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Contents

Preface to the Second Edition......................................................... ix

Acknowledgments.................................................................... xi

Editorial Board...................................................................... xiii

Editor................................................................................ xv

Contributors........................................................................ xvii

SECTION I Mathematical Foundations

1 Ordinary Linear Differential and Difference Equations................................. 1 -

B.P. Lathi

2 The Fourier, Laplace, and z -Transforms................................................. 2 -

Edward W. Kamen

3 Matrices and Linear Algebra............................................................... 3 -

Bradley W. Dickinson

4 Complex Variables......................................................................... 4 -

C.W. Gray

SECTION II Models for Dynamical Systems

5 Standard Mathematical Models........................................................... 5 -

William S. Levine, James T. Gillis, Graham C. Goodwin, Juan C. Agüero

Juan I. Yuz, Harry L. Trentelman, and Richard Hill

6 Graphical Models........................................................................... 6 -

Dean K. Frederick, Charles M. Close, and Norman S. Nise

SECTION III Analysis and Design Methods for Continuous-Time

Systems

7 Analysis Methods........................................................................... 7 -

Raymond T. Stefani and William A. Wolovich

8 Stability Tests............................................................................... 8 -

Robert H. Bishop, Richard C. Dorf, Charles E. Rohrs, Mohamed Mansour,

and Raymond T. Stefani

vii

Preface to the

Second Edition

As you may know, the first edition of The Control Handbook was very well received. Many copies were sold and a gratifying number of people took the time to tell me that they found it useful. To the publisher, these are all reasons to do a second edition. To the editor of the first edition, these same facts are a modest disincentive. The risk that a second edition will not be as good as the first one is real and worrisome. I have tried very hard to insure that the second edition is at least as good as the first one was. I hope you agree that I have succeeded. I have made two major changes in the second edition. The first is that all the Applications chapters are new. It is simply a fact of life in engineering that once a problem is solved, people are no longer as interested in it as they were when it was unsolved. I have tried to find especially inspiring and exciting applications for this second edition. Secondly, it has become clear to me that organizing the Applications book by academic discipline is no longer sensible. Most control applications are interdisciplinary. For example, an automotive control system that involves sensors to convert mechanical signals into electrical ones, actuators that convert electrical signals into mechanical ones, several computers and a communication network to link sensors and actuators to the computers does not belong solely to any specific academic area. You will notice that the applications are now organized broadly by application areas, such as automotive and aerospace. One aspect of this new organization has created a minor and, I think, amusing problem. Several wonderful applications did not fit into my new taxonomy. I originally grouped them under the title Miscellaneous. Several authors objected to the slightly pejorative nature of the term “miscellaneous.” I agreed with them and, after some thinking, consulting with literate friends and with some of the library resources, I have renamed that section “Special Applications.” Regardless of the name, they are all interesting and important and I hope you will read those articles as well as the ones that did fit my organizational scheme. There has also been considerable progress in the areas covered in the Advanced Methods book. This is reflected in the roughly two dozen articles in this second edition that are completely new. Some of these are in two new sections, “Analysis and Design of Hybrid Systems” and “Networks and Networked Controls.” There have even been a few changes in the Fundamentals. Primarily, there is greater emphasis on sampling and discretization. This is because most control systems are now implemented digitally. I have enjoyed editing this second edition and learned a great deal while I was doing it. I hope that you will enjoy reading it and learn a great deal from doing so.

William S. Levine

ix

x Preface to the Second Edition

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Editorial Board

Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart, Germany

Tamer Ba¸sar Department of Electrical and Computer Engineering University of Illinois at Urbana–Champaign Urbana, Illinois

Richard Braatz Department of Chemical Engineering Massachusetts Institute of Technology Cambridge, Massachusetts

Christos Cassandras Department of Manufacturing Engineering Boston University Boston, Massachusetts

Davor Hrovat Research and Advanced Engineering Ford Motor Company Dearborn, Michigan

Naomi Leonard Department of Mechanical and Aerospace Engineering Princeton University Princeton, New Jersey

Masayoshi Tomizuka Department of Mechanical Engineering University of California, Berkeley Berkeley, California

Mathukumalli Vidyasagar Department of Bioengineering The University of Texas at Dallas Richardson, Texas

xiii

Editor

William S. Levine received B.S., M.S., and Ph.D. degrees from the Massachusetts Institute of Technology. He then joined the faculty of the University of Maryland, College Park where he is currently a research professor in the Department of Electrical and Computer Engineering. Throughout his career he has specialized in the design and analysis of control systems and related problems in estimation, filtering, and system modeling. Motivated by the desire to understand a collection of interesting controller designs, he has done a great deal of research on mammalian control of movement in collaboration with several neurophysiologists. He is co-author of Using MATLAB to Analyze and Design Control Systems , March 1992. Second Edition, March 1995. He is the coeditor of The Handbook of Networked and Embedded Control Systems, published by Birkhauser in 2005. He is the editor of a series on control engineering for Birkhauser. He has been president of the IEEE Control Systems Society and the American Control Council. He is presently the chairman of the SIAM special interest group in control theory and its applications. He is a fellow of the IEEE, a distinguished member of the IEEE Control Systems Society, and a recipient of the IEEE Third Millennium Medal. He and his collaborators received the Schroers Award for outstanding rotorcraft research in 1998. He and another group of collaborators received the award for outstanding paper in the IEEE Transactions on Automatic Control , entitled “Discrete-Time Point Processes in Urban Traffic Queue Estimation.”

xv

xviii Contributors

C. W. Gray The Aerospace Corporation El Segundo, California

Tore Hägglund Department of Automatic Control Lund Institute of Technology Lund, Sweden

Richard Hill Mechanical Engineering Department University of Detroit Mercy Detroit, Michigan

Constantine H. Houpis Department of Electrical and Computer Engineering Air Force Institute of Technology Wright-Patterson Air Force Base, Ohio

Jason C. Jones SunPower Corporation Richmond, California

Edward W. Kamen School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta, Georgia

Masako Kishida Department of Chemical Engineering University of Illinois at Urbana–Champaign Urbana, Illinois

B. P. Lathi Department of Electrical and Electronic Engineering California State University Sacramento, California

William S. Levine Department of Electrical Engineering University of Maryland College Park, Maryland

Mohamed Mansour Automatic Control Laboratory Swiss Federal Institute of Technology Zurich, Switzerland

R. H. Middleton The Hamilton Institute National University of Ireland, Maynooth Maynooth, Ireland

Norman S. Nise Electrical and Computer Engineering Department California State Polytechnic University Pomona, California

Katsuhiko Ogata Department of Mechanical Engineering University of Minnesota Minneapolis, Minnesota

Gustaf Olsson Department of Industrial Electrical Engineering and Automation Lund University Lund, Sweden

Z. J. Palmor Faculty of Mechanical Engineering Technion–Israel Institute of Technology Haifa, Israel

John R. Ridgely Department of Mechanical Engineering California Polytechnic State University San Luis Obispo, California

Charles E. Rohrs Rohrs Consulting Newton, Massachusetts

Mario E. Salgado Department of Electronic Engineering Federico Santa María Technical University Valparaíso, Chile

Michael Santina The Boeing Company Seal Beach, California

Jeff S. Shamma Department of Aerospace Engineering and Engineering Mechanics The University of Texas at Austin Austin, Texas

Contributors xix

Raymond T. Stefani Electrical Engineering Department California State University Long Beach, California

Allen R. Stubberud Department of Electrical Engineering and Computer Science University of California, Irvine Irvine, California

Peter Stubberud Department of Electrical and Computer Engineering The University of Nevada, Las Vegas Las Vegas, Nevada

Harry L. Trentelman Research Institute of Mathematics and Computer Science University of Groningen Groningen, The Netherlands

William A. Wolovich School of Engineering Brown University Providence, Rhode Island

Jiann-Shiou Yang Department of Electrical and Computer Engineering University of Minnesota Duluth, Minnesota

Juan I. Yuz Department of Electronic Engineering Federico Santa María Technical University Valparaíso, Chile