3GBINDEX 10/14/2014 11:56:16 Page 895

Index

A Amplifier saturation, 87
Abscissa of convergence, 35n load angular velocity response and, 192
Absorption, 143–145 simulation with LabVIEW program, 868–869
Acceleration constant, 345, 584 Amplitudes, 160
Ac/dc conversion and power distribution system, 517 Anagnost, J. J., 334
Ackerman’s formula, 662n Analogs:
Active-circuit realization, of compensation, 495–497 explanation of, 83
Active front steering, 644 parallel, 85–86
Active queue management (AQM) algorithm, 376 series, 83–85
Active suspension system, 286–287, 373 Analog system, disk drive, 758–759
Actuating signal, 8 Analog-to-digital control conversion, 710–711
Actuator block diagram, 286 antenna azimuth for, 708
A/D, See Analog-to-digital converter steps to, 711
Adenosine triphosphate (ATP) level, 374 Analog-to-digital (A/D) converter, 709, 710
Admittance, 53 Analysis. See also Control systems analysis
AGC, See Automatic generation control definition of, 9
Agee, J. T., 104, 112, 151, 155 feedback amplifier, 5
Aggarwal, J. K., 112 mesh, 48–53
Agricultural delivery booms, 644–645 nodal, 50, 53–55
Ahmad, R. K. R., 648 open-loop/closed-loop sinusoidal frequency, 862–865
AIDS, See HIV/AIDS qualitative design and, 158
Aircraft: sensitivity, 18
attitude of, 23 sinusoidal frequency, 5
hypersonic flight testing, 517 via input substitution, 360–362
STOL fighter aircraft, 327 Analytical expressions for frequency response,
Akesson, M., 113 528–529
Alertness monitoring, 24 Anderson, C. G., 433, 434n, 447
α-subsystem, of grid-connected converter, 517, 607, 761 Anderson, S., 28, 30
Alternative Drivetrains, 28n, 30 Anesthesia regulation, 23
Alvarez, T., 650n, 699n, 704 Angles of departure and arrival:
Alvin, 271 from complex pole, 401–402
Amplifiers: in root locus sketching, 400–402
operational, 57–61, 188–189 Angular displacement:
power, 93, 141 load, 193, 194
preamplifiers, 93 in lossless gears, 74
transfer functions and, 93 torque-, 69

895
3GBINDEX 10/14/2014 11:56:17 Page 896

896 Index

Angular velocity, 81 B
load angular velocity response, 192 Back electromotive force, 79
torque-, 69 Backlash:
Ansermino, J. M., 447 on load angular displacement response, 193, 194
Antenna azimuth, 11–14, 25 as nonlinearilty, 87
analog- to-digital control conversion for, 708 in systems of gears, 73
block diagram for, 17 Bahill, A. T., 30
position control system, 203, 285, 691–692 Baker, M. W., 447
Antenna control system, 11–14 Ballard, R. D., 271, 296, 333
cascade compensation and, 638–640 Ball-drop experiment, 150
closed-loop response design for, 272–275 Bandwidth, 571
controller/observer design and, 688–693 Baratta, R. V., 233
digital cascade compensator design and, 751–753 Barbé, L., 288n, 297
gain design and, 638 Barkana, I., 371, 379, 644, 647
lag-lead compensation and, 500–503 Bauer, P., 153n, 156, 297, 334, 380, 448, 524, 611, 648,
open-loop response and, 202–205 704, 765
root locus for, 417–419 Bayle, B., 288n, 297
stability design/transient performance and, 595–596 Bechhoefer, J., 24, 30
stability design via gain for, 321–323 Behavior at infinity, root locus sketching and, 392–395
state-space representation and, 141–143 Bell Telephone Laboratories, 5
steady-state errors and, 362–363 Bennett, S., 4n, 30
transfer functions for, 92–94 Berenguel, M., 112, 155, 232, 296, 333, 379, 447, 523,
transient design via gain and, 417–419, 749–751 610, 647, 704, 764
Anthonis, J., 448 Bersak, D. R., 334
AQM algorithm, See Active queue management algorithm Bessemer, Henry, 5
Aquifers, 144–145 Bhambhani, V., 606, 610
Aquifer system model, 144 Bhandari, M., 701n, 704
Aranda, J., 25n, 31 Bhattacharyya, S. P., 610, 648
Armature, 78–79 BIBO, See Bounded-input bounded-output
Armature circuit, 15, 78–79 Bicycle:
Armature resistance, 80 dynamics, 289–290
Armature voltage, 78–79, 81 self-balancing, 607
Arndt, D., 25, 30 steer and roll angle of, 605
Arrival angle, See Angles of departure and arrival steering and tilt angle of, 430
Arterial blood pressure, 217, 437 Bilinear transformations, in digital control systems,
Artificial heart, open-loop transfer function, 217 730–731
Artificial pacemakers, 760 Binu, L. S., 524
Ashkenas, I., 232 Biological system, 94–95
Asparagus-picking robots, 212 Bittanti, S., 516, 523, 605, 610, 759, 764
Assembly-line robots, steady-state errors and, 349 Block diagram(s), 16–17
Åström, K., 290, 296, 430, 447, 605, 610, converting signal-flow graphs to, 249–250
743, 764 functional, 12, 13, 15
Asymptotes: of multiple subsystems, 236–245
approximations of, 531–550 of open-/closed-loop systems, 7
break frequency, 533 of phase variables, 132
high-frequency, 533 of summing junctions, 241
low-frequency, 533 of transfer functions, 45
root locus sketching with, 393–395 Block diagram reduction, 17
ATP level, See Adenosine triphosphate level digital control systems and, 723–726
Attitude, aircraft, 23 by moving blocks, 242–244
Automatic field current regulator, 436–437 of sampled-data systems, 724–725
Automatic generation control (AGC), 515 via familiar forms, 242–243
Automatic Voltage Regulator, 212, 290, 330 Block libraries, in MATLAB Simulink program, 822–823
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Index 897

Blocks, in MATLAB Simulink program, 821 C

Blood pressure, arterial, 217, 437 Cai, Y., 379, 447, 611
Bobrow, J. E., 30 Camacho, E. F., 29, 30, 107, 112, 153, 155, 222, 232, 294,
Bode, H. W., 5, 30, 610 332, 333, 377, 379, 438, 447, 519, 523, 608, 610, 646,
Bode plots: 647, 702, 704, 764
of (s+a), 533 Campbell, T. J., 434n, 447
approximations for, 531–532 Cancellation, pole-zero, 190–191
determining stability via, 566–568 Cannon, R. H., Jr., 30, 47, 112
evaluating gain/phase margins via, 568–570 Canonical form:
for G(s) = (s+a), 532–535 controller, 260–261, 265
for G(s) = 1/s, 537 Jordan, 260
for G(s) = 1/(s2 + 2ζωns + ωn2), 543–547 observer, 261–265, 671–673
for G(s) = 1/(s+a), 536 transformations to, 260–265
for gain adjustment, 615–616 Capacitors, 127
gain margin/phase margin from, 569 Cárdenas, M. O., 704
for G(s) = s, 536–537 Cardona, J. E., 701, 704
for G(s) = s2 + 2ζωns + ωn2, 540–541 Carlson, L. E., 112, 155
for lead compensation, 627 Cascade compensation:
range of gain for stability via, 567–568 antenna control and, 638–640
for ratio of first-order factors, 537–540, 547–550 in digital control systems, 743
for ratio of second-order factors, 541–543, 547–550 steady-state error design via, 614
static error constants from, 585–586 steady-state errors via, 453–462
transfer function from, 591–594 transient response design via, 614
Bokor, J., 153n, 156, 297, 334, 380, 448, 524, 611, 648, transient response improvement via, 462–474
704, 765 via s-plane, 742–746
Bona, B. E., 156, 233, 297, 334, 705 Cascade compensators, 486, 744–745, 751–753
Bondia, J., 156, 704 Cascaded interconnections, 34
Boost converter, 291 Cascaded subsystems, 237–239, 264
Borovic, B., 216, 231 Cascaded systems, load in, 238
Bosch, R., 28, 30, 106, 112 Cascade form:
Bottom-up design, 21 of multiple subsystems, 237–239
Bounded input, 300 of state space, 256–258, 265
Bounded-input bounded-output (BIBO), 300–301 Cascade PI controller, robotic manipulator with, 433
Boyd, M., 764 Catheter, deflection response, 216
Branches: Cereijo, M. R., 155
root locus sketching and, 391 Chan, W. L., 334
of signal-flow graphs, 248–249 Chandra, F. A., 374, 379
Breakaway points: Chaos, D., 25n, 31
explanation of, 395–397, 404 Characterizing response, from damping ratio, 172
using differential calculus to find, 397–398 Chassaing, R., 747n, 764
without differentiation, 398–399 Chebyshev, P. L., 5
Break frequency, 533 Chemical process control system, 329
Break frequency asymptotes, 533 Chen, J. M., 288n, 297
Break-in points: Chen, N., 374n, 380
explanation of, 395–397, 404 Chen, S.-Y., 291, 296
using differential calculus to find, 397–398 Chen, Y. D., 233
without differentiation, 398–399 Chen, Yq., 610
Breazeal, C., 30 Chignola, R., 104, 112
Bretholtz, Ø., 31 Chiu, D. K., 149, 155
Budak, A., 523 Circuits:
Butler, H., 290, 291n, 296 armature, 15, 78–79
Butterworth polynomial, 328 complex, 51–55
Buzi, G., 379 integrated, 290–291
3GBINDEX 10/14/2014 11:56:18 Page 898

898 Index

Circuits: (Continued ) Completely observable, 675n

inverting operational amplifier, 58–59 Complex circuits:
nonminimum-phase electric, 188 via mesh analysis, 51–53
simple, 50, 51 via nodal analysis, 53–55
solenoid coil, 285–286 Complex numbers, vector representation of, 383–385
transformed, 49 Complex pole, angle of departure/arrival from, 401–402
Classical technique, 116. See also Frequency-domain Component design, transient response through, 180–181
modeling Component responses, of three-pole system, 183–184
Cleveland, J. P., 233 Computer-aided design, 19–20
Clifford, William Kingdon, 5 Computer-controlled systems, 8
Closed-loop feedback, in ventilators, 432 Computer hard disk drive, 9, 433, 644
Closed-loop frequency responses: Computers, See Digital computers
closed-loop transient responses and, 570–573 Computer simulation, of step responses, 420
relation between open-loop and, 573–578 Conductance, 54n
Closed-loop polar plot, 576n Conservation, flow for, 145
Closed-loop poles, 301–303, 382–383, 386, 407, 410, Constant-acceleration inputs, 337
416, 455 Constant command, 17
Closed-loop response design, for antenna control, 272–275 Constant M circles, 573–574, 576
Closed-loop sinusoidal frequency analysis and design, with Constant N circles, 573–576
LabVIEW program, 862–865 Constant-velocity inputs, 336
Closed-loop step response, with LabVIEW program, Continuous casting, in steel production, 289
860–861 Continuous stirred tank reactor, 699, 700
Closed-loop system, 8, 158 Contours, 551–554
block diagram of, 7 Control design palette, in LabVIEW program, 872–874
error, 337–338 Controllability, 658–661
for ideal integral compensator, 455 by inspection, 658–659
root sensitivity of, 416–417 via controllability matrix, 659–660
Closed-loop transfer function, sensitivity of, 357 Controllability matrix, 659–661
Closed-loop transient responses: Controllable systems, 658
closed-loop frequency responses and, 570–573 Controlled variable, 7, 34
open-loop frequency responses and, 578–582 Controller canonical form, of state space, 260–261, 265
Closed-loop vehicle response, for train stopping, 431 Controller design, 651–658
CMM, See Coordinate measuring machine alternative approaches to, 661–667
Cochin, I., 112, 155 antenna control and, 688–693
Coefficient(s): by matching coefficients, 661–662
matching, 661–662, 677, 681–683 for phase-variable form, 655–657
reverse, 307 by transformation, 662–666
of viscous friction, 61, 69 Controllers. See also Proportional-plus-integral-plus-
Companion matrices, 262 derivative (PID) controllers
Compensated system: cascade PI, 433
of ideal derivative compensation, 466–467 master, 329
root locus for, 456 open-loop swivel, 376
Compensating zero, via rate feedback, 489–491 in open-loop systems, 7
Compensation. See also specific types proportional-plus-derivative, 463
active-circuit realization of, 495–497 proportional-plus-integral, 453, 457
physical realization of, 495–499 slave, 329
for systems, 8 Control system problem, for root locus, 382–383
techniques, 452 Control systems. See also Feedback control systems;
Compensators, 8, 452–453. See also specific types specific control systems
passive realization of, 498 advantages, 2–4
root locus with, 454 analysis of, 9–14, 17–18
root locus without, 454 components, 2
Completely controllable, 659n computer-aided design of, 19–20
3GBINDEX 10/14/2014 11:56:19 Page 899

Index 899

configurations of, 6–8 natural frequency and, 203–204

definition of, 2 from phase margin, 579–580
derivative, 453 second-order response as function of, 171
design objectives for, 9–14 of second-order system, 169–172
design process, 14–18 second-order underdamped responses for, 174
digital computers in, 6 v. percent overshoot, 176
engineering, 20–21 v. rise time, 177
history of, 4–6 Das, A., 764
integral, 453 Datta, A., 610, 648
prevalence of, 21 Davidson, C. M., 437, 447
proportional, 453 Davis, S. A., 113
schematic for, 15 D’Azzo, J. J., 30, 333, 340n, 379, 523, 647, 704
test waveforms, 18 DBS, See Deep Brain Stimulation
theory, 5 Dc-dc converter, 219, 699–700
twentieth-century developments, 5 Dc motors, 78
Control systems analysis: driving rotational mechanical load, 80
in design process, 17–18 load and, 81–82
with LabVIEW program, 850–851 Dc servomotor, load and, 148
linear, 5 Deadbeat control, 759–760
objectives of, 9–14 Dead zone, 87, 193
Control System Toolbox, 439, 519, 520, 609 de Araújo, F. M. U., 447, 610
Convolution integral, 198 Deblander, J., 448
Cook, P. A., 112 Decay frequency, exponential, 169–170
Coordinate measuring machine (CMM), 516 Decoupled equations, 260, 268
Corke, P. I., 523 Decoupled variables, 123
Coulomb friction, 65n Deep Brain Stimulation (DBS), 437
Cowan, N. J. A., 611 Deflection response, of fluid-filled catheter, 216
Craig, I. K., 27, 30, 105, 113, 152, 155, 222, 232, 293, Degrees of freedom, 64
331, 333, 376, 379, 447, 518, 523, 608, 610, 645, in rotational systems, 69
647, 702, 704, 761, 764 de Keyser, R., 232, 289n, 297
Craig, J. J., 447, 523, 764 Delivery booms, agricultural, 644–645
Cramer’s rule, 52 Dell’Orto, F., 523, 610, 764
Crane loading, 103 de Mathelin, M, 288n, 297
Crawshaw, L. I., 30 Deng, H., 31
Critically damped response, 167, 168 de Paor, A. M., 447
Critical points, root locus sketching and, 405–406 Departure angle, See Angles of departure and arrival
Crosslapper, 218 Dependent source, electrical network with, 125–127
Cruise control systems, 606 Derivative compensation, See Ideal derivative
CT scans, 288 compensation
Cubitt, William, 4 Derivative control systems, 453
Cutaneous rabbit, 24–25 Design. See also Frequency response design methods; Root
locus design methods; State-space design methods
D computer-aided, 19–20
Da, R. E., 334 definition of, 9
D/A converter, See Digital-to-analog converter with LabVIEW program, 850–851
D’Ambrosia, R. D., 233 objectives, 9–14
Damped frequency of oscillation, 178 theory, 5
Damper, mass and, 123 Design process:
Damping, 79 flowchart of, 14
Damping frequency, exponential, 178 steps of, 14–18
Damping ratio: Desired transient response, 9
characterizing response from, 172 Desoer, C. A., 334
definition of, 170 Destination shaft, 75
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900 Index

de Vlugt, E., 288, 296 Digital numerical control, lathe with, 726
Diagonalizing: Digital system simulation, with LabVIEW program,
system in state space, 269–270 871–874
system matrix, 267 Digital system stability:
Diaz, J. M., 25n, 31 digital control systems in, 726–733
DiBona, G. F., 217, 232 via Routh-Hurwitz, 732
Di Carlo, A., 523, 610, 764 via s-plane, 731–733
Dickinson, M. H., 611 via z-plane, 726–730
Differential calculus, 397–398 Digital-to-analog conversion, 710
Differential equation(s): Digital-to-analog (D/A) converter, 709, 710
coefficients, 5 Digital versatile disc (DVD) players, 515–516, 605, 759
fractional calculus, 218 Dirac delta functions, 713
Laplace transform solution of, 39 Disk drive, 9
linearization of, 89–90 analog system of, 758–759
linear time-invariant, 16 arm, 433, 644
nth-order, 16, 117 Displacement. See also Angular displacement
single loop via, 48 force-, 62
transfer function for, 45 mechanical, 61–62
Digital cascade compensator design, 744–745 read/write head, 328
antenna control and, 751–753 Distributed parameter, 70n
Digital compensator, implementing, 746–749 Disturbances:
Digital computers: definition of, 7
advantages, 709–710 steady-state errors for, 351–353
in control systems, 6 Doebelin, E. O., 30, 113
modeling, 711–714 Dollar, A. M., 334
placement within loop, 709 Dominant-pole argument, 217
Digital control systems: Dong, F., 212, 232
advantages of digital computers, 709–710 Dorf, R. C., 30, 113, 188, 232, 333, 447, 523, 610, 648
analog-to-digital conversion, 710–711 Doyle, J. C., 379
antenna control with, 749–753 Drebbel, Cornelis, 4
background, 708–709 Drive system, with elastically coupled load, 290, 331, 701
bilinear transformations in, 730–731 Driving simulator, 630
block diagram reduction and, 723–726 Drug absorption, 143–145
cascade compensation in, 743 D’Souza, A. F., 23, 30, 113
cascade compensation via s-plane and, 742–746 Duals, 262–263
digital system stability in, 726–733 Dubowsky, S., 30
digital-to-analog conversion, 710 Dumont, G. A., 447
gain design on z-plane and, 739–742 DVD players, See Digital versatile disc players
implementing digital compensators, 746–749 DVR, See Dynamic voltage restorer
with MATLAB program, 809–814 Dynamic control systems, 9
with MATLAB Simulink program, 833–835 Dynamic subsystems, 141
modeling digital computers, 711–714 Dynamic voltage restorer (DVR), 372, 431
stability design via root locus in, 739–740 Dynamometer, 23, 80–81
steady-state errors and, 733–737
transfer functions of, 719–723 E
transient response design via gain adjustment and, 740–741 Economics, as design consideration, 10
transient response on z-plane, 737–739 Economic system dynamics, 330–331
z-transform and, 714–719 ECU, See Electronic control unit
Digital feedback control system: Edelson, J., 28, 30
steady-state errors for, 734 Edelstein-Keshet, L., 103, 104, 113
unit parabolic input for, 735 Eigenvalues, 268
unit ramp input for, 735 poles and, 195–198
unit step input for, 734–735 transfer function poles and, 195–198
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Index 901

Eigenvector, 267–269 generic control system, 487

Ekeberg, Ö., 155 minor-loop, 492–494
Elarafi, M. G. M. K., 218, 232 in UFSS, 503–504
Electrical constants, of motor transfer function, 81 Feedback control systems, 8, 240–241. See also Control
Electrical network(s): systems; specific control systems
branch currents in, 124 analysis/design of, 245–248
with dependent source, 125–127 for ideal derivative compensation, 466
representation of, 124–125 with MATLAB Simulink program, 832–833
state-space representations of, 116–120 simulation with LabVIEW program, 870–871
transfer function, 47–61 state-space representations of, 263–264
Electrical to mechanical systems analogies, 61–62 Feedback form, of multiple subsystems, 240–241
Electric circuit analogs, 83–86 Feedback path, 8
Electric vehicle, mechanical brake response of, 219–220 Fenn’s law, 287
Electric ventricular assist device (EVAD), 287, Fertilizer applicator, 435
643–644, 759 Final value theorem, steady-state errors using, 359–360
Electromechanical system transfer functions, 77–83 Finances, of control systems, 10
Electronic control unit (ECU), 28 First-order systems, 162–164
Elevators, 2, 3 poles of, 159–161
Elevator surface angle, 206 unit step and, 162
Elkins, J. A., 113, 155 zeros of, 159–161
El-Samad, H., 447 First-order transfer functions via testing, 163–164
Elsley, G., 297, 333 Fixed field, 78
Emami-Naeini, A., 30, 113, 156, 232, 610, 704 Fixed structure controllers, SISO system, 607–608, 645
Energy storage elements, 123 Flexible links, 700–701
Enzyme breakdown, 102–103 Flight dynamics, fruit fly, 607
Eppinger, S. D., 156, 232, 297, 334 Floor vibration eliminator, 435
Epsilon method, stability via, 306 Flower, T. L., 648
Equations of motion, See Motion equations Flow for conservation, 145
Equilibrium, 87 Fluid-filled catheter, deflection response, 216
Errors, 8. See also Steady-state errors Flyball speed governor, 4
quantization, 710 Force-displacement, 62
ramp response, 483 Forced response, 10, 158, 160
static error constants, 345–347, 458, 585–586 Force-velocity, 62
Estimator, 667 Foroni, R. I., 112
EVAD, See Electric ventricular assist device Forssberg, H., 155
Evans, W. R., 5, 382, 447 Forward-path gain, 251
Existing transient response, 9 Forward transfer function, See Open-loop transfer function
Exponential damping frequency, 178 Four-wheel drive vehicle, steering model for, 374
Exponential decay frequency, 169–170 Fractional calculus differential equations, 218
Exponential frequency, 163 Frankle, J. T., 30
Exponential response, 160 Franklin, G. F., 30, 113, 156, 191, 232, 447, 610, 662n, 704
Exponential time constant, 169–170 Free-body diagram, 63
External hardware, with LabVIEW program, 875–878 Free viruses, 105
Frequency:
F break, 533
Factoring, via Routh-Hurwitz, 317 damped frequency of oscillation, 178
Fagergren, A., 150, 155 exponential, 163, 169–170
Fahlén, P., 524, 611 exponential damping, 178
FANUC M-410iB robot, 321 and gain at imaginary-axis crossing, 399–400
Feedback amplifier analysis, 5 natural, 169, 171, 203–204
Feedback compensation, 487–495 Frequency-domain modeling:
approach 1, 488–491 antenna control system, 92–94
approach 2, 492–495 electrical networks, 47–61
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902 Index

Frequency-domain modeling: (Continued ) Fuchs, F. W., 220n, 233, 334, 448, 524, 611, 705
electric circuit analogs, 83–86 Fuel-cell power plants, 6
electromechanical systems, 77–83 Function(s). See also Transfer function(s)
human leg, 94–95 Dirac delta, 713
Laplace transforms for, 35–44 linearizing, 88
with linearization, 87–92 time, 35–36, 715–716
with MATLAB program, 772–776 Functional block diagrams, 12, 13
nonlinearities in, 86–87 drawing of, 15
representations of systems, 34–35
rotational mechanical systems, 69–73 G
for systems with gears, 73–77 G(s), steady-state error as, 340–344
transfer functions, 44–47 Gaiceanu, M., 113
translational mechanical systems, 61–68 Gain, 3. See also Range of gain for stability
v. time-domain modeling, 116 forward-path, 251
Frequency response: at imaginary-axis crossing, 399–400
analytical expressions for, 528–529 loop, 241, 251–252
for antenna control, 595–596 pitch, 322
asymptotic approximations of, 531–550 stability design via, 321–323
background on, 526–527 steady-state error design via, 363–365
Bode plots of, 531–550 unity, 8
closed-loop, 570–578 Gain-adjusted antenna control system, step
closed-loop transient response and, 570–573, 578–582 responses of, 418
concept of, 527–528 Gain adjustment:
gain and phase margin via Nyquist diagram, 564–566 bode plots for, 615–616
lead compensator, 624–625 stability and, 614
with MATLAB program, 796–801 transient response via, 615–618
Nyquist criterion, 550–555 Gain design:
open-loop, 573–582 antenna control and, 638
plotting, 529–531 for meeting steady-state error specification, 350
sinusoidal, 527 Third-order system, 408–411
sketching Nyquist diagrams, 555–560 for transient response, 247
stability, gain margin, and phase margin via Bode plots, on z-plane, digital control systems and, 739–742
566–570 Gain margin:
stability via Nyquist diagram, 560–564 from Bode plots, 569
steady-state errors from, 582–586 evaluating, 568
systems with time delay, 586–590 via Nyquist diagram, 564–566
from transfer function, 530 Galvão, R. K. H., 430, 447, 604, 610
transfer functions from, 591–594 Gamble, J. B., 31, 297
Frequency response design methods: Gauthier, M., 233
antenna control and, 638–640 Gear backlash, 87
lag compensation and, 618–623 Gear driven rotational systems, 74–75
lag-lead compensation and, 629–637 Gear systems, 73–77
lead compensation and, 623–629 with loss, 76–77
with MATLAB program, 801–805 motion equation for, 75
overview of, 614–615 schematic, 73
root locus and, 614 Gear train, 76
transient response via gain adjustment and, 615–618 The General Problem of the Stability of Motion
Frequency response plots, 529. See also Bode plots (Lyapunov), 5
of time delay systems, 587–588 Geselowitz, D. B., 297, 648, 765
Friction, 65n Ghosh, R., 764
Friedman’s model, 330, 331 Gillard, D., 233
Fruit fly flight dynamics, 607 Glantz, A. S., 216, 232
Fu, Z., 760, 764 Glargine insulin, 699
3GBINDEX 10/14/2014 11:56:21 Page 903

Index 903

Global carbon cycle, schematic description of, 151 Hold:

Glycolysis, 374 zero-order, 714
GNP, See Gross National Product zero-order sample-and-, 710, 714, 721–722
Godhaven, J., 31 Hollot, C. V., 376, 379, 431, 447, 605, 610, 643, 648
Golbon, N., 523, 764 Holographic media storage, 605–606
Gompertz growth model, 104 Home entertainment systems, 6
Gong, P., 764 Homogeneity, 86
Gong, W., 379, 610, 648 Homogeneous solutions, 10, 162n
Good, M. C., 232 Hong, J., 149, 156
Goodwin, G. C., 297, 333 Hormonal regulation mechanisms, 430
Gozde, H., 212, 232, 290, 297, 330, 333 Horn, M., 219n, 233
Graebe, S. F., 289, 297, 332, 333 Hospital pharmacy robot, 650
Graham, D., 232 Hostetter, G. H., 30, 297, 333, 360, 379, 523, 610, 648,
Grain drying conveyor, 645 704, 764
Graovac, D., 104, 113, 291 Hot tail responses, 217
Graphical user interface (GUI), 19, 192 Houpis, C. H., 30, 333, 340n, 379, 523, 647, 704
Grid-connected converter, α-subsystem, of, 517, Hsu, J. C., 113
607, 761 Huisman, R., 611
Griggs, G. E., 112, 155 Human growth population, 103
Grinder system, 23 Human leg, transfer function of, 94–95
Gross National Product (GNP), 330 Human postural dynamics, 103–104
GUI, See Graphical user interface Human pupil servomechanism, 432–433
Gupta, H., 152n, 156, 233, 334, 524, 704, 764 Human response, to visual cues, 215
Gurkaynak, Y., 25, 26n, 30 Hutchinson, S., 380, 436n, 448
Guy, W., 433, 447 Hybrid solar cell, diesel power distribution system and,
289
H Hybrid vehicle control problem, 27–28, 105–106, 152–153,
Hacisalihzade, S. S., 31 222, 293–294, 331–332, 377, 438, 518–519, 608, 646,
Hahn, J. O., 432, 447 702, 761–762
Hammel, H. T., 30 Hypersonic flight testing, 517
Han, F., 764 Hypothalamic-pituitary-adrenal axis, 149–150, 697
Han, Y. D., 379, 447
Haptipoĝlu, C., 334 I
Harbor, R. D., 648 Iagnemma, K., 30
Hard disk drive (HDD) arm, 433, 644 ICE, See Internal combustion engine
Harmonic drives, robotic manipulator with, 435–436 Ideal compensators, 452
Hatopoğlu, C., 448 Ideal derivative compensation, 463–470
HDD arm, See Hard disk drive arm design, 466–469
Head, 144 feedback control system for, 466
Heat-exchanger process, 513 predicted characteristics for, 465
Heat exchange system, 644 root locus for, 466, 468
Heinemann, W., 232 uncompensated/compensated system, 466–467
Hekman, K. A., 329, 333 Ideal integral compensated system response,
Heller, H. C., 30 uncompensated system response and, 457
Her, M.-G., 288n, 297 Ideal integral compensator, 453–457
High-frequency asymptotes, 533 closed-loop system for, 455
High-speed proportional solenoid valve, 24 effect of, 455–457
Hisham, S. B., 232 implementing, 457
HIV/AIDS control system problem, 27, 105, 152, Ideal sampling, zero-order hold and, 714
222, 293, 331, 376–377, 438, 518, 608, 645, Identity matrix, 136
702, 761 Ignatoski, M. A., 297, 648, 765
Hoffmann, N., 220n, 233, 334, 448, 524, 611, 705 Iizuka, Y., 448
Hogan, B. J., 23, 30 Imaginary-axis crossing, frequency/gain at, 399–400
3GBINDEX 10/14/2014 11:56:22 Page 904

904 Index

Impedance(s): Jason Junior, 271

for mechanical components, 63–64 Jenkins, H. E., 23, 30
rotational mechanical, 75 Jeon, C.-H., 297
summing, 55, 57 Jiang, J., 448, 523, 611, 764
Impedance relationships, 47 Jiayu, K., 218, 232
rotational, 69 Jimoh, A. A., 112, 155
translational, 61–62 Johansson, R., 103, 113
Implantable medical devices, with in-body batteries, Johnson, H., 205, 232, 275, 277, 285, 297, 322, 333, 419,
435 421, 447, 503, 504, 523, 758, 764, 781, 783
Impulse, 17, 18 Joint flexibility, model representing, 436
In-body batteries, implantable medical devices with, jω-axis crossings, root locus sketching and, 399–400
435 Jordan canonical form, 260
Inductors, 127 Jury’s stability test, 729
Inertia, 15, 69, 80
Infinity, sketching behavior at, 392–395 K
Inigo, R. M., 156 Kailath, T., 35, 113, 156, 704
Initial conditions, 45 Kandel, A., 145, 156
Input, 2. See also specific types Kanellakopoulos, I., 286n, 297
Input potentiometer, 92–93 Karkoub, M., 288, 297
Input signals: Karlsson, P., 432n, 442, 447, 517, 523
root locus and, 413 Kasper, R., 232
test of, 17 Katic ́, V., 113
Input substitution: Katz, P., 764
analysis via, 360–362 Kermurjian, A., 113
steady-state errors using, 361–362 Khadraoui, S., 607, 610, 645, 648
Input transducer, 7 Khaligh, A., 26n, 30
Insect flight dynamics, 219, 607 Khammash, M., 430, 447
Inspection, mesh equations via, 56–57 Kharitonov’s theorem, 327, 328
Instability, 10, 300, 301. See also Stability Khodabakhshian, A., 515, 523, 759, 764
Insulin, 149, 699 Kidney function, arterial blood flow and, 217
Integral control: Kim, J. H., 610
design, 685–687 Kim, J.-W., 648
steady-state error design via, 684–687 Kim, S.-H., 605, 610
systems, 453 Kim, Y.-B., 648
Integrated circuits, 290–291 Kirchhoff’s current law, 16, 47, 83
Interconnection of subsystems, block diagram of, 34 Kirchhoff’s nodal equations, See Nodal equations
Internal combustion engine (ICE), 28 Kirchhoff’s voltage law, 16
Inverse Laplace transform, 35, 36, 162 Klaasens, J. B., 233, 705
Inverse z-transform, 717–719 Klapper, J., 30
via partial-fraction expansion, 717–718 Klein, R. E., 296, 447, 610
via power series method, 718–719 Knight, B., 233
Inverted pendulum cart system, 151–152, 220–221, 328, Ko, S.-H., 297
511–512, 701, 758 Kong, F., 289, 297
Inverting operational amplifier, 57–58, 286 Koontz, J. W., 297, 648, 765
circuit, 58–59 Krieg, M., 104, 113
schematic, 58 Ktesibios’ water clock, 4
Ionescu, C., 218, 232 Kuo, B. C., 218, 232, 447, 485, 523, 611, 648,
Ionic polymer-metal composite, 219 729n, 764
Isailovic ́, J., 370, 379 Kuo, C.-F. J., 232, 374, 379
Kuo, F. F., 113, 611
J Kurfess, T. R., 30
Jarvis, A. J., 151n, 156 Kwon, O.-S., 297
Jason, 315 Kyrylov, V., 149, 156, 697, 704
3GBINDEX 10/14/2014 11:56:22 Page 905

Index 905

L of state equations, 194–198

LabVIEW program, 20 Lathe, with digital numerical control, 726
amplifier saturation simulation with, 868–869 Lead compensation, 470–474
analysis examples with, 853–865 Bode plots for, 627
closed-loop step response with, 860–861 design, 471–474, 626–629
control design palette in, 872–874 geometry of, 470
controlling external hardware with, 875–878 possible solutions, 471
control systems analysis with, 850–851 in UFSS, 503–504
design examples with, 853–865 visualizing, 623–624
design with, 850–851 Lead compensator, 463, 623n
digital system simulation with, 871–874 frequency response, 624–625
feedback system simulation with, 870–871 realization, 499
linear systems simulation with, 866–868 Ledgerwood, B. K., 113
open-loop/closed-loop sinusoidal frequency analysis/ Lee, Edmund, 4
design with, 862–865 Lee, K.-B., 648
open-loop step response with, 853–859 Lee, S., 155
root locus analysis/design with, 862 Lee, S.-R., 289, 297
simulation examples, 865–874 Leedal, D. T., 151n, 156
simulation palette in, 871–872 Lennartsson, A., 296, 447, 610
simulation with, 850–851 Leo, D. J., 232
using, 851–853 Lessard, C. D., 104, 113
Lag compensation, 457–462, 618–623 Lewis, F. L., 216n, 231
design procedure, 619–623 Li, P., 374n, 380
root locus and, 459 Li, S., 151, 156
type 1 systems, 457 Li, Z., 26n, 30
visualizing, 618–619 Liang, S. Y., 333
Lag compensator, 453, 618n Library Browser, MATLAB Simulink program, 820–821
design, 459–462 Liceaga-Castro, E., 150, 156
Lagging, 618n Lieberman, J., 24, 30
Lag-lead compensation, 629–637 Liew, K. M., 379, 447, 611
antenna control and, 500–503 Lin, J.-S., 286n, 287, 297, 373, 379
design procedure, 630–634 Lin, R., 334, 448, 648
using Nichols chart, 635–637 Linan, M., 232
Lag-lead compensator, 479 Linear combination, 119, 120
design, 479–484 Linear control systems analysis, 5
ramp response error for, 483 Linear independence:
root locus for, 480–482 explanation of, 120
Lago, G., 113 state variables and, 121–122
Lam, C. S., 372, 379, 447 Linearity, 86
Lam, P. Y., 607, 611 Linearization, 87–92
Landesberg, A., 297 about a point, 88
Laplace transform, 16, 35–36 of differential equations, 89–90
definition of, 35 of function, 88
of differential equation, 39 longitudinal flight model, 218
inverse, 35, 36 state-space representation and, 138–140
review, 35–44 Linearized magnetic levitation system block, 430
of state-transition matrix, 198–199 Linearly dependent motions, 64
state-transition matrix via, 201–202 Linearly increasing command, 17
table, 36 Linearly independent, 120
theorems, 37 state variables, 121–122
of time function, 35–36 Linear systems, 86
Laplace transformed circuit, 49 piecewise, 102
Laplace transform solution, 196–198 simulation with LabVIEW program, 866–868
3GBINDEX 10/14/2014 11:56:23 Page 906

906 Index

Linear systems (Continued ) Magnitude frequency response, 528

simulation with MATLAB Simulink program, 824–829 Magnitude plots, 529
total response for, 10 Magnusson, M., 113
Linear time-invariant differential equation, 16 Mahmood, H., 437, 448, 517, 523, 607, 611,
Linear time-invariant model, of hypothalamic-pituitary- 761, 764
adrenal axis, 149–150 Mahony, R. E., 523
Linear voltage differential transformer (LVDT), 24 Maka, S., 448
Liquid-level control, 4 Mallavarapu, K., 219, 232
Lithium-ion battery charger, 329 Malthus, Thomas, 103
Liu, A. Q., 216n, 231 Manned submersible, 271
Liu, C.-H., 374n, 379 Mansor, H., 645, 648
Liu, G., 334, 611 Mapping contour, 551–552
Liu, J.-H., 700, 704 Mapping only positive jω-axis, stability via, 562–563
Load: Margaris, N. I., 379
in cascaded systems, 238 Marginally stable systems, 301
dc servomotor and, 148 Marginal stability, 300
elastically coupled, 290, 331, 701 Martin, R. H., Jr., 31
motor and, 81–82, 93, 141–143 Martinez, D., 112, 155, 232, 296, 333, 379, 447, 523, 610,
rotational mechanical, 80 647, 704, 764
Load angular displacement response: Marttinen, A., 103, 113, 328, 333, 604, 611
backlash effect on, 193, 194 Marumo, Y., 448
dead zone effect on, 193 Mason, S. J., 251, 297
Load angular velocity response, amplifier saturation and, 192 Mason’s rule:
Log-magnitude plots, 533, 542–543, 566–567 multiple subsystems and, 251–253
Longitudinal flight model linearization, 218 transfer function via, 252–253
Look-ahead offset, 330 Mass, 61, 62, 64
Loop analysis, See Mesh analysis damper and, 123
Looper, Mark, 28n Master controller, 329
Loop gain, 241, 251–252 Matching coefficients:
Loops: controller design by, 661–662
major, 488 observer design by, 677, 681–683
minor, 487, 488 Mathematical models, 16–17
multiple, 51–53 from physical system schematics, 34
nontouching, 251–252 MathWorks Inc., 19
Lordi, N. G., 143, 156 MATLAB program, 19–20
Lossless gears, 74 command summary for, 814–817
angular displacement in, 74 design via frequency response with, 801–805
system with, 75–76 design via root locus with, 791–796
Low, K. H., 376, 379, 447, 604, 611 design via state space with, 805–808
Low back pain, motor trunk patterns and, 217 digital control systems with, 809–814
Lowery, M. M., 447 examples, 772–814
Low-frequency asymptotes, 533 frequency domain modeling with, 772–776
LTI Viewer, 19, 566, 569 frequency response techniques with, 796–801
Ludwick, S. J., 30 M-files with, 771
Luenberger, D. G., 704 multiple subsystems with, 782–787
Lumped parameter, 70n root locus with, 789–790
Lusitania, 315 stability with, 787–788
LVDT, See Linear voltage differential transformer steady-state errors with, 788–789
Lyapunov, Alexandr Michailovich, 5 time domain modeling with, 776–779
time response with, 779–782
M using, 771–772
Mablekos, V. E., 78, 113 MATLAB Simulink program, See Simulink program
Magnetic levitation transportation system, 604–605 (MATLAB)
3GBINDEX 10/14/2014 11:56:24 Page 907

Index 907

Matrices: Mo, J., 764

companion, 262 Models, in MATLAB Simulink program, 824
controllability, 659–661 MOEMS, See Micro Optical Electromechanical Systems
identity, 136 Mohseni, K., 113
observability, 674–677 Moment of inertia, 69
state-transition, 198–199, 201–202 Moored floating platforms, 25
system, 267, 269–270 Motion control, 375–376
transformation, 266, 267, 269–271 Motion equations, 62–63, 70–71
vector-matrix form, 125 for gear systems, 75
Maximum power point tracking (MPPT) system, 25, 26 by inspection, 67–68, 71–72
Maxwell, James Clerk, 5 Motor(s):
Mayr, O., 4n, 31 dc, 78, 80–82
McKerrow, P. J., 225, 232 explanation of, 78–79
McRuer, D., 218, 232 load and, 81–82, 93, 141–143
Mechanical brake response, electric vehicle, 219–220 transfer functions and, 93
Mechanical constants, 80 Motorcycle radio volume, 23
Mechanical displacement, 61–62 Motor-driven inverted pendulum cart system, 151–152,
Mechanical system: 220–221, 328, 511–512, 701, 758
into parallel analog, 86 Motor drive system, 220
into series analog, 84–85 Motor transfer function, electrical constants of, 81
Mechanical system transfer functions: Motor trunk patterns, low back pain and, 217
rotational, 69–73 Mott, C., 24, 31
translational, 61–68 MPPT system, See Maximum power point tracking system
Meier, R., 23, 31 Multiple loops, 51–53
MEMS, See Micro Electromechanical System Multiple nodes, 54
Mengxiao, W., 232 with current sources, 55
Mesh, 48 Multiple root of multiplicity, 40
Mesh analysis: Multiple subsystems. See also Subsystems
complex circuits via, 51–53 analysis and design of feedback systems, 245–248
single loop via, 48–50 in antenna control system, 272–275
Mesh equations, via inspection, 56–57 background on, 236
Metalforming, exact shapes in, 760 block diagrams of, 236–245
Metering pumps, 517 cascade form of, 237–239, 264
Meyer, A. U., 113 feedback form of, 240–241
M-files, with MATLAB program, 771 Mason’s rule, 251–253
Miao, Y., 648 with MATLAB program, 782–787
Michaelis-Menten equations, 102 moving blocks to create familiar forms, 241–245
Micro Electromechanical System (MEMS), 216 parallel form of, 239
Micro Optical Electromechanical Systems (MOEMS), 216 signal-flow graphs of, 248–251
Milhorn, H. T., Jr., 681, 704 signal-flow graphs of state equations and, 254–256
Milsum, 1966, 94 similarity transformations, 265–271
Minnichelli, R. J., 328, 334 in space shuttle, 237
Minor loop, 487, 488 state-space representations of, 256–265
Minor-loop feedback compensation, 492–494 in UFSS vehicle, 275–277
root locus for, 493 Multiplicity, 40
step response simulation for, 494 Muñoz-Mansilla, R., 25, 31
Minorsky, N., 5, 113 Murakami, T., 375n, 379
Misra, V., 379, 447, 610, 648 Muscle contraction, 104
Missile control system: MyDAQ, 110–112, 226–230, 441, 443, 444
modeling of, 727–729
stability of, 727–729 N
Missile steering control, 148 Nafion sheet, 219
Mitchell, R. J., 374, 375n, 379 Nagle, H. T., 232, 764
3GBINDEX 10/14/2014 11:56:24 Page 908

908 Index

Nakamura, M., 217, 232 Nonminimum-phase system:

Nano-positioning device, 217 step responses of, 188, 190
NASA flight simulator robot arm, 78 transfer function of, 188–190
Nashner, L. M., 216, 232 Nontouching loop gain, 251–252
National Instruments PXI, 526 Nontouching loops, 251–252
Natural frequency: Nonunity feedback systems:
damping ratio and, 203–204 steady-state actuating signal for, 356–357
of general second-order system, 169, 171 steady-state errors for, 353–356
Natural period, 169–170 Noor, S. B. M., 648
Natural response, 10 Norton’s theorem, 54
of general second-order system, 167, 168 Notch filter, 484–486
poles and, 158, 160 Nounou, H., 610, 648
Naval Research Laboratory, 205 Nounou, M., 610, 648
n-channel enhancement-mode MOSFET Source Novosad, J. P., 31
Follower circuit, 286 n simultaneous, first-order differential equations, 117
Neamen, D. A., 286, 297 nth-order differential equations:
Negative feedback, 240n converted to n simultaneous first-order differential
Negative-feedback systems, 413, 414 equations, 117
Negative step response, of pitch control, 207 explanation of, 16
Neogi, B., 760, 764 Nyawako, D., 435, 448
Network theory, 124 Nygaard, G., 31
Neuroprostheses, 215 Nyquist, H., 5, 31, 611
Newbury, K., 232 Nyquist criterion, 550–555
Newton’s laws, 16, 62 derivation of, 551–554
Nichols charts, 577–578 range of gain for stability via, 561–562
lag-lead compensation design using, 635–637 stability determination with, 554–555
Nieuwland, J., 31 Nyquist diagram:
Nilsson, J. W., 35, 113, 528, 611 gain margin/phase margin via, 564–566
NI myDAQ, 875–878 for open-loop function, 558–559
Noah, J., 611 sketching, 555–560
Nodal analysis: stability via, 560–564
complex circuits via, 53–55 Nyquist sampling rate, 710
simple circuits via, 50 Nyzen, R. J., 448, 764
Nodal equations:
form of, 56 O
method to write, 53–55 Observability, 674–677
Node(s): by inspection, 674
multiple, 54, 55 via observability matrix, 675–676
of signal-flow graphs, 248–249 Observability matrix, 674–677
single, 50 observability via, 675–676
No integration systems, steady-state error for, 343 unobservability via, 676–677
No-load speed, 81 Observable systems, 674
Noninverting operational amplifier, 59–61, 286 Observer, 667
circuit, 60 Observer canonical form:
schematic, 59 observer design for, 671–673
Nonlinear electrical network, 90–91 of state space, 261–265
Nonlinearities, 86–87 Observer design, 667–674
physical, 87 alternative approaches, 677–684
time response and, 192–194 antenna control and, 688–693
Nonlinear systems, 86–87 by matching coefficients, 677, 681–683
representation of, 139–140 for observer canonical form, 671–673
translational mechanical, 140 by transformation, 677–681
Nonminimum-phase electric circuit, 188 Octave, 533
3GBINDEX 10/14/2014 11:56:25 Page 909

Index 909

Ogata, K., 31, 113, 232, 523, 611, 619, 648, 659n, 662n, Papastefanaki, E. N., 379
675n, 704, 710n, 734n, 743n, 759, 764 Papin, Denis, 4
Ohnishi, K., 375n, 376, 379 Parabolic inputs:
Oil cylinder valve, 151 in control system design, 17, 18
Oil drilling rigs, 26–27 steady-state error and, 336, 337, 342–343
Okun’s law, 330, 331 unit, 735
OMS, See Orbital maneuvering system Parabolic trough collector problem, 29, 106–107, 153, 222,
One integration systems, steady-state error for, 344 294, 332, 377, 438, 519, 608, 646, 702, 762
Open-loop frequency responses: Parallel analog, 85–86
closed-loop transient responses and, 578–582 development of, 85
relation between closed-loop and, 573–578 mechanical system converted into, 86
response speed from, 580–582 parameters for, 85
Open-loop function, Nyquist diagram for, 558–559 Parallel form:
Open-loop pitch response, UFSS and, 205–207 of multiple subsystems, 239
Open-loop poles, 392–393, 430 of state space, 258–260, 264
Open-loop response, antenna control and, 202–205 Parallel hybrid-electric vehicle, 28
Open-loop sinusoidal frequency analysis and design, with Parallel subsystems, 239
LabVIEW program, 862–865 Park, J.-Y., 610
Open-loop step response, with LabVIEW program, Park, Y.-P., 610
853–859 Parkinson’s disease, 437
Open-loop swivel controller, 376 Partial-fraction expansion, 37–44
Open-loop systems, 7 inverse z-transform via, 717–718
Open-loop transfer function, 217, 241 Particular solutions, 10, 162n
Operational amplifiers, 57–61, 188–189, 286 Passive-circuit realization, 497–499
Optical disk recording system, 6 PD controllers, See Proportional-plus-derivative controllers
Orbital maneuvering system (OMS), 6 Peak time, 173
Oscillations: evaluation of, 175
damped, 13, 169 lines of constant, 178
damped frequency of, 166 from pole location, 178–180
undamped sinusoidal, 208 from transfer function, 177
O’Sullivan, D. M., 233, 705 Pendulum:
Oustaloup’s method, 218 inverted pendulum cart system, 151–152, 220–221, 328,
Output, 2 511–512, 701, 758
Output engine fan speed, 327 simple, 139
Output equation, 117–121 Percent overshoot, 174
Output potentiometer, 92–93 evaluation of, 175–176
Output response, 158 lines of constant, 178
Output transducer, 8 from pole location, 178–180
Overdamped behavior, 208 for time delay systems, 589–590
Overdamped response, 165–167 from transfer function, 177
Overhead crane system, 604 v. damping ratio, 176
Overshoot, 174, 402, 408, 589–590. See also Percent Pérez López, O., 650n, 699n, 704
overshoot Performance, 2
Özel, T., 516, 523 Peters, S., 30
Özgüner, Ü., 330, 334, 448 Pfleiderer, H. J., 156, 704
Pharmaceutical drug absorption, 143–145
P Pharmaceutical drug-level concentrations, 143
Pacemakers, artificial, 760 Phase frequency response, 528
Packet information flow, 376 Phase margin:
Padé approximation, 330, 433 from Bode plots, 569
Paint mixing, 105 damping ratio from, 579–580
Palazoglu, A., 513n, 524 evaluating, 568
Papadopoulos, K. G., 375, 379 via Nyquist diagram, 564–566
3GBINDEX 10/14/2014 11:56:25 Page 910

910 Index

Phase shift oscillator, 333 Pole location:

Phase-variable form, state space in, 256, 264 peak time from, 178–180
Phase-variable representation: percent overshoot from, 178–180
controller design for, 655–657 for plant, 653–658
for plant, 652, 653 for root locus, 387
Phase variables, 133 settling time from, 178–180
block diagram of, 132 topology for, 651–653
choice, 133 Pole plot, for underdamped second-order
Phasors, 527 system, 178
Philco Technological Center, 156 Pole sensitivity, root locus and, 415–417
Phillips, C. L., 232, 648, 764 Pole-zero plot, 160
Philon of Byzantium, 4 Popa, D., 216n, 231
Photovoltaic system, 25–26, 104, 151 Position constant, 582–583
pH processes, modeling/control of, 218–219 Position control system, 11, 34
Phugoid mode, 218 antenna azimuth, 11–14, 203
Physical system: response of, 13
mathematical models from schematics of, 34 with specified overshoot and settling time, 514–515
transform requirements into, 14–15 tachometer as, 487
Piccin, O., 288, 297 Position error constant, 345
Pickoff points, 236 Positive feedback, 240n
Picó, J., 156, 704 Positive-feedback systems, root locus for, 413–415
PI controllers, See Proportional-plus-integral controllers Postural arm reflexes, 287–288
PID control, 375 Potentiometer, 8, 22–23
PID controllers, See Proportional-plus-integral-plus- input, 92–93
derivative controllers output, 92–93
Piecewise linear systems, 102 Pounds, P. E. I., 330, 334, 516, 523
Pinette, B., 149n, 156 Powell, J. D., 30, 113, 156, 232, 610, 704
Pitch angle control representation, in UFSS, 275–277, Power amplifier, 93, 141
285 Power series method, inverse z-transform via, 718–719
Pitch control loop: Prasad, L., 151, 152n, 156, 220, 233, 328, 334, 511, 524,
with rate feedback, 421 701, 704, 758, 764
root locus of, 419 Preamplifier, 93
for UFSS vehicle, 205 Precision grip dynamics, 150
without rate feedback, 420 Preitl, Z., 153, 156, 293, 297, 334, 377, 380, 448, 518, 524,
Pitch control system, negative step response of, 207 608, 611, 646, 648, 702, 704, 761, 765
Pitch gain, 322 Prewarping, 743
Planetary gear systems, 220 Process control industry, 5
Plant, 2, 7 Processes (plants), 2, 7
phase-variable representation for, 652, 653 Prochazka, A., 233
pole placement for, 653–658 Proportional control system, 453
state-space representation of, 651–652 Proportional-plus-derivative (PD) controllers, 463
with state-variable feedback, 689–690 Proportional-plus-integral (PI) controllers, 453, 457
Plots, in MATLAB Simulink program, 824. See also Proportional-plus-integral-plus-derivative (PID)
specific types of plots controllers, 5
Polar plot, 576n characteristics of, 476
Pole(s), 158 design, 475–479
eigenvalues and, 195–198 implementing, 497
evaluating response with, 161 root locus for, 476
of first-order system, 159–161 Pulse transfer function:
of transfer function, 159 derivation of, 720–721
underdamped response using, 166 of feedback system, 724–725
Pole distribution, via Routh table with row of zeros, Pupil dilation, 24
309–310 Pythagorean theorem, 178
3GBINDEX 10/14/2014 11:56:26 Page 911

Index 911

Q Resistor, 49
Qian, H., 334, 611 Response speed, from open-loop frequency response,
Qu, S.-G., 151, 156 580–582
Qualitative analysis and design, 158 Retinal light flux, 433
Qualitative method, 158 Reverse coefficients, stability via, 307
Quantization error, 710 Reynolds, P., 448
Richon, J.-B., 434n, 447
R Riegelman, S., 156
Radial pickup position control, of DVD player, 515–516, Ringdorfer, M., 219, 233
605, 759 Riseman, E. M., 149n
Radiator power control, 604 Rise time, 163, 173
Raible’s tabular method, 729 evaluation of, 176–178
RAM, See Random-access memory from transfer function, 176–177
Ramon, H., 448 v. damping ratio, 177
Ramp inputs: Robotic manipulator, 376
in control system design, 17, 18 with cascade PI controller, 433
sensitivity of steady-state error with, 358 harmonic drives with, 435–436
steady-state error and, 336–338, 342 target environment and, 149
unit, 735 Robots, 3
Ramp response error, for lag-lead compensator, 483 asparagus-picking, 212
Random-access memory (RAM), 349 assembly-line, 349
Random early detection (RED) algorithm, 431, 605, 643 FANUC M-410iB, 321
Range of gain for stability: hospital pharmacy, 650
for time delay systems, 588–589 input commands to, 183
via Bode plots, 567–568 leg of, 139–140
via Nyquist criterion, 561–562 remote-controlled, 3
Range of sampling interval, for stability, 729–730 with television imaging systems, 148–149
Rate feedback, compensating zero via, 489–491 walking, 139
Raven, F. H., 64, 113, 648 Robust design, 10–11
Reaction control system (RCS), 6 Rockwell International, 6, 8, 10, 31, 667, 704
Read/write head displacement, 328 Roll-stabilizing system, ship, 605
Real-axis breakaway, root locus sketching and, 395–399 Romagnoli, J. A., 512, 513n, 524
Real-axis break-in points, root locus sketching and, Room temperature control, 512
395–399 Root locus, 5
Real-axis pole, transient response and, 160 for antenna control, 417–419
Real-axis segments, root locus sketching and, 391 for compensated system, 456
Realization: with compensator, 454
active-circuit, 495–497 control problem for, 382–383
of lag-lead compensator, 501–502 definition of, 382, 386–388
passive-circuit, 497–499 frequency response design methods and, 614
Reciprocal, of time constant, 163 from general control system, 388
RED algorithm, See Random early detection algorithm generalized, 411–412
Reference, 7 for ideal derivative compensation, 466, 468
Reference input, 34 lag compensation and, 459
Reidel, S. A., 113 for lag-lead compensator, 480–482
Reinoso, A. J., 25n, 31 with MATLAB program, 789–790
Reiser, M. B., 611 for minor-loop feedback compensation, 493
Remote-controlled robot, 3 for notch filter, 484–485
Ren, Z., 220, 233 for PID controllers, 476
Residues, 190–191 of pitch control loop, 419
Resistance(s), 49 plotting/calibrating, 402–403
armature, 80 pole location for, 387
running, 106 pole plot for, 387
3GBINDEX 10/14/2014 11:56:27 Page 912

912 Index

Root locus (Continued ) Roth, E., 607, 611

pole sensitivity and, 415–417 Rotor, 78
for positive-feedback systems, 413–415 Routh, E. J., 5, 334
properties of, 388–390 Routh-Hurwitz criterion, 303–305
sample, 450 digital system stability via, 732
for security camera system, 386 examples of, 311–318
starting/ending points and, 391–392 factoring via, 317
UFSS and, 419–421 special cases of, 305–311
for uncompensated system, 456 stability via, 316–317
vector representation of complex numbers and, 383–385 with zero in first column, 312–313
without compensator, 454 Routh table:
Root locus design methods: generating, 303–305
for antenna control system, 500–503 interpreting, 305
cascade compensation, 453–474 pole distribution via, 309–310
compensation configurations for, 452 with row of zeros, 309–310, 314–315
with compensators, 452–453 stability via, 308
with feedback compensation, 487–495 zero in, 305–311
improving steady-state error with, 451–462, 474–486 Rover, 3
improving transient response with, 450–451, 462–486 Rubio, F. R., 112, 155, 232, 296, 333, 379, 447, 523, 610,
with LabVIEW program, 862 647, 704, 764
lag-lead compensator design, 479–484 Running resistances, 106
with MATLAB, 791–796
notch filters, 484–486 S
physical realization of compensation, 495–499 Saeys, W., 435, 448
PID controller design, 475–479 Safety valve, 4
for UFSS vehicle, 503–504 Saini, S. C., 700, 701n, 704
Root locus sketching: Salapaka, M. V., 233
angles of departure/arrival in, 400–402 Salapaka, S., 217, 233
with asymptotes, 393–395 Salminen, R. T., 103n, 113, 333, 611
behavior at infinity, 392–395 Sampled-data systems. See also Digital control systems
branches and, 391 block diagram reduction of, 724–725
critical points and, 405–406 transfer functions and, 719–723
example of, 404–407 z-transform and, 723
jω-axis crossings and, 399–400 Sampler, modeling, 712–713
real-axis breakaway and, 395–399 Sarcomere, 287
real-axis break-in points and, 395–399 Sarpeshkar, R., 447
real-axis segments and, 391 Satija, U., 701n, 704
refining, 395–403 Saturation, amplifier, See Amplifier saturation
rules for, 390–395, 404 Saturation nonlinearity, with MATLAB Simulink program,
symmetry and, 391 830–831
transient response design via gain adjustment from, Savant, C. J., Jr., 30, 297, 333, 379, 523, 610, 648, 704
407–411 Savaresi, S. M., 523, 610, 764
Root sensitivity, of closed-loop system, 416–417 Sawusch, M. R., 233
Roots of denominator of F(s): Schematics:
complex or imaginary, 41–44 control system, 15
real and distinct, 38–40 gear system, 73
real and repeated, 40–41 global carbon cycle, 151
Rotational mechanical impedances, 75 inverting operational amplifier, 58
Rotational mechanical load, DC motor driving, 80 mathematical models from, 34
Rotational mechanical system transfer functions, 69–73 noninverting operational amplifier, 59
Rotational systems: Schierman, J. D., 327
degrees of freedom in, 69 Schiop, L., 105, 113
driven by gears, 74–75 Schneider, R. T., 376, 380
3GBINDEX 10/14/2014 11:56:27 Page 913

Index 913

Schnell, 2004, 102 converting block diagrams to, 249–250

Schouten, A. C., 296 development stages of, 254–255
Sebastian, A., 233 of multiple subsystems, 248–251
Second-order responses: of state equations, 254–256
damping ratio and, 171 Signals, in MATLAB Simulink program, 821, 823
Second-order step responses: Similarity transformations:
approximation, 191 of multiple subsystems, 265–271
components of, 166 on state equations, 266–267
Second-order systems, 164–172 Similar systems, 265, 271
damping ratio of, 169–172 Simple circuits:
natural frequency of, 169 via nodal analysis, 50
step responses for damping, 168 via voltage division, 51
Second-order transfer functions via testing, 181–182 Simple pendulum, 139
Second-order underdamped responses: Simulation palette, in LabVIEW program, 871–872
for damping ratio values, 174 Simulation parameters, in MATLAB Simulink program,
specifications, 173–174 824
Second-order underdamped systems, step Simulations:
responses of, 178–179 with LabVIEW program, 850–851
Security camera system, root locus for, 386 in MATLAB Simulink program, 824
Seering, W. P., 156, 232, 297, 334 Simulink program (MATLAB), 19, 186, 192–194, 219,
Segway personal transporter, 24 247, 742
Self-balancing bicycle, 607 accessing, 819–821
Sensitivity: assembling and labeling subsystems in, 821
of closed-loop transfer function, 357 block libraries, 822–823
steady-state errors and, 356–359 digital control systems with, 833–835
of steady-state error with ramp input, 358 examples, 824–835
of steady-state error with step input, 358 feedback systems with, 832–833
Sensitivity analysis, 18 interacting with plots, 824
Sensor, 8 interconnecting subsystems and labeling signals, 821,
Serial hybrid-electric vehicle, 28 823
Series analog, 83–85 linear system simulation with, 824–829
Series RLC electrical network, 49 saturation nonlinearity with, 830–831
Settling time, 163, 174 saving models in, 824
lines of constant, 178 selecting blocks in, 821
from pole location, 180 simulation parameters in, 824
from transfer function, 176, 177 starting simulations, 824
Severyanova, L. A., 156, 704 subsystem parameters in, 823, 824
Shahin, M., 437, 448 using, 819–824
Shao, M., 156 Single loop:
Sharma, Y., 701n, 704 via differential equation, 48
Shaw, D. A., 31 via mesh analysis, 48–50
Shibata, M., 375n, 379 via transform methods, 50
Shinners, S. M., 704 Single node, 50
Ship: Single-pole oil cylinder valve, 151
roll axis, 207 Sinha, N. K., 704
roll-stabilizing system of, 605 Sinusoidal frequency analysis, 5
stability, 5 Sinusoidal inputs, 17, 18
steering, 5 SISO Design Tool, 19
Shortening muscle velocity, 287 SISO systems, fixed structure controllers for, 607–608, 645
Short period mode, 218 Sivan, R., 297
Short takeoff and landing (STOL) fighter aircraft, 327 Skeletal muscle voltage potential, 218
Signal-flow graphs: Slave controller, 329
components of, 248–249 Smith, C. A., 513, 524, 644, 648
3GBINDEX 10/14/2014 11:56:28 Page 914

914 Index

Smith, C. L., 765 signal-flow graphs of, 254–256

Smoother, block diagram, 430 similarity transformations on, 266–267
Soleimani-Mosheni, M., 524, 611 time domain solution of, 198–202
Solenoid coil circuit, 285–286 State-feedback design, 667
Solomonow, M., 233 State space, 121
Son, M., 648 alternative representations in, 256–265
Source shaft, 77 cascade form of, 257–259, 265
Space shuttle, 6 controller canonical form of, 260–261, 265
main engine controller, 8 diagonalizing system in, 269–270
multiple subsystems in, 237 graphic representation of, 121
Speed control, 4 observer canonical form of, 261–265
Sperry Gyroscope Company, 5 parallel form of, 258–260, 264
s-plane: phase-variable form of, 256, 264
cascade compensation via, 742–746 stability in, 318–321
digital system stability via, 731–733 from transfer function, 130–136
mapping of, onto z-plane, 727 transfer function from, 136–138
Split-power hybrid-electric vehicle, 28 State-space design methods:
Spong, M., 380, 435, 436n, 448 for antenna control, 688–693
Spring constant, 61, 69 controllability in, 658–661
Springs, translational relationships for, 62 controller design, 651–658, 661–667
Spruijt, J. N., 233, 705 with MATLAB program, 805–808
Squid jet locomotion, 104 observability in, 674–677
Stability, 10 observer design, 667–674, 677–684
for antenna control system, 321–322 steady-state error design via integral control, 684–687
closed-loop poles/response in, 301–303 v. domain design methods, 650–651
definition of, 300–301 State-space representation, 16, 117
determining, 566–567 advantages of, 116
digital system, 726–733 antenna control and, 141–143
evaluation of, 301–303 application of, 122–129
with MATLAB program, 787–788 computer simulation and, 146
Maxwell’s criterion of, 5 of electrical networks, 116–120
of missile control system, 727–729 of feedback systems, 263–264
range of sampling interval for, 729–730 general, 120–122
Routh-Hurwitz criterion of, 303–318 linearization and, 138–140
in state space, 318–321 of plant, 651–652
transient response design via gain adjustment and, 614 to transfer function, 137–138
in UFSS vehicle, 322–323 State-transition matrix, 198–199
via epsilon method, 306 Laplace transform of, 198–199
via mapping only positive jω-axis, 562–563 via Laplace transform, 201–202
via Nyquist diagram, 560–564 State-variable feedback, plant with, 689–690
via reverse coefficients, 307 State variables, 117, 121
via Routh table, 308 linearly independent, 121–122
Stability design: minimum number of, 122–123
antenna control and, 595–596 State vector, 121
via gain, 321–323 Static error constants, 345–347, 458
via root locus, 739–740 from Bode plots, 585–586
Stabilization, control systems for, 5 steady-state error via, 346–347
Stable systems, steady-state error and, 337 Steady-state actuating signal, for nonunity feedback
Stall torque, 81 systems, 356–357
Stapleton, C. A., 436, 448 Steady-state error design:
State, 118 via cascade compensation, 614
State equations, 117, 120–122 via integral control, 684–687
Laplace transform solution of, 194–198 Steady-state errors, 2, 13–14, 18. See also Errors
3GBINDEX 10/14/2014 11:56:29 Page 915

Index 915

antenna control and, 362–363 in control system design, 17, 18

assembly-line robots and, 349 sensitivity of steady-state error with, 358
definition of, 336 steady-state error and, 336–338, 341–342
digital control systems and, 733–737 unit, 162, 734–735
digital feedback control system for, 734 Step responses:
for disturbances, 351–353 computer simulation of, 420
evaluating, 337–338 of gain-adjusted antenna control system, 418
finding, 736 for minor-loop feedback compensation, 494
from frequency response, 582–586 of nonminimum-phase network, 190
improving, 451–452, 474–486 of nonminimum-phase system, 188
with MATLAB program, 788–789 of pitch control loop without rate feedback, 420
for no integration systems, 343 of pitch control loop with rate feedback, 421
for nonunity feedback systems, 353–356 for second-order system damping cases, 168
for one integration systems, 344 of second-order underdamped systems, 178–179
parabola input and, 336, 337 of three-pole systems, 185–186
parabolic input and, 342–343 for transfer functions, 185–186
ramp input and, 336–338, 342 STOL fighter aircraft, See Short takeoff and landing fighter
sensitivity of, 356–359 aircraft
sources of, 338–339 s-transform, table of, 716
specifications, 348–351 Strobel, K. L., 232
stable systems and, 337 Submarine autopilot, 150
from step disturbances, 352 Subsystem parameters, in MATLAB Simulink program,
step input and, 336–338, 341–342 823, 824
for systems in state space, 359–362 Subsystems. See also Multiple subsystems
system type and, 347–348 definition of, 2
in terms of G(s), 340–344 in MATLAB Simulink program, 821, 823
in terms of T(s), 339–340 Summers, T. A., 233
test inputs, 336–337 Summing:
test waveforms for, 336 admittances, 55, 85
transient response, 18, 474–486 impedances, 55, 57
for unity feedback systems, 339–344 junctions, 7, 236, 241
using final value theorem, 359–360 torques of pendulum, 139
using input substitution, 361–362 voltages, 57
via cascade compensation, 453–462 Sun, J., 644, 648
via static error constants, 346–347 Sun, M., 219, 233
video laser disc recorder and, 363–365 Superposition, 86
Steady-state response, 9, 10n, 162n Susceptance, 54n
Steam-driven power generators, 329–330, 515, 606–607 Suspension, active, 286–287, 373
Steam-driven turbine governor system, 759 Svensson, J., 432n, 447, 523
Steam pressure control, 4 Sweet, L. M., 232
Steel production, continuous casting in, 289 Symbolic Math Toolbox, 19
Steering: Symbols list, 767–770
active front steering, 644 Symmetry, root locus sketching and, 391
for four-wheel drive vehicle, 374 System matrix, diagonalizing a, 267
history of control systems for, 5 System representation, 34–35
missile steering control, 148 System response, 158
vehicle steering control model, 374, 430, 644 with additional poles, 182–186
Steering angle, bicycle, 430 from transfer function, 46
Stefani, R. T., 30, 215, 233, 297, 333, 379, 523, 610, with zeros, 186–191
648, 704 Systems in state space, steady-state errors for, 359–362
Steinbuch, M., 611 System step response test, laboratory results of, 164
Step disturbances, steady-state errors from, 352 System type, steady-state errors and, 347–348
Step inputs: System variables, 121
3GBINDEX 10/14/2014 11:56:29 Page 916

916 Index

T applications of state-space representation, 122–129

T(s), steady-state error as, 339–340 converting state space to transfer functions, 136–138
Tabular method (Raible), 729 converting transfer functions to state space, 130–136
Tachometer: general state-space representation, 120–122
as position control system, 487 with linearization, 138–140
transfer function of, 488 with MATLAB program, 776–779
Tactile feedback suit, 24–25 pharmaceutical drug absorption, 143–145
Tadeo, F., 650n, 699, 704 of state equations, 198–202
Taip, F. S., 648 state-space representations of electrical networks,
Tan, X., 149n, 156 116–120
Taplamacioglu, M. C., 232, 297, 333 v. frequency-domain modeling, 116
Tarafdar, U., 764 Time function:
Target environment, robotic manipulator and, 149 Laplace transform of, 35–36
Tarín, C., 149, 156, 699, 704 z-transform of, 715–716
Tasch, U., 287, 297, 643, 648, 759, 765 Time response:
Taylor series, 89, 90, 138 with additional poles, 182–186
TCP/IP network model, 605, 643 for antenna control system, 202–205
Television imaging system, robot with, 148–149 in first-order systems, 162–164
Temperature control system, 4, 23 general second-order system, 169–172
Testing: Laplace transform solutions of state equations, 194–198
first-order transfer functions via, 163–164 with MATLAB program, 779–782
hypersonic flight, 517 nonlinearities and, 192–194
second-order transfer functions via, 181–182 overview of, 158
Test inputs, for steady-state error, 336–337 overview of second-order systems, 164–165
Test waveforms, 18 poles/zeros and, 158–161
for steady-state error, 336 second-order systems with zeros, 186–191
Teufel, E., 156, 704 time domain solution of state equations, 198–202
Textile cross-lapper machine, 374 for UFSS vehicle, 205–207
Textile machine, 701 in underdamped second-order systems, 173–182
Thermistor, 8 Time-varying systems, 116
Thermostat, 6 Timothy, L. K., 156, 233, 297, 334, 705
Third-order observer, 669 Titanic, 271
Third-order system gain design, 408–411 Top-down design, 21
Thomas, B., 329, 512, 524, 604, 611 Torque, of motor, 79
Thomsen, S., 220, 233, 290, 331, 334, 448, 518, 524, 607, Torque-angular displacement, 69
611, 701, 705 Torque-angular velocity, 69
Three-loop electrical network, 56 Torque-controlled crane, 328
Three-mode controllers, See Proportional-plus-integral- Torque equivalent mechanical loading, 79
plus-derivative (PID) controllers Torque-speed curve, 81–82
Three-phase ac/dc converter, 104, 291 Total response, 10
Three-pole systems: Tou, J., 765
comparing responses of, 185–186 Tower Trainer 60 Unmanned Aerial Vehicle, 371, 644
component responses of, 183–184 Towsley, D., 379, 447, 610, 648
step responses of, 185–186 Train stopping, closed-loop vehicle response for, 431
Time constant, 162–163 Transducers:
exponential, 169–170 input, 7
reciprocal of, 163 output, 8
Time delay systems, 586–590 Transfer function(s), 16, 44–47
frequency response plots of, 587–588 for antenna control system, 92–94
percent overshoot for, 589–590 block diagram of, 45
range of gain for stability for, 588–589 from Bode plots, 591–594
Time-domain modeling: with constant term in numerator, 131–133
antenna control system, 141–143 decomposing, 133, 134
3GBINDEX 10/14/2014 11:56:30 Page 917

Index 917

for differential equation, 45 via gain adjustment, 615–618

of digital control systems, 719–723 on z-plane, 737–739
electrical network, 47–61 Transient response design via cascade compensation, 614
electromechanical system, 77–83 Transient response design via gain adjustment, 407–411,
experimentally obtaining, 591–594 614
first-order transfer functions via testing, 163–164 antenna control and, 417–419, 749–751
frequency response from, 530 digital control systems and, 740–741
of human leg, 94–95 UFSS and, 419–421
matrix, 136–137 Transition method, 303, 397–398
nonminimum-phase system of, 188–190 Translational mechanical system:
peak time from, 177 representation of, 128
percent overshoot from, 177 transfer functions, 61–68
poles of, 159 Transpose, 125
with polynomial in numerator, 134–135 A Treatise on the Stability of a Given State of Motion
rise time from, 176–177 (Routh), 5
rotational mechanical system, 69–73 TryIt, 40–43, 46, 57, 71, 135, 138, 182, 186, 187, 191,
sampled-data systems and, 719–723 197, 245, 248, 261, 263, 271, 306, 314, 320, 348,
second-order approximation, 186 350, 354, 358, 360, 385, 390, 406, 461, 470, 550,
second-order transfer functions via testing, 181–182 560, 566, 569, 578, 590, 618, 622–623, 629, 657,
settling time from, 176, 177 661, 673, 677, 722, 742
from state space, 136–138 Tsai, C.-C., 232
to state space, 130–136 Tsang, K. M., 329, 334
state-space representation to, 137–138 Tsunashima, H., 448
step responses for, 185–186 Tu, H.-M., 232, 374n, 379
system response from, 46 Tumor cell growth model, 104
translational mechanical system, 61–68 Turnbull, G. A., 31
via Mason’s rule, 252–253 Tustin transformation, 743
zeros of, 159 Two degrees of freedom translational mechanical system,
Transfer function poles, eigenvalues and, 195–198 65–66
Transfer pitch angle, of UFSS vehicle, 206 Two-loop electrical network, 51–53
Transformation(s): Two-pole system, zeros and, 187
bilinear, 730–731 Two-tank liquid control system, 512–513
to canonical form, 260–265 Two-wheeled driving control system, 25
controller design by, 662–666 Tyagi, B., 152n, 156, 233, 334, 524, 704, 764
observer design by, 677–681 Tyberg, V. J., 232
similarity, 265–271 Type 3 feedback control systems, 375
Transformation matrix, 266, 267, 269–271
Transformed circuit, 49 U
Transformed free-body diagram, 63 UAV helicopter, 330
Transform methods, single loop via, 50 UFSS, See Unmanned Free-Swimming Submersible
Transform of the response, 173 UNAIDS, 27, 31
Transient performance, stability design and, 595–596 Unbounded input, 300
Transient response, 2, 9, 10n Uncompensated system:
cascade compensation for improvement of, 462–474 of ideal derivative compensation, 465–467
desired and existing, 9 root locus for, 456
finding, 246–247 Uncompensated system response, ideal integral
gain design for, 247 compensated system response and, 457
improving, 450–451 Uncontrollable system, 658
modeling, 18 Undamped response, 167, 168
modeling steady-state error, 18 Undamped sinusoidal oscillations, 208
real-axis pole and, 160 Underdamped curve, 169
steady-state errors and, 18, 474–486 Underdamped response, 166–167
through component design, 180–181 Underdamped second-order systems, 173–182
3GBINDEX 10/14/2014 11:56:31 Page 918

918 Index

Underwater remote-controlled vehicle, 315 force-, 62

Uniform-rate sampling, 712 shortening muscle, 287
Uniform rectangular pulse train, 713 Velocity constant, 345, 583–584
United Technologies, 3 Venter, J. W., 30, 105n, 113, 152n, 155, 232, 296, 333,
Unit multiplicity, 310n 379, 447, 523, 610, 647, 704, 764
Unit parabolic input, for digital feedback control system, Ventilators, closed-loop feedback in, 432
735 Verfing, E. H., 31
Unit ramp input, for digital feedback control system, 735 Vertical risers, 4
Unit step input: Vertical spindle surface grinding, 329
for digital feedback control system, 734–735 Video laser disc recorders, 363–365
first-order system and, 162 Vidyasagar, M., 113, 380, 436n, 448
Unity feedback systems: Vieira, A., 156, 704
forming an equivalent, 353–354 Virkkunen, J., 103n, 113, 333, 611
steady-state error for, 339–344 Virtual Experiment, 65, 81, 138, 162, 177, 247, 311, 352,
Unity gain, 8 466, 493
Unmanned autonomous vehicle, 516–517 Virtual reality simulator, 288
Unmanned Free-Swimming Submersible (UFSS), 158, Viruses, free, 105
271 Viscous damper, 62, 64, 123
heading control, 758 Viscous damping, 15
lead/feedback compensation in, 503–504 Visual cues, human response to, 215
open-loop pitch response and, 205–207 Voltage(s):
pitch angle control representation, 275–277, 285 armature, 78–79, 81
pitch control loop for, 205 skeletal muscle voltage potential, 218
stability design via gain in, 322–323 summing, 57
transient design via gain and, 419–421 Voltage-charge, 47
Unobservability, via observability matrix, 676–677 Voltage-current, 47
Unobservable systems, 674 Voltage-dependent current source, 125–127
Unstable systems, 301. See also Stability Voltage division, simple circuits via, 51
Ünyelioğlu, K. A., 430, 448 Voltage droop control, 431
Űnyelioglu, K. A., 334 Voltage-source converter (VSC), 437–438, 607
VVT, See Variable valve timing
V
van der Helm, F. C. T., 296 W
van der Molen, G. M., 150n, 156 Wang, F., 31
Van de Vegte, J., 524 Wang, H., 379, 447, 611
van de Zalm, G., 606, 611 Wang, W., 31
Van Dijk, E., 219, 233, 699, 705 Wang, X.-K., 329, 334, 606, 611
Van Valkenburg, M. E., 113 Water clock, 4
Varghese, J., 517, 524 Water level control, in steam generator, 329–330
Variable speed wind turbine, feedback control, 700 Water-loading experiments, 437
Variable valve timing (VVT), 220 Watt, James, 4
Vaughan, N. D., 24, 31, 285, 297 Waveforms, 18
Vector-matrix form, 125 Weiss, R., 149n
Vector representation, of complex numbers, 383–385 Williams, R. L., II, 448, 765
Vectors: Windmill speed control, 4
evaluation of complex function via, 385 Wind turbines, 433–435
Laplace transform of, 136n Wingrove, R. C., 330, 334
state, 121 Wittenmark, B., 743, 764
Vehicle steering control model, 374, 430, 644 Wolfson, P., 232
Veldpaus, F., 611 Wong, M. C., 379, 447
Velocity: Woods Hole Oceanographic Institution, 315
angular, 69, 81, 192 Wormly, D. N., 156, 232, 297, 334
constant-velocity inputs, 336 Wu, J., 524
3GBINDEX 10/14/2014 11:56:33 Page 919

Index 919

X of first-order system, 159–161

X-4 quadrotor, 516–517 in Routh table, 305–311
Xia, W., 156 system response with, 186–191
Xia, X., 30, 105n, 113, 152n, 155, 232, 296, 333, 379, 447, of transfer function, 159
523, 610, 647, 704, 764 two-pole system and, 187
Xiong, Y., 233 Zero-input response, 198
Xu, D.-P., 704 Zero-order hold, 714
Xue, D., 218, 233 Zero-order sample-and-hold (z.o.h.), 710, 714, 721–722
Zero-state response, 198, 209
Y Zhang, D., 524
Yamazaki, H., 431, 448 Zhang, J.-Y., 644, 648
Yan, T., 328, 334, 433, 448, 644, 648 Zhang, Y., 156
Yang, H., 610 Zhao, Q., 26, 31
Yang, J., 610 Zhongjun, X., 232
Yang, X.-H., 334, 611 Zhou, B. H., 215, 233
Yang, X.-Y., 704 Zhou, J., 31
Yaniv, Y., 287, 297 Zhu, G. G., 220n, 233
Ye, Z., 156 z.o.h., See Zero-order sample-and-hold
Yin, G., 374, 380 z-plane:
Yingst, J. C., 764 digital system stability via, 726–730
Yoneyama, T., 447, 610 gain design on, 739–742
Yu, S., 517, 524 s-plane mapping onto, 727
transient response on, 737–739
Z z-transform, 712
Zbinden, A. M., 31 digital control systems and, 714–719
Zedka, M., 217, 233 sampled-data systems and, 723
Zero(s), 158 table of, 716
entire row is, 308–311 theorems, 717
in first column, 306–307, 312–313 of time function, 715–716